2021-08-15T13:35:12.564Z,1629034512.564 [CommandLine](IMPORTANT): got command restart logs
2021-08-15T13:35:48.653Z,1629034548.653 [DataOverHttps](IMPORTANT): SBD MTMSN=20210815T133550
2021-08-15T13:35:52.672Z,1629034552.672 [DataOverHttps](INFO): Received command:configSet LineCapture.rolloutSpeed 0.5 meters_per_second
2021-08-15T13:35:52.989Z,1629034552.989 [CommandLine](IMPORTANT): got command configSet LineCapture.rolloutSpeed 0.500000 meter_per_second
2021-08-15T13:36:28.821Z,1629034588.821 [DataOverHttps](IMPORTANT): SBD MTMSN=20210815T133630
2021-08-15T13:36:32.836Z,1629034592.836 [DataOverHttps](INFO): Received command:configSet LineCapture.rolloutTimeout 10 minute
2021-08-15T13:36:33.094Z,1629034593.094 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-08-15T13:36:33.094Z,1629034593.094 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-08-15T13:36:33.095Z,1629034593.095 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-08-15T13:36:33.095Z,1629034593.095 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-08-15T13:36:33.131Z,1629034593.131 [CommandLine](IMPORTANT): got command configSet LineCapture.rolloutTimeout 10.000000 minute
2021-08-15T13:36:33.461Z,1629034593.461 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-08-15T13:36:33.461Z,1629034593.461 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-08-15T13:36:33.837Z,1629034593.837 [DataOverHttps](IMPORTANT): SBD MTMSN=20210815T133635
2021-08-15T13:36:33.924Z,1629034593.924 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 20.306329 min 
2021-08-15T13:36:33.924Z,1629034593.924 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-08-15T13:36:33.924Z,1629034593.924 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-15T13:36:33.924Z,1629034593.924 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-08-15T13:36:33.924Z,1629034593.924 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-15T13:36:33.925Z,1629034593.925 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #4
2021-08-15T13:36:33.925Z,1629034593.925 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=4
2021-08-15T13:36:33.925Z,1629034593.925 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-15T13:36:33.925Z,1629034593.925 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-15T13:36:35.881Z,1629034595.881 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,133637.00,A,4133.14056,N,07042.24661,W,0.058,199.16,150821,,,D*7B
2021-08-15T13:36:35.883Z,1629034595.883 [NAL9602](INFO): GPS fix at 20210815T133637: (41.552343, -70.704110)
2021-08-15T13:36:35.894Z,1629034595.894 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-15T13:36:35.894Z,1629034595.894 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-15T13:36:37.856Z,1629034597.856 [DataOverHttps](INFO): Sending 62 bytes from file Logs/20210815T051448/Courier0024.lzma
2021-08-15T13:36:37.858Z,1629034597.858 [DataOverHttps](INFO): Received command:configSet LineCapture.rolloutTimeout 10 minute persist
2021-08-15T13:36:38.161Z,1629034598.161 [CommandLine](IMPORTANT): got command configSet LineCapture.rolloutTimeout 10.000000 minute persist
2021-08-15T13:36:39.033Z,1629034599.033 [DataOverHttps](INFO): Moved sent file to Logs/20210815T051448/Courier0024.lzma.bak
2021-08-15T13:36:39.033Z,1629034599.033 [DataOverHttps](IMPORTANT): SBD MOMSN=442472, MTMSN=20210815T133640
2021-08-15T13:36:42.883Z,1629034602.883 [DataOverHttps](INFO): Received command:configSet LineCapture.rolloutSpeed 0.5 meters_per_second persist
2021-08-15T13:36:43.098Z,1629034603.098 [CommandLine](IMPORTANT): got command configSet LineCapture.rolloutSpeed 0.500000 meter_per_second persist
2021-08-15T13:36:47.896Z,1629034607.896 [DataOverHttps](INFO): Sending 254 bytes from file Logs/20210815T133512/Courier0000.lzma
2021-08-15T13:36:48.898Z,1629034608.898 [DataOverHttps](INFO): Moved sent file to Logs/20210815T133512/Courier0000.lzma.bak
2021-08-15T13:36:48.898Z,1629034608.898 [DataOverHttps](INFO): SBD MOMSN=442476
2021-08-15T13:36:50.015Z,1629034610.015 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T13:36:52.042Z,1629034612.042 [NAL9602](INFO): SBD MO Status=0, MOMSN=24048, MT Status=0, MTMSN=0
2021-08-15T13:36:52.042Z,1629034612.042 [NAL9602](INFO): No messages in MT queue
2021-08-15T13:36:57.935Z,1629034617.935 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210815T133512/Courier0003.lzma
2021-08-15T13:36:58.938Z,1629034618.938 [DataOverHttps](INFO): Moved sent file to Logs/20210815T133512/Courier0003.lzma.bak
2021-08-15T13:36:58.938Z,1629034618.938 [DataOverHttps](INFO): SBD MOMSN=442481
2021-08-15T13:37:00.515Z,1629034620.515 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC, Data Header,2*00

2021-08-15T13:37:00.926Z,1629034620.926 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815133700.139669,06,178,22,0091,0150,149,02,02,00,02,1,-01,-01,2,3,1,0,150,-31.5,0.33,-100,2.67,-01,0.65,57,14500,4000*45

2021-08-15T13:37:07.983Z,1629034627.983 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210815T133512/Courier0006.lzma
2021-08-15T13:37:08.986Z,1629034628.986 [DataOverHttps](INFO): Moved sent file to Logs/20210815T133512/Courier0006.lzma.bak
2021-08-15T13:37:08.986Z,1629034628.986 [DataOverHttps](INFO): SBD MOMSN=442483
2021-08-15T13:37:18.027Z,1629034638.027 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210815T133512/Courier0009.lzma
2021-08-15T13:37:19.030Z,1629034639.030 [DataOverHttps](INFO): Moved sent file to Logs/20210815T133512/Courier0009.lzma.bak
2021-08-15T13:37:19.030Z,1629034639.030 [DataOverHttps](INFO): SBD MOMSN=442485
2021-08-15T13:37:22.738Z,1629034642.738 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-15T13:37:25.169Z,1629034645.169 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T13:37:28.069Z,1629034648.069 [DataOverHttps](INFO): Sending 245 bytes from file Logs/20210815T051448/Express0025.lzma
2021-08-15T13:37:29.070Z,1629034649.070 [DataOverHttps](INFO): Moved sent file to Logs/20210815T051448/Express0025.lzma.bak
2021-08-15T13:37:29.070Z,1629034649.070 [DataOverHttps](INFO): SBD MOMSN=442487
2021-08-15T13:37:38.109Z,1629034658.109 [DataOverHttps](INFO): Sending 477 bytes from file Logs/20210815T133512/Express0001.lzma
2021-08-15T13:37:39.110Z,1629034659.110 [DataOverHttps](INFO): Moved sent file to Logs/20210815T133512/Express0001.lzma.bak
2021-08-15T13:37:39.110Z,1629034659.110 [DataOverHttps](INFO): SBD MOMSN=442499
2021-08-15T13:37:48.147Z,1629034668.147 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20210815T133512/Express0004.lzma
2021-08-15T13:37:49.150Z,1629034669.150 [DataOverHttps](INFO): Moved sent file to Logs/20210815T133512/Express0004.lzma.bak
2021-08-15T13:37:49.150Z,1629034669.150 [DataOverHttps](INFO): SBD MOMSN=442508
2021-08-15T13:37:58.188Z,1629034678.188 [DataOverHttps](INFO): Sending 134 bytes from file Logs/20210815T133512/Express0007.lzma
2021-08-15T13:37:59.190Z,1629034679.190 [DataOverHttps](INFO): Moved sent file to Logs/20210815T133512/Express0007.lzma.bak
2021-08-15T13:37:59.190Z,1629034679.190 [DataOverHttps](INFO): SBD MOMSN=442512
2021-08-15T13:38:08.240Z,1629034688.240 [DataOverHttps](INFO): Sending 183 bytes from file Logs/20210815T133512/Express0010.lzma
2021-08-15T13:38:09.242Z,1629034689.242 [DataOverHttps](INFO): Moved sent file to Logs/20210815T133512/Express0010.lzma.bak
2021-08-15T13:38:09.242Z,1629034689.242 [DataOverHttps](INFO): SBD MOMSN=442519
2021-08-15T13:38:10.847Z,1629034690.847 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-15T13:38:10.848Z,1629034690.848 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-08-15T13:38:10.848Z,1629034690.848 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-15T13:38:51.219Z,1629034731.219 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-15T13:38:51.224Z,1629034731.224 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815133852.141844,06,775,22,0107,0150,134,01,01,01,02,-1,-01,-01,1,3,3,0,150,21.0,-0.03,-100,3.03,-01,-1.22,53,14500,4000*4E

2021-08-15T13:39:15.067Z,1629034755.067 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-15T13:39:15.072Z,1629034755.072 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815133916.132252,06,293,24,0095,0150,141,01,01,00,02,-1,-01,-01,1,3,8,0,150,8.0,-0.32,-100,3.32,-01,0.40,65,14500,4000*59

2021-08-15T13:39:57.071Z,1629034797.071 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-15T13:39:57.076Z,1629034797.076 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815133958.129534,06,334,25,0115,0150,134,03,03,00,03,-1,-01,-01,1,3,8,0,150,12.8,-6.29,-100,9.29,-01,1.25,55,14500,4000*67

2021-08-15T13:40:00.694Z,1629034800.694 [DataOverHttps](IMPORTANT): SBD MTMSN=20210815T134002
2021-08-15T13:40:04.713Z,1629034804.713 [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" 2t1yg 1 2
2021-08-15T13:40:04.740Z,1629034804.740 [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" 2t1yg 1 2.000000
2021-08-15T13:40:04.741Z,1629034804.741 [CommandLine](IMPORTANT): Scheduling command #1 of 2 with id=2t1yg
2021-08-15T13:40:04.742Z,1629034804.742 [CommandLine](IMPORTANT): Scheduled #27 (#1 of 2 with id='2t1yg'): "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
2021-08-15T13:40:05.714Z,1629034805.714 [DataOverHttps](IMPORTANT): SBD MTMSN=20210815T134007
2021-08-15T13:40:09.732Z,1629034809.732 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" 2t1yg 2 2
2021-08-15T13:40:09.773Z,1629034809.773 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" 2t1yg 2 2.000000
2021-08-15T13:40:09.773Z,1629034809.773 [CommandLine](IMPORTANT): Scheduling command #2 of 2 with id=2t1yg
2021-08-15T13:40:09.774Z,1629034809.774 [CommandLine](IMPORTANT): Scheduled #28 (#2 of 2 with id='2t1yg'): "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" ASAP
2021-08-15T13:40:10.037Z,1629034810.037 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureDepth.xml
2021-08-15T13:40:10.037Z,1629034810.037 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureDepth.xml
2021-08-15T13:40:10.180Z,1629034810.180 [MissionManager](INFO): DefineArg lineCaptureDepth.MissionTimeout = 4.000000 h
2021-08-15T13:40:10.183Z,1629034810.183 [MissionManager](INFO): DefineArg lineCaptureDepth.NeedCommsTime = 240.000000 min
2021-08-15T13:40:10.185Z,1629034810.185 [MissionManager](INFO): DefineArg lineCaptureDepth.MicromodemCommsInterval = 5.000000 min
2021-08-15T13:40:10.188Z,1629034810.188 [MissionManager](INFO): DefineArg lineCaptureDepth.Repeat = 1.000000 count
2021-08-15T13:40:10.190Z,1629034810.190 [MissionManager](INFO): DefineArg lineCaptureDepth.WaitOnDockTimeout = 5.000000 min
2021-08-15T13:40:10.193Z,1629034810.193 [MissionManager](INFO): DefineArg lineCaptureDepth.TransponderCode = 2.000000 count
2021-08-15T13:40:10.195Z,1629034810.195 [MissionManager](INFO): DefineArg lineCaptureDepth.TrackingUpdatePeriod = 2.500000 s
2021-08-15T13:40:10.198Z,1629034810.198 [MissionManager](INFO): DefineArg lineCaptureDepth.NumberOfPings = 1.000000 count
2021-08-15T13:40:10.200Z,1629034810.200 [MissionManager](INFO): DefineArg lineCaptureDepth.NumPingsUSBL = 5.000000 count
2021-08-15T13:40:10.203Z,1629034810.203 [MissionManager](INFO): DefineArg lineCaptureDepth.RangeUSBL = 40.000000 m
2021-08-15T13:40:10.205Z,1629034810.205 [MissionManager](INFO): DefineArg lineCaptureDepth.MinAltitude = 5.000000 m
2021-08-15T13:40:10.207Z,1629034810.207 [MissionManager](INFO): DefineArg lineCaptureDepth.MaxDepth = 205.000000 m
2021-08-15T13:40:10.210Z,1629034810.210 [MissionManager](INFO): DefineArg lineCaptureDepth.MinOffshore = 2.000000 km
2021-08-15T13:40:10.213Z,1629034810.213 [MissionManager](INFO): DefineOutput lineCaptureDepth.Mode = -1.000000 count
2021-08-15T13:40:10.215Z,1629034810.215 [MissionManager](INFO): DefineOutput lineCaptureDepth.NumPings = 1.000000 count
2021-08-15T13:40:10.216Z,1629034810.216 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2021-08-15T13:40:10.661Z,1629034810.661 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectChlActive = 0 bool
2021-08-15T13:40:10.663Z,1629034810.663 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.TimeWindowPeakReport = nan min
2021-08-15T13:40:10.665Z,1629034810.665 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestChlPeakReportActive = 0 bool
2021-08-15T13:40:10.667Z,1629034810.667 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestSaltPeakReportActive = 0 bool
2021-08-15T13:40:10.670Z,1629034810.670 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestOilPeakReportActive = 0 bool
2021-08-15T13:40:10.672Z,1629034810.672 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PatchTracking = 0 bool
2021-08-15T13:40:10.674Z,1629034810.674 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.FilterWidthHorizontal = 3.000000 count
2021-08-15T13:40:10.677Z,1629034810.677 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.NumProfilesSlidingwindow = 100.000000 count
2021-08-15T13:40:10.679Z,1629034810.679 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.OffPeakFractionHorizontal = 80.000000 %
2021-08-15T13:40:10.681Z,1629034810.681 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectNO3Active = 0 bool
2021-08-15T13:40:10.683Z,1629034810.683 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectOilActive = 0 bool
2021-08-15T13:40:10.714Z,1629034810.714 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectFDOMActive = 0 bool
2021-08-15T13:40:10.720Z,1629034810.720 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectSalinityActive = 0 bool
2021-08-15T13:40:10.722Z,1629034810.722 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2021-08-15T13:40:10.725Z,1629034810.725 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledAanderaaO2 = 0.000000 bool
2021-08-15T13:40:10.748Z,1629034810.748 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledNeilBrown = 0.000000 bool
2021-08-15T13:40:10.751Z,1629034810.751 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledSeabird = 1.000000 bool
2021-08-15T13:40:10.754Z,1629034810.754 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsBB2FL = 0.000000 bool
2021-08-15T13:40:10.756Z,1629034810.756 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsSeaOWL_UV_A = 1.000000 bool
2021-08-15T13:40:10.759Z,1629034810.759 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsUBAT = 0.000000 bool
2021-08-15T13:40:10.775Z,1629034810.775 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.LowPassWindowLength = 20.000000 count
2021-08-15T13:40:10.778Z,1629034810.778 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.MedianFilterLen = 5.000000 count
2021-08-15T13:40:10.780Z,1629034810.780 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakShallowBound = nan m
2021-08-15T13:40:10.782Z,1629034810.782 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDeepBound = nan m
2021-08-15T13:40:10.842Z,1629034810.842 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2021-08-15T13:40:10.849Z,1629034810.849 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChl = 0.000000 ug/l
2021-08-15T13:40:10.851Z,1629034810.851 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlDepth = 0.000000 m
2021-08-15T13:40:10.862Z,1629034810.862 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlTemperature = 0.000000 degC
2021-08-15T13:40:10.869Z,1629034810.869 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLatitude = nan arcdeg
2021-08-15T13:40:10.871Z,1629034810.871 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLongitude = nan arcdeg
2021-08-15T13:40:10.886Z,1629034810.886 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3 = 0.000000 umol/l
2021-08-15T13:40:10.894Z,1629034810.894 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Depth = 0.000000 m
2021-08-15T13:40:10.900Z,1629034810.900 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Latitude = nan arcdeg
2021-08-15T13:40:10.903Z,1629034810.903 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Longitude = nan arcdeg
2021-08-15T13:40:10.914Z,1629034810.914 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOil = 0.000000 kg/m3
2021-08-15T13:40:10.921Z,1629034810.921 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilDepth = 0.000000 m
2021-08-15T13:40:10.923Z,1629034810.923 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLatitude = nan arcdeg
2021-08-15T13:40:10.930Z,1629034810.930 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLongitude = nan arcdeg
2021-08-15T13:40:10.933Z,1629034810.933 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOM = 0.000000 ppb
2021-08-15T13:40:10.948Z,1629034810.948 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMDepth = 0.000000 m
2021-08-15T13:40:10.956Z,1629034810.956 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMTemperature = nan degC
2021-08-15T13:40:10.959Z,1629034810.959 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLatitude = nan arcdeg
2021-08-15T13:40:10.965Z,1629034810.965 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLongitude = nan arcdeg
2021-08-15T13:40:10.974Z,1629034810.974 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchFDOMDistance = nan m
2021-08-15T13:40:10.990Z,1629034810.990 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSalt = 0.000000 psu
2021-08-15T13:40:11.007Z,1629034811.007 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltDepth = 0.000000 m
2021-08-15T13:40:11.017Z,1629034811.017 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltTemperature = 0.000000 degC
2021-08-15T13:40:11.020Z,1629034811.020 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltLatitude = nan arcdeg
2021-08-15T13:40:11.022Z,1629034811.022 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltLongitude = nan arcdeg
2021-08-15T13:40:11.029Z,1629034811.029 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChl = 0.000000 ug/l
2021-08-15T13:40:11.031Z,1629034811.031 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDepth = 0.000000 m
2021-08-15T13:40:11.038Z,1629034811.038 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLatitude = nan arcdeg
2021-08-15T13:40:11.045Z,1629034811.045 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLongitude = nan arcdeg
2021-08-15T13:40:11.047Z,1629034811.047 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDistance = nan m
2021-08-15T13:40:11.058Z,1629034811.058 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSalt = 0.000000 psu
2021-08-15T13:40:11.072Z,1629034811.072 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltDepth = 0.000000 m
2021-08-15T13:40:11.075Z,1629034811.075 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltLatitude = nan arcdeg
2021-08-15T13:40:11.082Z,1629034811.082 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltLongitude = nan arcdeg
2021-08-15T13:40:11.089Z,1629034811.089 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltDistance = nan m
2021-08-15T13:40:11.091Z,1629034811.091 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOil = 0.000000 psu
2021-08-15T13:40:11.102Z,1629034811.102 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilDepth = 0.000000 m
2021-08-15T13:40:11.109Z,1629034811.109 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilLatitude = nan arcdeg
2021-08-15T13:40:11.111Z,1629034811.111 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilLongitude = nan arcdeg
2021-08-15T13:40:11.118Z,1629034811.118 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilDistance = nan m
2021-08-15T13:40:11.161Z,1629034811.161 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-15T13:40:11.222Z,1629034811.222 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-15T13:40:11.263Z,1629034811.263 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-15T13:40:11.308Z,1629034811.308 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-15T13:40:11.325Z,1629034811.325 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-15T13:40:11.350Z,1629034811.350 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-15T13:40:11.374Z,1629034811.374 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-15T13:40:11.407Z,1629034811.407 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-15T13:40:11.427Z,1629034811.427 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-08-15T13:40:11.465Z,1629034811.465 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinAltitude = 5.000000 m
2021-08-15T13:40:11.467Z,1629034811.467 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MaxDepth = 200.000000 m
2021-08-15T13:40:11.474Z,1629034811.474 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-08-15T13:40:11.475Z,1629034811.475 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-08-15T13:40:11.491Z,1629034811.491 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-08-15T13:40:11.506Z,1629034811.506 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-08-15T13:40:11.528Z,1629034811.528 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2021-08-15T13:40:11.619Z,1629034811.619 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.DiveInterval = 3.000000 h
2021-08-15T13:40:11.626Z,1629034811.626 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.WaitForPitchUp = 10.000000 min
2021-08-15T13:40:11.637Z,1629034811.637 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfacePitch = 20.000000 arcdeg
2021-08-15T13:40:11.639Z,1629034811.639 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceDepthRate = nan m/s
2021-08-15T13:40:11.650Z,1629034811.650 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceSpeed = 1.000000 m/s
2021-08-15T13:40:11.664Z,1629034811.664 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.GPSTimeout = 7.000000 min
2021-08-15T13:40:11.667Z,1629034811.667 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.CommsTimeout = 30.000000 min
2021-08-15T13:40:11.693Z,1629034811.693 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-08-15T13:40:11.737Z,1629034811.737 [MissionManager](INFO): Inserting Stack: Missions/Insert/MicromodemComms.xml
2021-08-15T13:40:11.762Z,1629034811.762 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.Timeout = 10.000000 min
2021-08-15T13:40:11.765Z,1629034811.765 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.CommsInterval = 5.000000 min
2021-08-15T13:40:11.778Z,1629034811.778 [MissionManager](INFO): RedefineArg lineCaptureDepth:MicromodemComms.CommsInterval = reader:lineCaptureDepth.MicromodemCommsInterval
2021-08-15T13:40:11.802Z,1629034811.802 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml
2021-08-15T13:40:11.957Z,1629034811.957 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLat = 41.552317 arcdeg
2021-08-15T13:40:11.959Z,1629034811.959 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLon = -70.708600 arcdeg
2021-08-15T13:40:11.962Z,1629034811.962 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DetachTimeout = 30.000000 min
2021-08-15T13:40:11.964Z,1629034811.964 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseDepth = 6.000000 m
2021-08-15T13:40:11.967Z,1629034811.967 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseSpeed = 1.000000 m/s
2021-08-15T13:40:11.969Z,1629034811.969 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseTimeout = 6.000000 h
2021-08-15T13:40:11.972Z,1629034811.972 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.TerminalRange = 650.000000 m
2021-08-15T13:40:11.975Z,1629034811.975 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.AcousticTimeout = 5.000000 min
2021-08-15T13:40:11.978Z,1629034811.978 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.SearchTimeout = 1.000000 h
2021-08-15T13:40:11.980Z,1629034811.980 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleRadius = 25.000000 m
2021-08-15T13:40:11.982Z,1629034811.982 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleMaxError = 1.000000 m
2021-08-15T13:40:11.986Z,1629034811.986 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleTurnToPort = 0 bool
2021-08-15T13:40:11.989Z,1629034811.989 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DepthDeadband = 0.010000 m
2021-08-15T13:40:11.991Z,1629034811.991 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.RudderDeadband = 0.001000 arcdeg
2021-08-15T13:40:11.993Z,1629034811.993 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinAltitude = 2.000000 m
2021-08-15T13:40:12.080Z,1629034812.080 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MaxDepth = 8.000000 m
2021-08-15T13:40:12.082Z,1629034812.082 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinOffshore = 1.000000 m
2021-08-15T13:40:12.093Z,1629034812.093 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DoneTimeout = -1.000000 count
2021-08-15T13:40:12.095Z,1629034812.095 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Done = 0.000000 count
2021-08-15T13:40:12.113Z,1629034812.113 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DetachFromDock = 1.000000 count
2021-08-15T13:40:12.115Z,1629034812.115 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Midcourse = 2.000000 count
2021-08-15T13:40:12.126Z,1629034812.126 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Terminal = 3.000000 count
2021-08-15T13:40:12.131Z,1629034812.131 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.GuidanceMode = 1.000000 n/a
2021-08-15T13:40:12.142Z,1629034812.142 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DockingDepth = 1.000000 m
2021-08-15T13:40:12.148Z,1629034812.148 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.ElapsedRange = 0.000000 min
2021-08-15T13:40:12.150Z,1629034812.150 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.Range = nan m
2021-08-15T13:40:12.159Z,1629034812.159 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-08-15T13:40:12.191Z,1629034812.191 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2021-08-15T13:40:12.193Z,1629034812.193 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2021-08-15T13:40:12.204Z,1629034812.204 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-08-15T13:40:12.205Z,1629034812.205 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-08-15T13:40:12.221Z,1629034812.221 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-08-15T13:40:12.240Z,1629034812.240 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-08-15T13:40:12.323Z,1629034812.323 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Construct.
2021-08-15T13:40:12.345Z,1629034812.345 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Construct Buoyancy.
2021-08-15T13:40:12.386Z,1629034812.386 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2021-08-15T13:40:12.386Z,1629034812.386 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-15T13:40:12.473Z,1629034812.473 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2021-08-15T13:40:12.484Z,1629034812.484 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2021-08-15T13:40:12.497Z,1629034812.497 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2021-08-15T13:40:12.533Z,1629034812.533 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Construct.
2021-08-15T13:40:12.543Z,1629034812.543 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Construct Wait.
2021-08-15T13:40:12.578Z,1629034812.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Construct.
2021-08-15T13:40:12.594Z,1629034812.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Construct.
2021-08-15T13:40:12.602Z,1629034812.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-15T13:40:12.602Z,1629034812.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-15T13:40:12.614Z,1629034812.614 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Construct Wait.
2021-08-15T13:40:12.638Z,1629034812.638 [MissionManager](INFO): Inserting Stack: Missions/Insert/SetNavAcoustic.xml
2021-08-15T13:40:12.678Z,1629034812.678 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLat = 41.552317 arcdeg
2021-08-15T13:40:12.681Z,1629034812.681 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLon = -70.708600 arcdeg
2021-08-15T13:40:12.683Z,1629034812.683 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockRange = 5.000000 m
2021-08-15T13:40:12.686Z,1629034812.686 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.RangeTimeout = 5.000000 min
2021-08-15T13:40:12.692Z,1629034812.692 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2021-08-15T13:40:12.721Z,1629034812.721 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Construct.
2021-08-15T13:40:12.721Z,1629034812.721 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2021-08-15T13:40:12.758Z,1629034812.758 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Construct.
2021-08-15T13:40:12.758Z,1629034812.758 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2021-08-15T13:40:12.816Z,1629034812.816 [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>


2021-08-15T13:40:12.817Z,1629034812.817 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureDepth.xml
2021-08-15T13:40:26.515Z,1629034826.515 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MissionTimeout 120.000000 minute
2021-08-15T13:40:26.516Z,1629034826.516 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MicromodemCommsInterval 30.000000 minute
2021-08-15T13:40:26.517Z,1629034826.517 [CommandLine](IMPORTANT): got command set lineCaptureDepth.Repeat 20.000000 count
2021-08-15T13:40:26.517Z,1629034826.517 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinAltitude 3.000000 meter
2021-08-15T13:40:32.616Z,1629034832.616 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MaxDepth 9.000000 meter
2021-08-15T13:40:32.617Z,1629034832.617 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinOffshore 0.500000 kilometer
2021-08-15T13:40:32.618Z,1629034832.618 [CommandLine](IMPORTANT): got command run
2021-08-15T13:40:32.664Z,1629034832.664 [CommandLine](IMPORTANT): Running 
2021-08-15T13:40:32.722Z,1629034832.722 [DefaultWithUndock] Stopped
2021-08-15T13:40:32.722Z,1629034832.722 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2021-08-15T13:40:32.722Z,1629034832.722 [DefaultWithUndock:SurfaceDefault] Stopped
2021-08-15T13:40:32.722Z,1629034832.722 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2021-08-15T13:40:32.722Z,1629034832.722 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Stopped
2021-08-15T13:40:32.722Z,1629034832.722 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-08-15T13:40:32.723Z,1629034832.723 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-08-15T13:40:32.723Z,1629034832.723 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-15T13:40:32.723Z,1629034832.723 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-08-15T13:40:32.723Z,1629034832.723 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-08-15T13:40:32.723Z,1629034832.723 [MissionManager](IMPORTANT): Started mission lineCaptureDepth
2021-08-15T13:40:32.723Z,1629034832.723 [lineCaptureDepth] Running Loop=1
2021-08-15T13:40:32.723Z,1629034832.723 [lineCaptureDepth](DEBUG): Aggregate::initialize lineCaptureDepth
2021-08-15T13:40:32.724Z,1629034832.724 [lineCaptureDepth:Science] Running Loop=1
2021-08-15T13:40:32.724Z,1629034832.724 [lineCaptureDepth:Science](DEBUG): Aggregate::initialize lineCaptureDepth:Science
2021-08-15T13:40:32.724Z,1629034832.724 [lineCaptureDepth:Science:A] Running Loop=1
2021-08-15T13:40:32.724Z,1629034832.724 [lineCaptureDepth:Science:B] Running Loop=1
2021-08-15T13:40:32.724Z,1629034832.724 [lineCaptureDepth:Science:C] Running Loop=1
2021-08-15T13:40:32.724Z,1629034832.724 [lineCaptureDepth:Science:D] Running Loop=1
2021-08-15T13:40:32.724Z,1629034832.724 [lineCaptureDepth:Science:E] Running Loop=1
2021-08-15T13:40:32.724Z,1629034832.724 [lineCaptureDepth:Science:F] Running Loop=1
2021-08-15T13:40:32.724Z,1629034832.724 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2021-08-15T13:40:32.725Z,1629034832.725 [lineCaptureDepth:Science:PeakDetectChl] Running Loop=1
2021-08-15T13:40:32.725Z,1629034832.725 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectChl
2021-08-15T13:40:32.725Z,1629034832.725 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2021-08-15T13:40:32.725Z,1629034832.725 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-15T13:40:32.726Z,1629034832.726 [lineCaptureDepth:Science:HighestChlPeakReport] Running Loop=1
2021-08-15T13:40:32.726Z,1629034832.726 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestChlPeakReport
2021-08-15T13:40:32.727Z,1629034832.727 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-15T13:40:32.727Z,1629034832.727 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-15T13:40:32.727Z,1629034832.727 [lineCaptureDepth:Science:PeakDetectNO3] Running Loop=1
2021-08-15T13:40:32.727Z,1629034832.727 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectNO3
2021-08-15T13:40:32.727Z,1629034832.727 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2021-08-15T13:40:32.728Z,1629034832.728 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-15T13:40:32.729Z,1629034832.729 [lineCaptureDepth:Science:PeakDetectOil] Running Loop=1
2021-08-15T13:40:32.729Z,1629034832.729 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectOil
2021-08-15T13:40:32.729Z,1629034832.729 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2021-08-15T13:40:32.729Z,1629034832.729 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-15T13:40:32.730Z,1629034832.730 [lineCaptureDepth:Science:HighestOilPeakReport] Running Loop=1
2021-08-15T13:40:32.731Z,1629034832.731 [lineCaptureDepth:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestOilPeakReport
2021-08-15T13:40:32.731Z,1629034832.731 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-15T13:40:32.731Z,1629034832.731 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-15T13:40:32.731Z,1629034832.731 [lineCaptureDepth:Science:PeakDetectFDOM] Running Loop=1
2021-08-15T13:40:32.731Z,1629034832.731 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectFDOM
2021-08-15T13:40:32.732Z,1629034832.732 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2021-08-15T13:40:32.733Z,1629034832.733 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-15T13:40:32.734Z,1629034832.734 [lineCaptureDepth:Science:PeakDetectSalinity] Running Loop=1
2021-08-15T13:40:32.734Z,1629034832.734 [lineCaptureDepth:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectSalinity
2021-08-15T13:40:32.734Z,1629034832.734 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2021-08-15T13:40:32.734Z,1629034832.734 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-15T13:40:32.735Z,1629034832.735 [lineCaptureDepth:Science:HighestSaltPeakReport] Running Loop=1
2021-08-15T13:40:32.736Z,1629034832.736 [lineCaptureDepth:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestSaltPeakReport
2021-08-15T13:40:32.736Z,1629034832.736 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-15T13:40:32.736Z,1629034832.736 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-15T13:40:32.737Z,1629034832.737 [lineCaptureDepth:Science:OceanCurrent] Running Loop=1
2021-08-15T13:40:32.737Z,1629034832.737 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::initialize lineCaptureDepth:Science:OceanCurrent
2021-08-15T13:40:32.737Z,1629034832.737 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2021-08-15T13:40:32.737Z,1629034832.737 [lineCaptureDepth:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2021-08-15T13:40:32.737Z,1629034832.737 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2021-08-15T13:40:32.738Z,1629034832.738 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:StandardEnvelopes
2021-08-15T13:40:32.738Z,1629034832.738 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-15T13:40:32.738Z,1629034832.738 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-15T13:40:32.738Z,1629034832.738 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-15T13:40:32.738Z,1629034832.738 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-15T13:40:32.738Z,1629034832.738 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-15T13:40:32.738Z,1629034832.738 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-15T13:40:32.738Z,1629034832.738 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-15T13:40:32.738Z,1629034832.738 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-15T13:40:32.739Z,1629034832.739 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-15T13:40:32.739Z,1629034832.739 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T13:40:32.739Z,1629034832.739 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-15T13:40:32.739Z,1629034832.739 [lineCaptureDepth:TrackAC.] Running Loop=1
2021-08-15T13:40:32.739Z,1629034832.739 [lineCaptureDepth:TrackAC.](INFO): Initializing TrackAcousticContact.
2021-08-15T13:40:32.739Z,1629034832.739 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-08-15T13:40:32.739Z,1629034832.739 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-15T13:40:32.756Z,1629034832.756 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Running Loop=1
2021-08-15T13:40:32.756Z,1629034832.756 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-15T13:40:32.756Z,1629034832.756 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-15T13:40:32.756Z,1629034832.756 [lineCaptureDepth:C] Running Loop=1
2021-08-15T13:40:32.758Z,1629034832.758 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-15T13:40:32.758Z,1629034832.758 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-15T13:40:32.758Z,1629034832.758 [lineCaptureDepth:UpdateNumPings_NotTerminal] Stopped
2021-08-15T13:40:32.758Z,1629034832.758 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-15T13:40:32.758Z,1629034832.758 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Stopped
2021-08-15T13:40:32.758Z,1629034832.758 [lineCaptureDepth:TrackAC.] Running Loop=1
2021-08-15T13:40:32.759Z,1629034832.759 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-15T13:40:32.759Z,1629034832.759 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-15T13:40:32.759Z,1629034832.759 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-15T13:40:32.759Z,1629034832.759 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T13:40:32.759Z,1629034832.759 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-15T13:40:32.759Z,1629034832.759 [lineCaptureDepth:C] Stopped
2021-08-15T13:40:32.764Z,1629034832.764 [lineCaptureDepth:D] Running Loop=1
2021-08-15T13:40:32.764Z,1629034832.764 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2021-08-15T13:40:32.764Z,1629034832.764 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-15T13:40:32.764Z,1629034832.764 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-15T13:40:32.765Z,1629034832.765 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-15T13:40:32.765Z,1629034832.765 [lineCaptureDepth:Science] Running Loop=1
2021-08-15T13:40:32.766Z,1629034832.766 [lineCaptureDepth:Science:HighestSaltPeakReport] Stopped
2021-08-15T13:40:32.766Z,1629034832.766 [lineCaptureDepth:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestSaltPeakReport
2021-08-15T13:40:32.767Z,1629034832.767 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-15T13:40:32.767Z,1629034832.767 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-15T13:40:32.767Z,1629034832.767 [lineCaptureDepth:Science:PeakDetectSalinity] Stopped
2021-08-15T13:40:32.767Z,1629034832.767 [lineCaptureDepth:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectSalinity
2021-08-15T13:40:32.767Z,1629034832.767 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2021-08-15T13:40:32.767Z,1629034832.767 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-15T13:40:32.767Z,1629034832.767 [lineCaptureDepth:Science:PeakDetectFDOM] Stopped
2021-08-15T13:40:32.767Z,1629034832.767 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectFDOM
2021-08-15T13:40:32.767Z,1629034832.767 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2021-08-15T13:40:32.767Z,1629034832.767 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-15T13:40:32.767Z,1629034832.767 [lineCaptureDepth:Science:HighestOilPeakReport] Stopped
2021-08-15T13:40:32.772Z,1629034832.772 [lineCaptureDepth:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestOilPeakReport
2021-08-15T13:40:32.772Z,1629034832.772 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-15T13:40:32.772Z,1629034832.772 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-15T13:40:32.772Z,1629034832.772 [lineCaptureDepth:Science:PeakDetectOil] Stopped
2021-08-15T13:40:32.772Z,1629034832.772 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectOil
2021-08-15T13:40:32.772Z,1629034832.772 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2021-08-15T13:40:32.772Z,1629034832.772 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-15T13:40:32.773Z,1629034832.773 [lineCaptureDepth:Science:PeakDetectNO3] Stopped
2021-08-15T13:40:32.773Z,1629034832.773 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectNO3
2021-08-15T13:40:32.773Z,1629034832.773 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2021-08-15T13:40:32.773Z,1629034832.773 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-15T13:40:32.773Z,1629034832.773 [lineCaptureDepth:Science:HighestChlPeakReport] Stopped
2021-08-15T13:40:32.773Z,1629034832.773 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestChlPeakReport
2021-08-15T13:40:32.773Z,1629034832.773 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-15T13:40:32.773Z,1629034832.773 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-15T13:40:32.773Z,1629034832.773 [lineCaptureDepth:Science:PeakDetectChl] Stopped
2021-08-15T13:40:32.773Z,1629034832.773 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectChl
2021-08-15T13:40:32.774Z,1629034832.774 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2021-08-15T13:40:32.774Z,1629034832.774 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-15T13:40:32.774Z,1629034832.774 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2021-08-15T13:40:32.775Z,1629034832.775 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2021-08-15T13:40:32.780Z,1629034832.780 [lineCaptureDepth:Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_petroleum_hydrocarbons_in_sea_water
2021-08-15T13:40:32.780Z,1629034832.780 [lineCaptureDepth:Science:F] Stopped
2021-08-15T13:40:32.781Z,1629034832.781 [lineCaptureDepth:Science:E] Stopped
2021-08-15T13:40:32.781Z,1629034832.781 [lineCaptureDepth:Science:D] Stopped
2021-08-15T13:40:32.781Z,1629034832.781 [lineCaptureDepth:Science:C] Running Loop=1
2021-08-15T13:40:32.788Z,1629034832.788 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2021-08-15T13:40:32.788Z,1629034832.788 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2021-08-15T13:40:32.789Z,1629034832.789 [lineCaptureDepth:Science:B] Running Loop=1
2021-08-15T13:40:32.789Z,1629034832.789 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2021-08-15T13:40:32.790Z,1629034832.790 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2021-08-15T13:40:32.790Z,1629034832.790 [lineCaptureDepth:Science:A] Stopped
2021-08-15T13:40:32.994Z,1629034832.994 [WetLabsSeaOWL_UV_A](INFO): Powering up
2021-08-15T13:40:33.066Z,1629034833.066 [lineCaptureDepth:D] Stopped
2021-08-15T13:40:33.066Z,1629034833.066 [lineCaptureDepth:E] Running Loop=1
2021-08-15T13:40:33.489Z,1629034833.489 [lineCaptureDepth:E] Stopped
2021-08-15T13:40:33.489Z,1629034833.489 [lineCaptureDepth:G] Running Loop=1
2021-08-15T13:40:33.863Z,1629034833.863 [lineCaptureDepth:G] Stopped
2021-08-15T13:40:33.863Z,1629034833.863 [lineCaptureDepth:H] Running Loop=1
2021-08-15T13:40:34.268Z,1629034834.268 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:1401.421997
2021-08-15T13:40:34.285Z,1629034834.285 [lineCaptureDepth:H] Stopped
2021-08-15T13:40:34.286Z,1629034834.286 [lineCaptureDepth:J] Running Loop=1
2021-08-15T13:40:34.719Z,1629034834.719 [lineCaptureDepth:J] Stopped
2021-08-15T13:40:34.720Z,1629034834.720 [lineCaptureDepth:M] Running Loop=1
2021-08-15T13:40:35.090Z,1629034835.090 [lineCaptureDepth:M] Stopped
2021-08-15T13:40:35.090Z,1629034835.090 [lineCaptureDepth:N] Running Loop=1
2021-08-15T13:40:35.490Z,1629034835.490 [lineCaptureDepth:N] Stopped
2021-08-15T13:40:35.491Z,1629034835.491 [lineCaptureDepth:O] Running Loop=1
2021-08-15T13:40:35.491Z,1629034835.491 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:40:35.869Z,1629034835.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:40:35.869Z,1629034835.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:40:35.869Z,1629034835.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:40:35.870Z,1629034835.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:40:35.909Z,1629034835.909 [lineCaptureDepth:O] Stopped
2021-08-15T13:40:35.909Z,1629034835.909 [lineCaptureDepth:Lap] Running Loop=1
2021-08-15T13:40:35.910Z,1629034835.910 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-08-15T13:40:35.910Z,1629034835.910 [lineCaptureDepth:Lap:A] Running Loop=1
2021-08-15T13:40:36.242Z,1629034836.242 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2021-08-15T13:40:36.277Z,1629034836.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
039,000,016DD,184,80,80,40,FF
2021-08-15T13:40:36.277Z,1629034836.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:40:36.277Z,1629034836.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:40:36.279Z,1629034836.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:40:36.425Z,1629034836.425 [lineCaptureDepth:Lap:A] Stopped
2021-08-15T13:40:36.426Z,1629034836.426 [lineCaptureDepth:Lap:B] Running Loop=1
2021-08-15T13:40:36.426Z,1629034836.426 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-08-15T13:40:36.697Z,1629034836.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:40:36.763Z,1629034836.763 [lineCaptureDepth:LineCapture] Running Loop=1
2021-08-15T13:40:36.764Z,1629034836.764 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-08-15T13:40:36.764Z,1629034836.764 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-15T13:40:36.764Z,1629034836.764 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-15T13:40:36.764Z,1629034836.764 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-15T13:40:36.764Z,1629034836.764 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-15T13:40:36.764Z,1629034836.764 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-15T13:40:36.764Z,1629034836.764 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-15T13:40:36.765Z,1629034836.765 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-15T13:40:36.765Z,1629034836.765 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-15T13:40:36.765Z,1629034836.765 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-15T13:40:36.765Z,1629034836.765 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-15T13:40:36.765Z,1629034836.765 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-15T13:40:36.765Z,1629034836.765 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-15T13:40:36.765Z,1629034836.765 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-15T13:40:36.765Z,1629034836.765 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-15T13:40:36.765Z,1629034836.765 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-15T13:40:36.766Z,1629034836.766 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-15T13:40:36.766Z,1629034836.766 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-15T13:40:36.767Z,1629034836.767 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-08-15T13:40:36.767Z,1629034836.767 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-15T13:40:36.768Z,1629034836.768 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-15T13:40:36.769Z,1629034836.769 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-15T13:40:36.769Z,1629034836.769 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-15T13:40:36.769Z,1629034836.769 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-15T13:40:36.769Z,1629034836.769 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-15T13:40:36.770Z,1629034836.770 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-15T13:40:36.770Z,1629034836.770 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-15T13:40:36.771Z,1629034836.771 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-15T13:40:36.771Z,1629034836.771 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-15T13:40:36.771Z,1629034836.771 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-15T13:40:36.773Z,1629034836.773 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-15T13:40:36.773Z,1629034836.773 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-15T13:40:36.774Z,1629034836.774 [lineCaptureDepth:LineCapture:A] Stopped
2021-08-15T13:40:36.774Z,1629034836.774 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-08-15T13:40:37.119Z,1629034837.119 [lineCaptureDepth:LineCapture:B] Stopped
2021-08-15T13:40:37.119Z,1629034837.119 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-08-15T13:40:37.492Z,1629034837.492 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D85,000,01384,188,80,80,90,FF
2021-08-15T13:40:37.493Z,1629034837.493 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:40:37.496Z,1629034837.496 [Micromodem](INFO): Nmea in: $SNTTA,0.176344,,,,134038.16*49

2021-08-15T13:40:37.530Z,1629034837.530 [lineCaptureDepth:LineCapture:D] Stopped
2021-08-15T13:40:37.530Z,1629034837.530 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-08-15T13:40:37.944Z,1629034837.944 [lineCaptureDepth:LineCapture:E] Stopped
2021-08-15T13:40:37.944Z,1629034837.944 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-08-15T13:40:38.396Z,1629034838.396 [lineCaptureDepth:LineCapture:F] Stopped
2021-08-15T13:40:38.397Z,1629034838.397 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-08-15T13:40:38.397Z,1629034838.397 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-15T13:40:38.397Z,1629034838.397 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-15T13:40:38.397Z,1629034838.397 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-15T13:40:38.397Z,1629034838.397 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-08-15T13:40:38.397Z,1629034838.397 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-15T13:40:38.397Z,1629034838.397 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-08-15T13:40:38.398Z,1629034838.398 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-08-15T13:40:38.398Z,1629034838.398 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-15T13:40:38.398Z,1629034838.398 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-15T13:40:38.398Z,1629034838.398 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-15T13:40:38.398Z,1629034838.398 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-15T13:40:38.398Z,1629034838.398 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-15T13:40:38.398Z,1629034838.398 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-15T13:40:38.399Z,1629034838.399 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-15T13:40:38.399Z,1629034838.399 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-15T13:40:38.399Z,1629034838.399 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-15T13:40:38.399Z,1629034838.399 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-15T13:40:38.399Z,1629034838.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-15T13:40:38.399Z,1629034838.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-15T13:40:38.399Z,1629034838.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-15T13:40:38.404Z,1629034838.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-15T13:40:38.404Z,1629034838.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-15T13:40:38.404Z,1629034838.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-15T13:40:38.404Z,1629034838.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-15T13:40:38.404Z,1629034838.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-15T13:40:38.404Z,1629034838.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-15T13:40:38.753Z,1629034838.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-15T13:40:38.753Z,1629034838.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-15T13:40:38.753Z,1629034838.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-15T13:40:38.754Z,1629034838.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-15T13:40:38.754Z,1629034838.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-15T13:40:38.754Z,1629034838.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-15T13:40:38.754Z,1629034838.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-15T13:40:38.754Z,1629034838.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-15T13:40:38.754Z,1629034838.754 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-15T13:40:38.754Z,1629034838.754 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-15T13:40:38.754Z,1629034838.754 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-15T13:40:38.754Z,1629034838.754 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-15T13:40:38.754Z,1629034838.754 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-15T13:40:38.754Z,1629034838.754 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-15T13:40:38.755Z,1629034838.755 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-15T13:40:38.755Z,1629034838.755 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-15T13:40:38.755Z,1629034838.755 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-15T13:40:39.121Z,1629034839.121 [PowerOnly](INFO): Powering up loadControl
2021-08-15T13:40:40.368Z,1629034840.368 [DDM](ERROR): Could not parse latch state
2021-08-15T13:40:40.432Z,1629034840.432 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:40:40.780Z,1629034840.780 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:40:40.780Z,1629034840.780 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:40:40.781Z,1629034840.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:40:40.783Z,1629034840.783 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:40:41.157Z,1629034841.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D85,000,01384,188,80,80,90,FF
2021-08-15T13:40:41.157Z,1629034841.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:40:41.157Z,1629034841.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:40:41.159Z,1629034841.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:40:41.595Z,1629034841.595 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:40:41.627Z,1629034841.627 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-08-15T13:40:42.014Z,1629034842.014 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-15T13:40:42.421Z,1629034842.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D5D,000,01378,189,80,80,71,FF
2021-08-15T13:40:42.422Z,1629034842.422 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:40:42.425Z,1629034842.425 [Micromodem](INFO): Nmea in: $SNTTA,0.176361,,,,134043.04*41

2021-08-15T13:40:45.217Z,1629034845.217 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:40:45.608Z,1629034845.608 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:40:45.609Z,1629034845.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:40:45.609Z,1629034845.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:40:45.611Z,1629034845.611 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:40:46.013Z,1629034846.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D5D,000,01378,189,80,80,71,FF
2021-08-15T13:40:46.013Z,1629034846.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:40:46.013Z,1629034846.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:40:46.015Z,1629034846.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:40:46.436Z,1629034846.436 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:40:47.241Z,1629034847.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,139,000,01387,186,80,80,87,FF
2021-08-15T13:40:47.241Z,1629034847.241 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:40:47.245Z,1629034847.245 [Micromodem](INFO): Nmea in: $SNTTA,0.176856,,,,134047.90*47

2021-08-15T13:40:50.061Z,1629034850.061 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:40:50.445Z,1629034850.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:40:50.445Z,1629034850.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:40:50.445Z,1629034850.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:40:50.446Z,1629034850.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:40:50.853Z,1629034850.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
139,000,01387,186,80,80,87,FF
2021-08-15T13:40:50.853Z,1629034850.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:40:50.853Z,1629034850.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:40:50.855Z,1629034850.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:40:51.261Z,1629034851.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:40:52.086Z,1629034852.086 [Micromodem](INFO): Nmea in: $SNTTA,0.176359,,,,134052.74*4D

2021-08-15T13:40:52.885Z,1629034852.885 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:40:54.509Z,1629034854.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,186,80,80,87,FF
2021-08-15T13:40:54.509Z,1629034854.509 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,186,80,80,87,FF
2021-08-15T13:40:54.509Z,1629034854.509 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T13:40:55.720Z,1629034855.720 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:40:56.101Z,1629034856.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:40:56.101Z,1629034856.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:40:56.101Z,1629034856.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:40:56.102Z,1629034856.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:40:56.514Z,1629034856.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,186,80,80,87,FF
2021-08-15T13:40:56.514Z,1629034856.514 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:40:56.514Z,1629034856.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:40:56.515Z,1629034856.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:40:56.912Z,1629034856.912 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:40:57.730Z,1629034857.730 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134058.40*51

2021-08-15T13:40:58.575Z,1629034858.575 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:41:00.153Z,1629034860.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,186,80,80,87,FF
2021-08-15T13:41:00.153Z,1629034860.153 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,186,80,80,87,FF
2021-08-15T13:41:00.154Z,1629034860.154 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T13:41:01.399Z,1629034861.399 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:41:01.765Z,1629034861.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:41:01.765Z,1629034861.765 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:41:01.765Z,1629034861.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:41:01.766Z,1629034861.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:41:02.166Z,1629034862.166 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,186,80,80,87,FF
2021-08-15T13:41:02.166Z,1629034862.166 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:41:02.166Z,1629034862.166 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:41:02.168Z,1629034862.168 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:41:02.283Z,1629034862.283 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 262.44 m. Transitioning DDM to standby.
2021-08-15T13:41:02.582Z,1629034862.582 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:41:03.417Z,1629034863.417 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134104.05*58

2021-08-15T13:41:04.201Z,1629034864.201 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:41:04.671Z,1629034864.671 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-08-15T13:41:05.024Z,1629034865.024 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-08-15T13:41:05.024Z,1629034865.024 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-08-15T13:41:05.025Z,1629034865.025 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-08-15T13:41:05.387Z,1629034865.387 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-08-15T13:41:05.387Z,1629034865.387 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-08-15T13:41:05.387Z,1629034865.387 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-08-15T13:41:05.797Z,1629034865.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,186,80,80,87,FF
2021-08-15T13:41:05.798Z,1629034865.798 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,186,80,80,87,FF
2021-08-15T13:41:05.798Z,1629034865.798 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T13:41:05.925Z,1629034865.925 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-08-15T13:41:05.925Z,1629034865.925 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-15T13:41:05.925Z,1629034865.925 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-08-15T13:41:05.925Z,1629034865.925 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-15T13:41:05.925Z,1629034865.925 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-15T13:41:06.198Z,1629034866.198 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-15T13:41:06.198Z,1629034866.198 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-15T13:41:06.199Z,1629034866.199 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-15T13:41:06.199Z,1629034866.199 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-15T13:41:06.199Z,1629034866.199 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-15T13:41:06.199Z,1629034866.199 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-15T13:41:06.199Z,1629034866.199 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-15T13:41:06.199Z,1629034866.199 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-15T13:41:06.199Z,1629034866.199 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-15T13:41:06.199Z,1629034866.199 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-15T13:41:06.216Z,1629034866.216 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-15T13:41:06.217Z,1629034866.217 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-15T13:41:06.217Z,1629034866.217 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-08-15T13:41:06.217Z,1629034866.217 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-15T13:41:06.218Z,1629034866.218 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-08-15T13:41:06.218Z,1629034866.218 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 262.439972 m 
2021-08-15T13:41:06.219Z,1629034866.219 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-08-15T13:41:06.219Z,1629034866.219 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-08-15T13:41:06.224Z,1629034866.224 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-08-15T13:41:06.224Z,1629034866.224 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-15T13:41:06.224Z,1629034866.224 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-08-15T13:41:06.224Z,1629034866.224 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-08-15T13:41:06.643Z,1629034866.643 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-08-15T13:41:06.643Z,1629034866.643 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-15T13:41:06.643Z,1629034866.643 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-08-15T13:41:06.643Z,1629034866.643 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-15T13:41:06.643Z,1629034866.643 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-15T13:41:06.643Z,1629034866.643 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-15T13:41:06.643Z,1629034866.643 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-15T13:41:06.648Z,1629034866.648 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-15T13:41:06.648Z,1629034866.648 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-15T13:41:06.648Z,1629034866.648 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-15T13:41:06.648Z,1629034866.648 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-15T13:41:06.648Z,1629034866.648 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-15T13:41:06.649Z,1629034866.649 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-15T13:41:06.649Z,1629034866.649 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-15T13:41:06.649Z,1629034866.649 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-15T13:41:07.059Z,1629034867.059 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-15T13:41:07.059Z,1629034867.059 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-15T13:41:07.059Z,1629034867.059 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-15T13:41:07.064Z,1629034867.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-15T13:41:07.065Z,1629034867.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-15T13:41:07.065Z,1629034867.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-15T13:41:07.065Z,1629034867.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-15T13:41:07.065Z,1629034867.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-15T13:41:07.065Z,1629034867.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-15T13:41:07.065Z,1629034867.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-15T13:41:07.065Z,1629034867.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-15T13:41:07.065Z,1629034867.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-15T13:41:07.065Z,1629034867.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-15T13:41:07.066Z,1629034867.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-15T13:41:07.066Z,1629034867.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-15T13:41:07.066Z,1629034867.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-15T13:41:07.067Z,1629034867.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-08-15T13:41:07.067Z,1629034867.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-15T13:41:07.067Z,1629034867.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-08-15T13:41:07.067Z,1629034867.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-08-15T13:41:07.067Z,1629034867.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-15T13:41:07.067Z,1629034867.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-15T13:41:07.072Z,1629034867.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 600.00 sec.
2021-08-15T13:41:07.073Z,1629034867.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-15T13:41:07.073Z,1629034867.073 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-15T13:41:07.073Z,1629034867.073 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-15T13:41:07.073Z,1629034867.073 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-15T13:41:07.073Z,1629034867.073 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-15T13:41:07.073Z,1629034867.073 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-15T13:41:07.074Z,1629034867.074 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-15T13:41:07.074Z,1629034867.074 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-15T13:41:07.074Z,1629034867.074 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-08-15T13:41:07.074Z,1629034867.074 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-08-15T13:41:07.080Z,1629034867.080 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:41:07.389Z,1629034867.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:41:07.389Z,1629034867.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:41:07.389Z,1629034867.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:41:07.390Z,1629034867.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:41:07.444Z,1629034867.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 262.439972 m, bearing: 7.919783 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-15T13:41:07.445Z,1629034867.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 7.919783deg and heading rate command to 0 deg/s.
2021-08-15T13:41:07.785Z,1629034867.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,186,80,80,87,FF
2021-08-15T13:41:07.785Z,1629034867.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:41:07.785Z,1629034867.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:41:07.787Z,1629034867.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:41:08.305Z,1629034868.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:41:08.713Z,1629034868.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D1280,63,E4
7,186,80,80,87,FF
2021-08-15T13:41:08.713Z,1629034868.713 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,D1280,63,E4
7,186,80,80,87,FF
2021-08-15T13:41:09.137Z,1629034869.137 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134109.67*51

2021-08-15T13:41:10.022Z,1629034870.022 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:41:10.432Z,1629034870.432 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T13:41:12.803Z,1629034872.803 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:41:13.584Z,1629034873.584 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.193850
2021-08-15T13:41:15.638Z,1629034875.638 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:41:15.989Z,1629034875.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:41:15.989Z,1629034875.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:41:15.989Z,1629034875.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:41:15.990Z,1629034875.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:41:16.437Z,1629034876.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D1280,63,E4
7,186,80,80,87,FF
2021-08-15T13:41:16.437Z,1629034876.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:41:16.437Z,1629034876.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:41:16.439Z,1629034876.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:41:16.934Z,1629034876.934 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:41:17.738Z,1629034877.738 [Micromodem](INFO): Nmea in: $SNTTA,0.176378,,,,134118.32*43

2021-08-15T13:41:18.148Z,1629034878.148 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:41:19.777Z,1629034879.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,186,80,80,87,FF
2021-08-15T13:41:19.777Z,1629034879.777 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,186,80,80,87,FF
2021-08-15T13:41:19.777Z,1629034879.777 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T13:41:21.026Z,1629034881.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:41:21.369Z,1629034881.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:41:21.369Z,1629034881.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:41:21.369Z,1629034881.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:41:21.370Z,1629034881.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:41:21.765Z,1629034881.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,186,80,80,87,FF
2021-08-15T13:41:21.765Z,1629034881.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:41:21.765Z,1629034881.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:41:21.767Z,1629034881.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:41:22.275Z,1629034882.275 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:41:23.099Z,1629034883.099 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134123.65*5B

2021-08-15T13:41:23.551Z,1629034883.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:41:25.097Z,1629034885.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,186,80,80,87,FF
2021-08-15T13:41:25.097Z,1629034885.097 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,186,80,80,87,FF
2021-08-15T13:41:25.098Z,1629034885.098 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T13:41:25.113Z,1629034885.113 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T13:41:26.410Z,1629034886.410 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:41:26.721Z,1629034886.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:41:26.721Z,1629034886.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:41:26.721Z,1629034886.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:41:26.722Z,1629034886.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:41:27.122Z,1629034887.122 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,186,80,80,87,FF
2021-08-15T13:41:27.122Z,1629034887.122 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:41:27.122Z,1629034887.122 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:41:27.124Z,1629034887.124 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:41:27.532Z,1629034887.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:41:28.368Z,1629034888.368 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,13B,000,01371,186,80,80,81,FF
2021-08-15T13:41:28.369Z,1629034888.369 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:41:28.386Z,1629034888.386 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134129.00*52

2021-08-15T13:41:28.818Z,1629034888.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 261.119995 m, bearing: 7.336265 deg, deltaT: 41.225337 s, approachRate: -0.032019 m/s, LOS rate: -0.014154 deg/s, posRepo size: 2
2021-08-15T13:41:28.818Z,1629034888.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -0.014154 deg/s. Setting heading cmd to target bearing of 7.336265deg and heading rate command to 0 deg/s.
2021-08-15T13:41:31.227Z,1629034891.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:41:31.602Z,1629034891.602 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:41:31.602Z,1629034891.602 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:41:31.602Z,1629034891.602 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:41:31.603Z,1629034891.603 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:41:32.001Z,1629034892.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
13B,000,01371,186,80,80,81,FF
2021-08-15T13:41:32.001Z,1629034892.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:41:32.002Z,1629034892.002 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:41:32.003Z,1629034892.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:41:32.433Z,1629034892.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:41:33.243Z,1629034893.243 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E5,000,01372,186,80,80,5D,FF
2021-08-15T13:41:33.243Z,1629034893.243 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:41:33.268Z,1629034893.268 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134133.88*59

2021-08-15T13:41:33.700Z,1629034893.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 261.179993 m, bearing: 2.215373 deg, deltaT: 4.824064 s, approachRate: 0.012437 m/s, LOS rate: -1.061531 deg/s, posRepo size: 3
2021-08-15T13:41:33.702Z,1629034893.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 261.179993 m,
      bearing: 2.215373 deg,
      approachRate: 0.012437 m/s,
      LOS rate: -1.061531 deg/s,
      cmd update: -4.246123 deg/s,
      cmd heading: 7.336265 deg,
      new cmd heading: 7.336265 deg.

2021-08-15T13:41:36.154Z,1629034896.154 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:41:36.509Z,1629034896.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:41:36.509Z,1629034896.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:41:36.510Z,1629034896.510 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:41:36.511Z,1629034896.511 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:41:36.889Z,1629034896.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E5,000,01372,186,80,80,5D,FF
2021-08-15T13:41:36.889Z,1629034896.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:41:36.889Z,1629034896.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:41:36.891Z,1629034896.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:41:37.309Z,1629034897.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:41:38.130Z,1629034898.130 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CB,000,0135F,186,80,80,77,FF
2021-08-15T13:41:38.130Z,1629034898.130 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:41:38.134Z,1629034898.134 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134138.77*52

2021-08-15T13:41:38.581Z,1629034898.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 260.039978 m, bearing: 23.089939 deg, deltaT: 4.852896 s, approachRate: -0.234914 m/s, LOS rate: 4.301466 deg/s, posRepo size: 4
2021-08-15T13:41:38.601Z,1629034898.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 260.039978 m,
      bearing: 23.089939 deg,
      approachRate: -0.234914 m/s,
      LOS rate: 4.301466 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 346.840340 deg,
      new cmd heading: 345.053287 deg.

2021-08-15T13:41:40.951Z,1629034900.951 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:41:41.333Z,1629034901.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:41:41.333Z,1629034901.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:41:41.333Z,1629034901.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:41:41.334Z,1629034901.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:41:41.745Z,1629034901.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CB,000,0135F,186,80,80,77,FF
2021-08-15T13:41:41.745Z,1629034901.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:41:41.745Z,1629034901.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:41:41.747Z,1629034901.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:41:42.149Z,1629034902.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:41:42.981Z,1629034902.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,302,000,0137F,189,80,80,6A,FF
2021-08-15T13:41:42.981Z,1629034902.981 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:41:42.988Z,1629034902.988 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134143.63*5B

2021-08-15T13:41:43.396Z,1629034903.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 261.959991 m, bearing: 23.441590 deg, deltaT: 4.872369 s, approachRate: 0.394062 m/s, LOS rate: 0.072172 deg/s, posRepo size: 4
2021-08-15T13:41:43.398Z,1629034903.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 261.959991 m,
      bearing: 23.441590 deg,
      approachRate: 0.394062 m/s,
      LOS rate: 0.072172 deg/s,
      cmd update: 0.288690 deg/s,
      cmd heading: 45.503554 deg,
      new cmd heading: 49.679038 deg.

2021-08-15T13:41:45.858Z,1629034905.858 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:41:46.181Z,1629034906.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:41:46.181Z,1629034906.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:41:46.181Z,1629034906.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:41:46.182Z,1629034906.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:41:46.594Z,1629034906.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
302,000,0137F,189,80,80,6A,FF
2021-08-15T13:41:46.594Z,1629034906.594 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:41:46.594Z,1629034906.594 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:41:46.598Z,1629034906.598 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:41:47.021Z,1629034907.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:41:47.850Z,1629034907.850 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134148.48*59

2021-08-15T13:41:48.742Z,1629034908.742 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:41:50.265Z,1629034910.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,189,80,80,6A,FF
2021-08-15T13:41:50.265Z,1629034910.265 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,189,80,80,6A,FF
2021-08-15T13:41:50.265Z,1629034910.265 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T13:41:51.510Z,1629034911.510 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:41:51.869Z,1629034911.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:41:51.869Z,1629034911.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:41:51.869Z,1629034911.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:41:51.870Z,1629034911.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:41:52.277Z,1629034912.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,189,80,80,6A,FF
2021-08-15T13:41:52.277Z,1629034912.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:41:52.277Z,1629034912.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:41:52.279Z,1629034912.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:41:52.686Z,1629034912.686 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:41:53.524Z,1629034913.524 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DF,000,013AE,186,80,80,43,FF
2021-08-15T13:41:53.525Z,1629034913.525 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:41:53.528Z,1629034913.528 [Micromodem](INFO): Nmea in: $SNTTA,0.402399,,,,134154.16*44

2021-08-15T13:41:53.942Z,1629034913.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 264.779999 m, bearing: 17.923718 deg, deltaT: 10.538299 s, approachRate: 0.267596 m/s, LOS rate: -0.523602 deg/s, posRepo size: 4
2021-08-15T13:41:53.944Z,1629034913.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 264.779999 m,
      bearing: 17.923718 deg,
      approachRate: 0.267596 m/s,
      LOS rate: -0.523602 deg/s,
      cmd update: -2.094407 deg/s,
      cmd heading: 48.547376 deg,
      new cmd heading: 48.648448 deg.

2021-08-15T13:41:56.403Z,1629034916.403 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:41:56.729Z,1629034916.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:41:56.729Z,1629034916.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:41:56.729Z,1629034916.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:41:56.730Z,1629034916.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:41:57.129Z,1629034917.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DF,000,013AE,186,80,80,43,FF
2021-08-15T13:41:57.130Z,1629034917.130 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:41:57.130Z,1629034917.130 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:41:57.131Z,1629034917.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:41:57.541Z,1629034917.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:41:58.375Z,1629034918.375 [Micromodem](INFO): Nmea in: $SNTTA,0.180122,,,,134159.02*41

2021-08-15T13:41:59.159Z,1629034919.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:42:00.761Z,1629034920.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,186,80,80,43,FF
2021-08-15T13:42:00.762Z,1629034920.762 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,186,80,80,43,FF
2021-08-15T13:42:00.762Z,1629034920.762 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T13:42:01.999Z,1629034921.999 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:42:02.417Z,1629034922.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:42:02.417Z,1629034922.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:42:02.417Z,1629034922.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:42:02.418Z,1629034922.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:42:02.777Z,1629034922.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,186,80,80,43,FF
2021-08-15T13:42:02.777Z,1629034922.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:42:02.777Z,1629034922.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:42:02.779Z,1629034922.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:42:03.192Z,1629034923.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:42:04.022Z,1629034924.022 [Micromodem](INFO): Nmea in: $SNTTA,0.182363,,,,134204.66*4D

2021-08-15T13:42:04.826Z,1629034924.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:42:06.429Z,1629034926.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,186,80,80,43,FF
2021-08-15T13:42:06.429Z,1629034926.429 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,186,80,80,43,FF
2021-08-15T13:42:06.430Z,1629034926.430 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T13:42:07.645Z,1629034927.645 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:42:08.042Z,1629034928.042 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:42:08.042Z,1629034928.042 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:42:08.043Z,1629034928.043 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:42:08.044Z,1629034928.044 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:42:08.442Z,1629034928.442 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,186,80,80,43,FF
2021-08-15T13:42:08.442Z,1629034928.442 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:42:08.442Z,1629034928.442 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:42:08.444Z,1629034928.444 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:42:08.849Z,1629034928.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:42:09.681Z,1629034929.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17F,000,013D9,186,80,80,8F,FF
2021-08-15T13:42:09.682Z,1629034929.682 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:42:09.685Z,1629034929.685 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134210.33*5B

2021-08-15T13:42:10.104Z,1629034930.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 267.360016 m, bearing: 11.927032 deg, deltaT: 16.117086 s, approachRate: 0.160080 m/s, LOS rate: -0.372070 deg/s, posRepo size: 4
2021-08-15T13:42:10.106Z,1629034930.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 267.360016 m,
      bearing: 11.927032 deg,
      approachRate: 0.160080 m/s,
      LOS rate: -0.372070 deg/s,
      cmd update: -1.488280 deg/s,
      cmd heading: 14.808626 deg,
      new cmd heading: 13.964590 deg.

2021-08-15T13:42:10.477Z,1629034930.477 [PowerOnly](INFO): Powering down loadControl
2021-08-15T13:42:12.533Z,1629034932.533 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:42:12.877Z,1629034932.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:42:12.877Z,1629034932.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:42:12.877Z,1629034932.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:42:12.878Z,1629034932.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:42:13.281Z,1629034933.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
17F,000,013D9,186,80,80,8F,FF
2021-08-15T13:42:13.281Z,1629034933.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:42:13.282Z,1629034933.282 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:42:13.283Z,1629034933.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:42:13.693Z,1629034933.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:42:14.517Z,1629034934.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,126,000,013CE,186,80,80,94,FF
2021-08-15T13:42:14.518Z,1629034934.518 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:42:14.521Z,1629034934.521 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134215.17*58

2021-08-15T13:42:14.985Z,1629034934.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 266.700012 m, bearing: 10.072191 deg, deltaT: 4.895826 s, approachRate: -0.134809 m/s, LOS rate: -0.378862 deg/s, posRepo size: 4
2021-08-15T13:42:14.987Z,1629034934.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 266.700012 m,
      bearing: 10.072191 deg,
      approachRate: -0.134809 m/s,
      LOS rate: -0.378862 deg/s,
      cmd update: -1.515447 deg/s,
      cmd heading: 7.504711 deg,
      new cmd heading: 6.944723 deg.

2021-08-15T13:42:17.338Z,1629034937.338 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:42:17.740Z,1629034937.740 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:42:17.741Z,1629034937.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:42:17.741Z,1629034937.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:42:17.742Z,1629034937.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:42:18.129Z,1629034938.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
126,000,013CE,186,80,80,94,FF
2021-08-15T13:42:18.129Z,1629034938.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:42:18.129Z,1629034938.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:42:18.131Z,1629034938.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:42:18.540Z,1629034938.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:42:19.373Z,1629034939.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D67,000,013E9,189,80,80,8C,FF
2021-08-15T13:42:19.373Z,1629034939.373 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:42:19.381Z,1629034939.381 [Micromodem](INFO): Nmea in: $SNTTA,0.180300,,,,134220.02*4E

2021-08-15T13:42:19.804Z,1629034939.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 268.319977 m, bearing: 41.172708 deg, deltaT: 4.841072 s, approachRate: 0.334629 m/s, LOS rate: 6.424304 deg/s, posRepo size: 4
2021-08-15T13:42:19.806Z,1629034939.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 268.319977 m,
      bearing: 41.172708 deg,
      approachRate: 0.334629 m/s,
      LOS rate: 6.424304 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 0.178632 deg,
      new cmd heading: 359.630643 deg.

2021-08-15T13:42:22.191Z,1629034942.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:42:22.586Z,1629034942.586 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:42:22.586Z,1629034942.586 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:42:22.587Z,1629034942.587 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:42:22.589Z,1629034942.589 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:42:22.986Z,1629034942.986 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D67,000,013E9,189,80,80,8C,FF
2021-08-15T13:42:22.986Z,1629034942.986 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:42:22.986Z,1629034942.986 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:42:22.988Z,1629034942.988 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:42:23.384Z,1629034943.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:42:24.213Z,1629034944.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D80,000,013C2,188,80,80,7C,FF
2021-08-15T13:42:24.214Z,1629034944.214 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:42:24.217Z,1629034944.217 [Micromodem](INFO): Nmea in: $SNTTA,0.179831,,,,134224.87*48

2021-08-15T13:42:24.647Z,1629034944.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 265.979980 m, bearing: 30.494691 deg, deltaT: 4.817385 s, approachRate: -0.485740 m/s, LOS rate: -2.216559 deg/s, posRepo size: 4
2021-08-15T13:42:24.653Z,1629034944.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 265.979980 m,
      bearing: 30.494691 deg,
      approachRate: -0.485740 m/s,
      LOS rate: -2.216559 deg/s,
      cmd update: -8.866235 deg/s,
      cmd heading: 58.073869 deg,
      new cmd heading: 62.619866 deg.

2021-08-15T13:42:27.066Z,1629034947.066 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:42:27.460Z,1629034947.460 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:42:27.461Z,1629034947.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:42:27.461Z,1629034947.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:42:27.462Z,1629034947.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:42:27.829Z,1629034947.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D80,000,013C2,188,80,80,7C,FF
2021-08-15T13:42:27.829Z,1629034947.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:42:27.829Z,1629034947.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:42:27.831Z,1629034947.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:42:28.232Z,1629034948.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:42:29.061Z,1629034949.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,170,000,013C6,186,80,80,78,FF
2021-08-15T13:42:29.062Z,1629034949.062 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:42:29.065Z,1629034949.065 [Micromodem](INFO): Nmea in: $SNTTA,0.179406,,,,134229.71*44

2021-08-15T13:42:29.498Z,1629034949.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 266.220001 m, bearing: 353.678233 deg, deltaT: 4.825348 s, approachRate: 0.049742 m/s, LOS rate: -7.629804 deg/s, posRepo size: 4
2021-08-15T13:42:29.500Z,1629034949.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 266.220001 m,
      bearing: 353.678233 deg,
      approachRate: 0.049742 m/s,
      LOS rate: -7.629804 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 15.397834 deg,
      new cmd heading: 11.694407 deg.

2021-08-15T13:42:31.902Z,1629034951.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:42:32.269Z,1629034952.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:42:32.269Z,1629034952.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:42:32.269Z,1629034952.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:42:32.270Z,1629034952.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:42:32.689Z,1629034952.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
170,000,013C6,186,80,80,78,FF
2021-08-15T13:42:32.689Z,1629034952.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:42:32.690Z,1629034952.690 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:42:32.691Z,1629034952.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:42:33.088Z,1629034953.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:42:33.909Z,1629034953.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,185,000,013CD,186,80,80,40,FF
2021-08-15T13:42:33.910Z,1629034953.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:42:33.913Z,1629034953.913 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134234.57*5F

2021-08-15T13:42:34.429Z,1629034954.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 266.639984 m, bearing: 18.323400 deg, deltaT: 4.847428 s, approachRate: 0.086640 m/s, LOS rate: 5.084175 deg/s, posRepo size: 4
2021-08-15T13:42:34.447Z,1629034954.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 266.639984 m,
      bearing: 18.323400 deg,
      approachRate: 0.086640 m/s,
      LOS rate: 5.084175 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 316.987123 deg,
      new cmd heading: 311.364331 deg.

2021-08-15T13:42:36.798Z,1629034956.798 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:42:37.122Z,1629034957.122 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:42:37.122Z,1629034957.122 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:42:37.122Z,1629034957.122 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:42:37.123Z,1629034957.123 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:42:37.526Z,1629034957.526 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
185,000,013CD,186,80,80,40,FF
2021-08-15T13:42:37.526Z,1629034957.526 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:42:37.526Z,1629034957.526 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:42:37.527Z,1629034957.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:42:37.933Z,1629034957.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:42:38.770Z,1629034958.770 [Micromodem](INFO): Nmea in: $SNTTA,0.353638,,,,134239.41*43

2021-08-15T13:42:39.549Z,1629034959.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C5,000,04479,185,80,80,57,FF
2021-08-15T13:42:39.549Z,1629034959.549 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:42:39.996Z,1629034959.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1014.240051 m, bearing: 3.246450 deg, deltaT: 5.634474 s, approachRate: 132.683212 m/s, LOS rate: -2.675840 deg/s, posRepo size: 4
2021-08-15T13:42:39.998Z,1629034959.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1014.240051 m,
      bearing: 3.246450 deg,
      approachRate: 132.683212 m/s,
      LOS rate: -2.675840 deg/s,
      cmd update: -10.703359 deg/s,
      cmd heading: 24.567346 deg,
      new cmd heading: 29.558398 deg.

2021-08-15T13:42:42.459Z,1629034962.459 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:42:42.791Z,1629034962.791 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:42:42.791Z,1629034962.791 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:42:42.791Z,1629034962.791 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:42:42.792Z,1629034962.792 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:42:43.201Z,1629034963.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C5,000,04479,185,80,80,57,FF
2021-08-15T13:42:43.201Z,1629034963.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:42:43.201Z,1629034963.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:42:43.203Z,1629034963.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:42:43.599Z,1629034963.599 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:42:44.449Z,1629034964.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA7,000,013E4,189,80,80,64,FF
2021-08-15T13:42:44.449Z,1629034964.449 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:42:44.453Z,1629034964.453 [Micromodem](INFO): Nmea in: $SNTTA,0.472450,0.472387,,,134245.08*5E

2021-08-15T13:42:44.839Z,1629034964.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 268.019989 m, bearing: 31.779152 deg, deltaT: 4.965124 s, approachRate: -150.292343 m/s, LOS rate: 5.746624 deg/s, posRepo size: 4
2021-08-15T13:42:44.856Z,1629034964.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 268.019989 m,
      bearing: 31.779152 deg,
      approachRate: -150.292343 m/s,
      LOS rate: 5.746624 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 331.438045 deg,
      new cmd heading: 328.268888 deg.

2021-08-15T13:42:47.273Z,1629034967.273 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:42:47.633Z,1629034967.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:42:47.633Z,1629034967.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:42:47.633Z,1629034967.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:42:47.634Z,1629034967.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:42:48.041Z,1629034968.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA7,000,013E4,189,80,80,64,FF
2021-08-15T13:42:48.041Z,1629034968.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:42:48.042Z,1629034968.042 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:42:48.043Z,1629034968.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:42:48.446Z,1629034968.446 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:42:49.241Z,1629034969.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D39,000,013CA,189,80,80,4B,FF
2021-08-15T13:42:49.241Z,1629034969.241 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:42:49.713Z,1629034969.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 266.459991 m, bearing: 25.640841 deg, deltaT: 4.742496 s, approachRate: -0.328940 m/s, LOS rate: -1.294321 deg/s, posRepo size: 4
2021-08-15T13:42:49.715Z,1629034969.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 266.459991 m,
      bearing: 25.640841 deg,
      approachRate: -0.328940 m/s,
      LOS rate: -1.294321 deg/s,
      cmd update: -5.177283 deg/s,
      cmd heading: 28.350110 deg,
      new cmd heading: 33.473871 deg.

2021-08-15T13:42:52.122Z,1629034972.122 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:42:52.489Z,1629034972.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:42:52.489Z,1629034972.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:42:52.489Z,1629034972.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:42:52.490Z,1629034972.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:42:52.881Z,1629034972.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D39,000,013CA,189,80,80,4B,FF
2021-08-15T13:42:52.882Z,1629034972.882 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:42:52.882Z,1629034972.882 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:42:52.889Z,1629034972.889 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:42:53.285Z,1629034973.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:42:54.116Z,1629034974.116 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,013C4,189,80,80,58,FF
2021-08-15T13:42:54.117Z,1629034974.117 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:42:54.120Z,1629034974.120 [Micromodem](INFO): Nmea in: $SNTTA,0.179350,,,,134254.77*4C

2021-08-15T13:42:54.564Z,1629034974.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 266.099976 m, bearing: 275.789269 deg, deltaT: 4.845323 s, approachRate: -0.074302 m/s, LOS rate: -22.671669 deg/s, posRepo size: 4
2021-08-15T13:42:54.565Z,1629034974.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -22.671669 deg/s. Setting heading cmd to target bearing of 275.789269deg and heading rate command to 0 deg/s.
2021-08-15T13:42:56.978Z,1629034976.978 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:42:57.325Z,1629034977.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:42:57.325Z,1629034977.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:42:57.325Z,1629034977.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:42:57.326Z,1629034977.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:42:57.727Z,1629034977.727 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,013C4,189,80,80,58,FF
2021-08-15T13:42:57.727Z,1629034977.727 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:42:57.728Z,1629034977.728 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:42:57.730Z,1629034977.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:42:58.136Z,1629034978.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:42:58.966Z,1629034978.966 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134259.61*51

2021-08-15T13:42:59.767Z,1629034979.767 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:43:01.369Z,1629034981.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,189,80,80,58,FF
2021-08-15T13:43:01.369Z,1629034981.369 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,189,80,80,58,FF
2021-08-15T13:43:01.369Z,1629034981.369 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T13:43:02.671Z,1629034982.671 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:43:02.977Z,1629034982.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:43:02.977Z,1629034982.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:43:02.977Z,1629034982.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:43:02.978Z,1629034982.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:43:03.436Z,1629034983.436 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,189,80,80,58,FF
2021-08-15T13:43:03.436Z,1629034983.436 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:43:03.436Z,1629034983.436 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:43:03.459Z,1629034983.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:43:03.796Z,1629034983.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:43:04.594Z,1629034984.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D6C,000,01393,189,80,80,41,FF
2021-08-15T13:43:04.594Z,1629034984.594 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:43:04.712Z,1629034984.712 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-08-15T13:43:05.017Z,1629034985.017 [Micromodem](INFO): Nmea in: $SNTTA,0.176884,,,,134305.34*43

2021-08-15T13:43:05.035Z,1629034985.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 263.160004 m, bearing: 31.607049 deg, deltaT: 10.610009 s, approachRate: -0.277094 m/s, LOS rate: 10.915899 deg/s, posRepo size: 4
2021-08-15T13:43:05.056Z,1629034985.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 263.160004 m,
      bearing: 31.607049 deg,
      approachRate: -0.277094 m/s,
      LOS rate: 10.915899 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 275.789269 deg,
      new cmd heading: 275.789269 deg.

2021-08-15T13:43:07.439Z,1629034987.439 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:43:07.833Z,1629034987.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:43:07.833Z,1629034987.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:43:07.834Z,1629034987.834 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:43:07.835Z,1629034987.835 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:43:08.237Z,1629034988.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D6C,000,01393,189,80,80,41,FF
2021-08-15T13:43:08.237Z,1629034988.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:43:08.237Z,1629034988.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:43:08.239Z,1629034988.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:43:08.657Z,1629034988.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:43:09.470Z,1629034989.470 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,01384,189,80,80,84,FF
2021-08-15T13:43:09.470Z,1629034989.470 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:43:09.473Z,1629034989.473 [Micromodem](INFO): Nmea in: $SNTTA,0.176256,,,,134310.12*46

2021-08-15T13:43:09.904Z,1629034989.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 262.259979 m, bearing: 277.707760 deg, deltaT: 4.743416 s, approachRate: -0.189742 m/s, LOS rate: -24.012082 deg/s, posRepo size: 4
2021-08-15T13:43:09.905Z,1629034989.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -24.012082 deg/s. Setting heading cmd to target bearing of 277.707760deg and heading rate command to 0 deg/s.
2021-08-15T13:43:11.095Z,1629034991.095 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-15T13:43:11.095Z,1629034991.095 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-15T13:43:11.095Z,1629034991.095 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-15T13:43:11.095Z,1629034991.095 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T13:43:11.095Z,1629034991.095 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-15T13:43:11.095Z,1629034991.095 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-15T13:43:11.097Z,1629034991.097 [lineCaptureDepth:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-08-15T13:43:11.644Z,1629034991.644 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-15T13:43:11.644Z,1629034991.644 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-15T13:43:11.644Z,1629034991.644 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-15T13:43:11.644Z,1629034991.644 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T13:43:11.644Z,1629034991.644 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-15T13:43:12.322Z,1629034992.322 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:43:12.689Z,1629034992.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:43:12.689Z,1629034992.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:43:12.689Z,1629034992.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:43:12.690Z,1629034992.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:43:13.093Z,1629034993.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,01384,189,80,80,84,FF
2021-08-15T13:43:13.093Z,1629034993.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:43:13.093Z,1629034993.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:43:13.095Z,1629034993.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:43:13.508Z,1629034993.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:43:14.333Z,1629034994.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,01363,188,80,80,81,FF
2021-08-15T13:43:14.334Z,1629034994.334 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:43:14.360Z,1629034994.360 [Micromodem](INFO): Nmea in: $SNTTA,0.176017,,,,134314.98*47

2021-08-15T13:43:14.492Z,1629034994.492 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210815T133512/Courier0012.lzma
2021-08-15T13:43:14.738Z,1629034994.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 260.279999 m, bearing: 267.354860 deg, deltaT: 5.007887 s, approachRate: -0.395372 m/s, LOS rate: -2.067319 deg/s, posRepo size: 4
2021-08-15T13:43:14.740Z,1629034994.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 260.279999 m,
      bearing: 267.354860 deg,
      approachRate: -0.395372 m/s,
      LOS rate: -2.067319 deg/s,
      cmd update: -8.269276 deg/s,
      cmd heading: 277.707760 deg,
      new cmd heading: 277.707760 deg.

2021-08-15T13:43:15.497Z,1629034995.497 [DataOverHttps](INFO): Moved sent file to Logs/20210815T133512/Courier0012.lzma.bak
2021-08-15T13:43:15.497Z,1629034995.497 [DataOverHttps](INFO): SBD MOMSN=442552
2021-08-15T13:43:17.166Z,1629034997.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:43:17.545Z,1629034997.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:43:17.545Z,1629034997.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:43:17.545Z,1629034997.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:43:17.546Z,1629034997.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:43:17.969Z,1629034997.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,01363,188,80,80,81,FF
2021-08-15T13:43:17.969Z,1629034997.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:43:17.969Z,1629034997.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:43:17.971Z,1629034997.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:43:18.382Z,1629034998.382 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:43:19.151Z,1629034999.151 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,436,000,01352,18A,80,80,6F,FF
2021-08-15T13:43:19.152Z,1629034999.152 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:43:19.159Z,1629034999.159 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134319.85*5E

2021-08-15T13:43:19.623Z,1629034999.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 259.260010 m, bearing: 263.064654 deg, deltaT: 4.736320 s, approachRate: -0.215355 m/s, LOS rate: -0.905810 deg/s, posRepo size: 4
2021-08-15T13:43:19.629Z,1629034999.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 259.260010 m,
      bearing: 263.064654 deg,
      approachRate: -0.215355 m/s,
      LOS rate: -0.905810 deg/s,
      cmd update: -3.623240 deg/s,
      cmd heading: 238.479705 deg,
      new cmd heading: 235.216053 deg.

2021-08-15T13:43:22.013Z,1629035002.013 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:43:22.444Z,1629035002.444 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:43:22.444Z,1629035002.444 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:43:22.445Z,1629035002.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:43:22.445Z,1629035002.445 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:43:22.785Z,1629035002.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
436,000,01352,18A,80,80,6F,FF
2021-08-15T13:43:22.786Z,1629035002.786 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:43:22.786Z,1629035002.786 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:43:22.787Z,1629035002.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:43:23.197Z,1629035003.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:43:24.013Z,1629035004.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,32E,000,01331,1,51,FF
0,6F,FF
2021-08-15T13:43:24.013Z,1629035004.013 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,32E,000,01331,1,51,FF
0,6F,FF
2021-08-15T13:43:24.025Z,1629035004.025 [Micromodem](INFO): Nmea in: $SNTTA,0.466567,0.466417,,,134324.67*5A

2021-08-15T13:43:24.523Z,1629035004.523 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:43:27.272Z,1629035007.272 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:43:28.492Z,1629035008.492 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.046570
2021-08-15T13:43:30.079Z,1629035010.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:43:30.469Z,1629035010.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:43:30.469Z,1629035010.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:43:30.469Z,1629035010.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:43:30.470Z,1629035010.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:43:30.873Z,1629035010.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
32E,000,01331,1,51,FF
0,6F,FF
2021-08-15T13:43:30.873Z,1629035010.873 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:43:30.873Z,1629035010.873 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:43:30.875Z,1629035010.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:43:31.287Z,1629035011.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:43:32.105Z,1629035012.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,147,000,012E8,185,80,80,97,FF
2021-08-15T13:43:32.106Z,1629035012.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:43:32.132Z,1629035012.132 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134332.76*5B

2021-08-15T13:43:32.555Z,1629035012.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 252.899994 m, bearing: 266.911826 deg, deltaT: 12.942256 s, approachRate: -0.491415 m/s, LOS rate: 0.297257 deg/s, posRepo size: 4
2021-08-15T13:43:32.557Z,1629035012.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 252.899994 m,
      bearing: 266.911826 deg,
      approachRate: -0.491415 m/s,
      LOS rate: 0.297257 deg/s,
      cmd update: 1.189027 deg/s,
      cmd heading: 191.607611 deg,
      new cmd heading: 190.192667 deg.

2021-08-15T13:43:34.968Z,1629035014.968 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:43:35.313Z,1629035015.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:43:35.313Z,1629035015.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:43:35.313Z,1629035015.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:43:35.314Z,1629035015.314 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:43:35.717Z,1629035015.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
147,000,012E8,185,80,80,97,FF
2021-08-15T13:43:35.717Z,1629035015.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:43:35.717Z,1629035015.717 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:43:35.719Z,1629035015.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:43:36.121Z,1629035016.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:43:36.953Z,1629035016.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02F,000,012CA,184,80,80,9E,FF
2021-08-15T13:43:36.953Z,1629035016.953 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:43:36.975Z,1629035016.975 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134337.60*59

2021-08-15T13:43:37.397Z,1629035017.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 251.099976 m, bearing: 268.635821 deg, deltaT: 4.879994 s, approachRate: -0.368857 m/s, LOS rate: 0.353278 deg/s, posRepo size: 4
2021-08-15T13:43:37.399Z,1629035017.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 251.099976 m,
      bearing: 268.635821 deg,
      approachRate: -0.368857 m/s,
      LOS rate: 0.353278 deg/s,
      cmd update: 1.413112 deg/s,
      cmd heading: 197.417476 deg,
      new cmd heading: 197.824060 deg.

2021-08-15T13:43:39.806Z,1629035019.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:43:40.170Z,1629035020.170 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:43:40.171Z,1629035020.171 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:43:40.171Z,1629035020.171 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:43:40.172Z,1629035020.172 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:43:40.576Z,1629035020.576 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02F,000,012CA,184,80,80,9E,FF
2021-08-15T13:43:40.576Z,1629035020.576 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:43:40.576Z,1629035020.576 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:43:40.579Z,1629035020.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:43:40.973Z,1629035020.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:43:41.801Z,1629035021.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F55,000,0129E,187,80,80,75,FF
2021-08-15T13:43:41.801Z,1629035021.801 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:43:41.804Z,1629035021.804 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134342.46*5F

2021-08-15T13:43:42.224Z,1629035022.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 248.459991 m, bearing: 269.522106 deg, deltaT: 4.815630 s, approachRate: -0.548212 m/s, LOS rate: 0.184043 deg/s, posRepo size: 4
2021-08-15T13:43:42.226Z,1629035022.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 248.459991 m,
      bearing: 269.522106 deg,
      approachRate: -0.548212 m/s,
      LOS rate: 0.184043 deg/s,
      cmd update: 0.736174 deg/s,
      cmd heading: 204.223304 deg,
      new cmd heading: 204.727437 deg.

2021-08-15T13:43:44.654Z,1629035024.654 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:43:45.017Z,1629035025.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:43:45.017Z,1629035025.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:43:45.017Z,1629035025.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:43:45.018Z,1629035025.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:43:45.417Z,1629035025.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F55,000,0129E,187,80,80,75,FF
2021-08-15T13:43:45.417Z,1629035025.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:43:45.417Z,1629035025.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:43:45.419Z,1629035025.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:43:45.825Z,1629035025.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:43:46.633Z,1629035026.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E46,000,01261,186,80,80,6E,FF
2021-08-15T13:43:46.633Z,1629035026.633 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:43:46.637Z,1629035026.637 [Micromodem](INFO): Nmea in: $SNTTA,0.164736,0.361655,,,134347.30*58

2021-08-15T13:43:47.080Z,1629035027.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 244.799988 m, bearing: 266.657743 deg, deltaT: 4.864766 s, approachRate: -0.752349 m/s, LOS rate: -0.588798 deg/s, posRepo size: 4
2021-08-15T13:43:47.082Z,1629035027.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 244.799988 m,
      bearing: 266.657743 deg,
      approachRate: -0.752349 m/s,
      LOS rate: -0.588798 deg/s,
      cmd update: -2.355191 deg/s,
      cmd heading: 207.801739 deg,
      new cmd heading: 208.054909 deg.

2021-08-15T13:43:49.514Z,1629035029.514 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:43:49.865Z,1629035029.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:43:49.865Z,1629035029.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:43:49.866Z,1629035029.866 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:43:49.866Z,1629035029.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:43:50.261Z,1629035030.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E46,000,01261,186,80,80,6E,FF
2021-08-15T13:43:50.261Z,1629035030.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:43:50.261Z,1629035030.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:43:50.263Z,1629035030.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:43:50.685Z,1629035030.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:43:51.505Z,1629035031.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF6,000,01242,189,80,80,6A,FF
2021-08-15T13:43:51.505Z,1629035031.505 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:43:51.508Z,1629035031.508 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134352.15*58

2021-08-15T13:43:51.906Z,1629035031.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 242.939987 m, bearing: 271.672195 deg, deltaT: 4.869262 s, approachRate: -0.381988 m/s, LOS rate: 1.029818 deg/s, posRepo size: 4
2021-08-15T13:43:51.908Z,1629035031.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 242.939987 m,
      bearing: 271.672195 deg,
      approachRate: -0.381988 m/s,
      LOS rate: 1.029818 deg/s,
      cmd update: 4.119270 deg/s,
      cmd heading: 196.341590 deg,
      new cmd heading: 195.606054 deg.

2021-08-15T13:43:54.371Z,1629035034.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:43:54.705Z,1629035034.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:43:54.705Z,1629035034.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:43:54.705Z,1629035034.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:43:54.706Z,1629035034.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:43:55.141Z,1629035035.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CF6,000,01242,189,80,80,6A,FF
2021-08-15T13:43:55.141Z,1629035035.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:43:55.141Z,1629035035.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:43:55.143Z,1629035035.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:43:55.521Z,1629035035.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:43:56.334Z,1629035036.334 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C2A,000,01210,189,80,80,80,FF
2021-08-15T13:43:56.335Z,1629035036.335 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:43:56.361Z,1629035036.361 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134357.03*5A

2021-08-15T13:43:56.767Z,1629035036.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 239.939987 m, bearing: 273.851162 deg, deltaT: 4.897695 s, approachRate: -0.612533 m/s, LOS rate: 0.444896 deg/s, posRepo size: 4
2021-08-15T13:43:56.770Z,1629035036.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 239.939987 m,
      bearing: 273.851162 deg,
      approachRate: -0.612533 m/s,
      LOS rate: 0.444896 deg/s,
      cmd update: 1.779586 deg/s,
      cmd heading: 216.546665 deg,
      new cmd heading: 217.654436 deg.

2021-08-15T13:43:59.167Z,1629035039.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:43:59.565Z,1629035039.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:43:59.565Z,1629035039.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:43:59.565Z,1629035039.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:43:59.566Z,1629035039.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:43:59.957Z,1629035039.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C2A,000,01210,189,80,80,80,FF
2021-08-15T13:43:59.957Z,1629035039.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:43:59.957Z,1629035039.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:43:59.959Z,1629035039.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:44:00.435Z,1629035040.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:44:00.766Z,1629035040.766 [Micromodem](INFO): Nmea in: 402,COPROC,0.20.0.39330*7B

2021-08-15T13:44:00.767Z,1629035040.767 [Micromodem](ERROR): Response from modem failed NMEA checksum: 402,COPROC,0.20.0.39330*7B
 expected 0
2021-08-15T13:44:01.177Z,1629035041.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BD1,000,011F1,189,80,80,AE,FF
2021-08-15T13:44:01.177Z,1629035041.177 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:44:01.640Z,1629035041.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 238.079987 m, bearing: 275.092480 deg, deltaT: 4.691982 s, approachRate: -0.396421 m/s, LOS rate: 0.264562 deg/s, posRepo size: 4
2021-08-15T13:44:01.642Z,1629035041.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 238.079987 m,
      bearing: 275.092480 deg,
      approachRate: -0.396421 m/s,
      LOS rate: 0.264562 deg/s,
      cmd update: 1.058247 deg/s,
      cmd heading: 224.903594 deg,
      new cmd heading: 225.695488 deg.

2021-08-15T13:44:02.817Z,1629035042.817 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position 2.95 mm (4 active estimators).
2021-08-15T13:44:04.058Z,1629035044.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:44:04.437Z,1629035044.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:44:04.438Z,1629035044.438 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:44:04.439Z,1629035044.439 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:44:04.440Z,1629035044.440 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:44:04.833Z,1629035044.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BD1,000,011F1,189,80,80,AE,FF
2021-08-15T13:44:04.834Z,1629035044.834 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:44:04.834Z,1629035044.834 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:44:04.835Z,1629035044.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:44:05.245Z,1629035045.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:44:06.076Z,1629035046.076 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBE,000,011D7,189,80,80,A7,FF
2021-08-15T13:44:06.077Z,1629035046.077 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:44:06.080Z,1629035046.080 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134406.72*5F

2021-08-15T13:44:06.523Z,1629035046.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 236.519989 m, bearing: 273.417800 deg, deltaT: 4.901099 s, approachRate: -0.318295 m/s, LOS rate: -0.341695 deg/s, posRepo size: 4
2021-08-15T13:44:06.530Z,1629035046.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 236.519989 m,
      bearing: 273.417800 deg,
      approachRate: -0.318295 m/s,
      LOS rate: -0.341695 deg/s,
      cmd update: -1.366780 deg/s,
      cmd heading: 230.090174 deg,
      new cmd heading: 230.541988 deg.

2021-08-15T13:44:08.906Z,1629035048.906 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:44:09.289Z,1629035049.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:44:09.289Z,1629035049.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:44:09.289Z,1629035049.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:44:09.290Z,1629035049.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:44:09.689Z,1629035049.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBE,000,011D7,189,80,80,A7,FF
2021-08-15T13:44:09.690Z,1629035049.690 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:44:09.690Z,1629035049.690 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:44:09.691Z,1629035049.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:44:10.109Z,1629035050.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:44:10.926Z,1629035050.926 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134411.57*5E

2021-08-15T13:44:11.758Z,1629035051.758 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:44:13.322Z,1629035053.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,189,80,80,A7,FF
2021-08-15T13:44:13.323Z,1629035053.323 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,189,80,80,A7,FF
2021-08-15T13:44:13.323Z,1629035053.323 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T13:44:14.570Z,1629035054.570 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:44:14.933Z,1629035054.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:44:14.933Z,1629035054.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:44:14.934Z,1629035054.934 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:44:14.935Z,1629035054.935 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:44:15.337Z,1629035055.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,189,80,80,A7,FF
2021-08-15T13:44:15.337Z,1629035055.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:44:15.337Z,1629035055.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:44:15.339Z,1629035055.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:44:15.746Z,1629035055.746 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:44:16.561Z,1629035056.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B5C,000,01192,18A,80,80,A2,FF
2021-08-15T13:44:16.562Z,1629035056.562 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:44:16.567Z,1629035056.567 [Micromodem](INFO): Nmea in: $SNTTA,0.403768,0.404437,,,134417.22*54

2021-08-15T13:44:17.044Z,1629035057.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 232.379990 m, bearing: 288.539675 deg, deltaT: 10.568378 s, approachRate: -0.391735 m/s, LOS rate: 1.430860 deg/s, posRepo size: 4
2021-08-15T13:44:17.046Z,1629035057.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 232.379990 m,
      bearing: 288.539675 deg,
      approachRate: -0.391735 m/s,
      LOS rate: 1.430860 deg/s,
      cmd update: 5.723442 deg/s,
      cmd heading: 215.651595 deg,
      new cmd heading: 215.132212 deg.

2021-08-15T13:44:19.435Z,1629035059.435 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:44:19.781Z,1629035059.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:44:19.781Z,1629035059.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:44:19.781Z,1629035059.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:44:19.782Z,1629035059.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:44:20.217Z,1629035060.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B5C,000,01192,18A,80,80,A2,FF
2021-08-15T13:44:20.217Z,1629035060.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:44:20.217Z,1629035060.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:44:20.219Z,1629035060.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:44:20.663Z,1629035060.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:44:21.489Z,1629035061.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C73,000,0117F,188,80,80,4D,FF
2021-08-15T13:44:21.490Z,1629035061.490 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:44:21.493Z,1629035061.493 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134422.10*5D

2021-08-15T13:44:21.888Z,1629035061.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 231.239990 m, bearing: 281.199817 deg, deltaT: 4.891744 s, approachRate: -0.233046 m/s, LOS rate: -1.500458 deg/s, posRepo size: 4
2021-08-15T13:44:21.909Z,1629035061.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 231.239990 m,
      bearing: 281.199817 deg,
      approachRate: -0.233046 m/s,
      LOS rate: -1.500458 deg/s,
      cmd update: -6.001833 deg/s,
      cmd heading: 243.488042 deg,
      new cmd heading: 245.573097 deg.

2021-08-15T13:44:24.371Z,1629035064.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:44:24.689Z,1629035064.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:44:24.689Z,1629035064.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:44:24.689Z,1629035064.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:44:24.690Z,1629035064.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:44:25.085Z,1629035065.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C73,000,0117F,188,80,80,4D,FF
2021-08-15T13:44:25.085Z,1629035065.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:44:25.085Z,1629035065.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:44:25.087Z,1629035065.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:44:25.506Z,1629035065.506 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:44:26.338Z,1629035066.338 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134426.97*56

2021-08-15T13:44:27.208Z,1629035067.208 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:44:28.369Z,1629035068.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,6,0117F,188,80,80,4D,FF
2021-08-15T13:44:28.370Z,1629035068.370 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,6,0117F,188,80,80,4D,FF
2021-08-15T13:44:28.371Z,1629035068.371 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T13:44:29.990Z,1629035069.990 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:44:30.417Z,1629035070.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:44:30.417Z,1629035070.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:44:30.418Z,1629035070.418 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:44:30.419Z,1629035070.419 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:44:30.789Z,1629035070.789 [DUSBL_Hydroid](INFO): DUSBL response received:3,E4
!U1,P
,6,0117F,188,80,80,4D,FF
2021-08-15T13:44:30.789Z,1629035070.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:44:30.789Z,1629035070.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:44:30.791Z,1629035070.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:44:31.197Z,1629035071.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:44:32.026Z,1629035072.026 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D00,000,0112B,18A,80,80,8C,FF
2021-08-15T13:44:32.026Z,1629035072.026 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:44:32.031Z,1629035072.031 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134432.68*53

2021-08-15T13:44:32.522Z,1629035072.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 226.199982 m, bearing: 275.347301 deg, deltaT: 10.504112 s, approachRate: -0.479813 m/s, LOS rate: -0.557164 deg/s, posRepo size: 4
2021-08-15T13:44:32.524Z,1629035072.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 226.199982 m,
      bearing: 275.347301 deg,
      approachRate: -0.479813 m/s,
      LOS rate: -0.557164 deg/s,
      cmd update: -2.228657 deg/s,
      cmd heading: 180.273151 deg,
      new cmd heading: 177.478446 deg.

2021-08-15T13:44:34.863Z,1629035074.863 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:44:35.233Z,1629035075.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:44:35.233Z,1629035075.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:44:35.233Z,1629035075.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:44:35.234Z,1629035075.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:44:35.641Z,1629035075.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D00,000,0112B,18A,80,80,8C,FF
2021-08-15T13:44:35.641Z,1629035075.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:44:35.642Z,1629035075.642 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:44:35.643Z,1629035075.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:44:36.062Z,1629035076.062 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:44:36.499Z,1629035076.499 [Micromodem](INFO): Nmea in: $SNTTA,0.263889,0.263133,,,134437.57*52

2021-08-15T13:44:36.849Z,1629035076.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,046,000,0110E,184,80,80,63,FF
2021-08-15T13:44:36.850Z,1629035076.850 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:44:37.293Z,1629035077.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 224.459991 m, bearing: 215.217130 deg, deltaT: 4.808967 s, approachRate: -0.361822 m/s, LOS rate: -12.503760 deg/s, posRepo size: 4
2021-08-15T13:44:37.293Z,1629035077.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.503760 deg/s. Setting heading cmd to target bearing of 215.217130deg and heading rate command to 0 deg/s.
2021-08-15T13:44:39.739Z,1629035079.739 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:44:40.077Z,1629035080.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:44:40.077Z,1629035080.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:44:40.077Z,1629035080.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:44:40.078Z,1629035080.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:44:40.497Z,1629035080.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
046,000,0110E,184,80,80,63,FF
2021-08-15T13:44:40.497Z,1629035080.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:44:40.497Z,1629035080.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:44:40.499Z,1629035080.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:44:40.926Z,1629035080.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:44:41.738Z,1629035081.738 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B42,000,010FB,189,80,80,AF,FF
2021-08-15T13:44:41.738Z,1629035081.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:44:41.741Z,1629035081.741 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134442.38*51

2021-08-15T13:44:42.178Z,1629035082.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 223.319992 m, bearing: 267.441166 deg, deltaT: 4.946719 s, approachRate: -0.230456 m/s, LOS rate: 10.557308 deg/s, posRepo size: 4
2021-08-15T13:44:42.180Z,1629035082.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 223.319992 m,
      bearing: 267.441166 deg,
      approachRate: -0.230456 m/s,
      LOS rate: 10.557308 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 215.217130 deg,
      new cmd heading: 215.217130 deg.

2021-08-15T13:44:44.645Z,1629035084.645 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:44:44.959Z,1629035084.959 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:44:44.959Z,1629035084.959 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:44:44.959Z,1629035084.959 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:44:44.960Z,1629035084.960 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:44:45.376Z,1629035085.376 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B42,000,010FB,189,80,80,AF,FF
2021-08-15T13:44:45.376Z,1629035085.376 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:44:45.377Z,1629035085.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:44:45.378Z,1629035085.378 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:44:45.764Z,1629035085.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:44:46.570Z,1629035086.570 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,010F1,189,80,80,AF,FF
2021-08-15T13:44:46.570Z,1629035086.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:44:46.575Z,1629035086.575 [Micromodem](INFO): Nmea in: $SNTTA,0.379945,0.379182,,,134447.26*58

2021-08-15T13:44:47.023Z,1629035087.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 222.720001 m, bearing: 271.870926 deg, deltaT: 4.851125 s, approachRate: -0.123681 m/s, LOS rate: 0.913141 deg/s, posRepo size: 4
2021-08-15T13:44:47.025Z,1629035087.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 222.720001 m,
      bearing: 271.870926 deg,
      approachRate: -0.123681 m/s,
      LOS rate: 0.913141 deg/s,
      cmd update: 3.652563 deg/s,
      cmd heading: 273.478703 deg,
      new cmd heading: 277.752767 deg.

2021-08-15T13:44:49.489Z,1629035089.489 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:44:49.801Z,1629035089.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:44:49.801Z,1629035089.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:44:49.801Z,1629035089.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:44:49.802Z,1629035089.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:44:50.232Z,1629035090.232 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,010F1,189,80,80,AF,FF
2021-08-15T13:44:50.232Z,1629035090.232 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:44:50.233Z,1629035090.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:44:50.234Z,1629035090.234 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:44:50.751Z,1629035090.751 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:44:51.153Z,1629035091.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B52,000,010DF,18A,80,80,A2,FF
2021-08-15T13:44:51.154Z,1629035091.154 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:44:51.561Z,1629035091.561 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134452.12*58

2021-08-15T13:44:51.624Z,1629035091.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 221.639984 m, bearing: 278.988284 deg, deltaT: 4.610760 s, approachRate: -0.234238 m/s, LOS rate: 1.543641 deg/s, posRepo size: 4
2021-08-15T13:44:51.643Z,1629035091.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 221.639984 m,
      bearing: 278.988284 deg,
      approachRate: -0.234238 m/s,
      LOS rate: 1.543641 deg/s,
      cmd update: 6.174564 deg/s,
      cmd heading: 290.319916 deg,
      new cmd heading: 291.579659 deg.

2021-08-15T13:44:51.880Z,1629035091.880 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.239281
2021-08-15T13:44:51.989Z,1629035091.989 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-15T13:44:51.989Z,1629035091.989 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-15T13:44:51.989Z,1629035091.989 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-15T13:44:51.989Z,1629035091.989 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T13:44:51.989Z,1629035091.989 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-15T13:44:52.778Z,1629035092.778 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 10181961120000005D00000400260000000000000000151D80030C5669C08C799867EDD18D92DD89D951FD10D68C83B3762E51298C0F37B513280F00
2021-08-15T13:44:52.779Z,1629035092.779 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-15T13:44:53.161Z,1629035093.161 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-15T13:44:53.562Z,1629035093.562 [Micromodem](INFO): Nmea in: $CADRQ,134454,1,10,0,64,1*75

2021-08-15T13:44:53.562Z,1629035093.562 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,10181961120000005D00000400260000000000000000151D80030C5669C08C799867EDD18D92DD89D951FD10D68C83B3762E51298C0F37B513280F00*4D

2021-08-15T13:44:53.950Z,1629035093.950 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-15T13:44:54.001Z,1629035094.001 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:44:54.420Z,1629035094.420 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:44:54.421Z,1629035094.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:44:54.421Z,1629035094.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:44:54.423Z,1629035094.423 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:44:54.430Z,1629035094.430 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-15T13:44:54.989Z,1629035094.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B52,000,010DF,18A,80,80,A2,FF
2021-08-15T13:44:54.989Z,1629035094.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:44:54.989Z,1629035094.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:44:54.991Z,1629035094.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:44:55.794Z,1629035095.794 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-15T13:44:55.794Z,1629035095.794 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-15T13:44:56.195Z,1629035096.195 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,134455.468459,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*55

2021-08-15T13:44:56.195Z,1629035096.195 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210815,134455.468459,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*55

2021-08-15T13:44:56.683Z,1629035096.683 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:44:57.811Z,1629035097.811 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-15T13:44:57.811Z,1629035097.811 [Micromodem](INFO): Sent 52 bytes from file Logs/20210815T133512/Courier0018.lzma.parts
2021-08-15T13:44:57.811Z,1629035097.811 [Micromodem](INFO): Packets left to send: 0
2021-08-15T13:44:58.222Z,1629035098.222 [Micromodem](INFO): Nmea in: $CACST,6,0,20210815134458.575818,06,19883,42,0176,0150,82,02,02,00,02,1,010,001,0,4,1,0,150,8.4,5.48,12,-2.48,-01,-0.42,51,14500,4000*7F

2021-08-15T13:44:58.222Z,1629035098.222 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210815134458.575818,06,19883,42,0176,0150,82,02,02,00,02,1,010,001,0,4,1,0,150,8.4,5.48,12,-2.48,-01,-0.42,51,14500,4000*7F

2021-08-15T13:44:58.629Z,1629035098.629 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-15T13:44:58.629Z,1629035098.629 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-15T13:44:58.629Z,1629035098.629 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-15T13:44:58.629Z,1629035098.629 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T13:44:58.629Z,1629035098.629 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-15T13:44:59.275Z,1629035099.275 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:45:00.766Z,1629035100.766 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.342970
2021-08-15T13:45:01.987Z,1629035101.987 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:45:02.436Z,1629035102.436 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:45:02.437Z,1629035102.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:45:02.437Z,1629035102.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:45:02.439Z,1629035102.439 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:45:02.758Z,1629035102.758 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B52,000,010DF,18A,80,80,A2,FF
2021-08-15T13:45:02.758Z,1629035102.758 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:45:02.758Z,1629035102.758 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:45:03.180Z,1629035103.180 [Radio_Surface](INFO): Powering down
2021-08-15T13:45:04.498Z,1629035104.498 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:45:06.441Z,1629035106.441 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:45:06.873Z,1629035106.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:45:07.294Z,1629035107.294 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:45:07.689Z,1629035107.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F0,000,01063,186,80,80,54,FF
2021-08-15T13:45:07.690Z,1629035107.690 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:45:07.692Z,1629035107.692 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134508.33*55

2021-08-15T13:45:08.120Z,1629035108.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 214.199982 m, bearing: 269.298841 deg, deltaT: 16.469834 s, approachRate: -0.451735 m/s, LOS rate: -0.588315 deg/s, posRepo size: 4
2021-08-15T13:45:08.122Z,1629035108.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 214.199982 m,
      bearing: 269.298841 deg,
      approachRate: -0.451735 m/s,
      LOS rate: -0.588315 deg/s,
      cmd update: -2.353258 deg/s,
      cmd heading: 31.959604 deg,
      new cmd heading: 34.312045 deg.

2021-08-15T13:45:10.596Z,1629035110.596 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:45:10.905Z,1629035110.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:45:10.905Z,1629035110.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:45:10.905Z,1629035110.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:45:10.906Z,1629035110.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:45:11.309Z,1629035111.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F0,000,01063,186,80,80,54,FF
2021-08-15T13:45:11.309Z,1629035111.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:45:11.309Z,1629035111.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:45:11.311Z,1629035111.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:45:11.712Z,1629035111.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:45:12.545Z,1629035112.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,331,000,0102B,189,80,80,95,FF
2021-08-15T13:45:12.545Z,1629035112.545 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:45:12.549Z,1629035112.549 [Micromodem](INFO): Nmea in: $SNTTA,0.143420,,,,134513.19*49

2021-08-15T13:45:12.962Z,1629035112.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 210.839996 m, bearing: 268.134266 deg, deltaT: 4.903239 s, approachRate: -0.685258 m/s, LOS rate: -0.237511 deg/s, posRepo size: 4
2021-08-15T13:45:12.965Z,1629035112.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 210.839996 m,
      bearing: 268.134266 deg,
      approachRate: -0.685258 m/s,
      LOS rate: -0.237511 deg/s,
      cmd update: -0.950045 deg/s,
      cmd heading: 20.409723 deg,
      new cmd heading: 19.667654 deg.

2021-08-15T13:45:15.377Z,1629035115.377 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:45:15.753Z,1629035115.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:45:15.753Z,1629035115.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:45:15.753Z,1629035115.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:45:15.754Z,1629035115.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:45:16.153Z,1629035116.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
331,000,0102B,189,80,80,95,FF
2021-08-15T13:45:16.153Z,1629035116.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:45:16.154Z,1629035116.154 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:45:16.155Z,1629035116.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:45:16.569Z,1629035116.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:45:17.417Z,1629035117.417 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134518.04*50

2021-08-15T13:45:18.177Z,1629035118.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,03DB1,189,80,80,88,FF
2021-08-15T13:45:18.178Z,1629035118.178 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:45:18.671Z,1629035118.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 910.080017 m, bearing: 270.452760 deg, deltaT: 5.549006 s, approachRate: 126.011757 m/s, LOS rate: 0.417822 deg/s, posRepo size: 4
2021-08-15T13:45:18.678Z,1629035118.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 910.080017 m,
      bearing: 270.452760 deg,
      approachRate: 126.011757 m/s,
      LOS rate: 0.417822 deg/s,
      cmd update: 1.671286 deg/s,
      cmd heading: 15.134111 deg,
      new cmd heading: 14.685894 deg.

2021-08-15T13:45:21.333Z,1629035121.333 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:45:21.571Z,1629035121.571 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:45:21.572Z,1629035121.572 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:45:21.572Z,1629035121.572 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:45:21.573Z,1629035121.573 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:45:21.969Z,1629035121.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,03DB1,189,80,80,88,FF
2021-08-15T13:45:21.969Z,1629035121.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:45:21.969Z,1629035121.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:45:21.971Z,1629035121.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:45:22.450Z,1629035122.450 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:45:22.845Z,1629035122.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D64,000,00FF7,188,80,80,88,FF
2021-08-15T13:45:22.846Z,1629035122.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:45:23.253Z,1629035123.253 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134523.86*52

2021-08-15T13:45:23.300Z,1629035123.300 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 207.719986 m, bearing: 26.517518 deg, deltaT: 4.693723 s, approachRate: -149.638153 m/s, LOS rate: 24.727655 deg/s, posRepo size: 4
2021-08-15T13:45:23.301Z,1629035123.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 24.727655 deg/s. Setting heading cmd to target bearing of 26.517518deg and heading rate command to 0 deg/s.
2021-08-15T13:45:25.671Z,1629035125.671 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T13:45:25.703Z,1629035125.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:45:26.073Z,1629035126.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:45:26.073Z,1629035126.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:45:26.073Z,1629035126.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:45:26.074Z,1629035126.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:45:26.501Z,1629035126.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D64,000,00FF7,188,80,80,88,FF
2021-08-15T13:45:26.501Z,1629035126.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:45:26.501Z,1629035126.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:45:26.503Z,1629035126.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:45:26.954Z,1629035126.954 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:45:27.749Z,1629035127.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00FFA,189,80,80,89,FF
2021-08-15T13:45:27.749Z,1629035127.749 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:45:27.752Z,1629035127.752 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134528.39*5D

2021-08-15T13:45:28.024Z,1629035128.024 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T13:45:28.184Z,1629035128.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 207.899994 m, bearing: 314.746510 deg, deltaT: 4.923814 s, approachRate: 0.036559 m/s, LOS rate: -14.576305 deg/s, posRepo size: 4
2021-08-15T13:45:28.185Z,1629035128.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.576305 deg/s. Setting heading cmd to target bearing of 314.746510deg and heading rate command to 0 deg/s.
2021-08-15T13:45:29.030Z,1629035129.030 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2021-08-15T13:45:29.778Z,1629035129.778 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-15T13:45:30.639Z,1629035130.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:45:30.978Z,1629035130.978 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:45:30.978Z,1629035130.978 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:45:30.978Z,1629035130.978 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:45:30.979Z,1629035130.979 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:45:31.378Z,1629035131.378 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00FFA,189,80,80,89,FF
2021-08-15T13:45:31.378Z,1629035131.378 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:45:31.378Z,1629035131.378 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:45:31.397Z,1629035131.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:45:31.784Z,1629035131.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:45:32.615Z,1629035132.615 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134533.28*57

2021-08-15T13:45:33.464Z,1629035133.464 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:45:35.013Z,1629035135.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,189,80,80,89,FF
2021-08-15T13:45:35.013Z,1629035135.013 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,189,80,80,89,FF
2021-08-15T13:45:35.013Z,1629035135.013 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T13:45:36.243Z,1629035136.243 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:45:36.649Z,1629035136.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:45:36.649Z,1629035136.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:45:36.649Z,1629035136.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:45:36.650Z,1629035136.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:45:37.038Z,1629035137.038 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,189,80,80,89,FF
2021-08-15T13:45:37.038Z,1629035137.038 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:45:37.038Z,1629035137.038 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:45:37.040Z,1629035137.040 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:45:37.472Z,1629035137.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:45:38.270Z,1629035138.270 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134538.93*5C

2021-08-15T13:45:39.095Z,1629035139.095 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:45:40.681Z,1629035140.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,189,80,80,89,FF
2021-08-15T13:45:40.682Z,1629035140.682 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,189,80,80,89,FF
2021-08-15T13:45:40.682Z,1629035140.682 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T13:45:41.922Z,1629035141.922 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:45:42.296Z,1629035142.296 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:45:42.296Z,1629035142.296 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:45:42.297Z,1629035142.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:45:42.298Z,1629035142.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:45:42.705Z,1629035142.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,189,80,80,89,FF
2021-08-15T13:45:42.705Z,1629035142.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:45:42.706Z,1629035142.706 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:45:42.707Z,1629035142.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:45:43.113Z,1629035143.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:45:43.933Z,1629035143.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,01015,188,80,80,B3,FF
2021-08-15T13:45:43.934Z,1629035143.934 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:45:43.937Z,1629035143.937 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134544.59*51

2021-08-15T13:45:44.421Z,1629035144.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 209.520004 m, bearing: 284.806457 deg, deltaT: 16.154962 s, approachRate: 0.100279 m/s, LOS rate: -1.853304 deg/s, posRepo size: 4
2021-08-15T13:45:44.436Z,1629035144.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 209.520004 m,
      bearing: 284.806457 deg,
      approachRate: 0.100279 m/s,
      LOS rate: -1.853304 deg/s,
      cmd update: -7.413215 deg/s,
      cmd heading: 314.746510 deg,
      new cmd heading: 314.746510 deg.

2021-08-15T13:45:46.496Z,1629035146.496 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:45:46.773Z,1629035146.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:45:46.773Z,1629035146.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:45:46.773Z,1629035146.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:45:46.774Z,1629035146.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:45:47.169Z,1629035147.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,01015,188,80,80,B3,FF
2021-08-15T13:45:47.169Z,1629035147.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:45:47.170Z,1629035147.170 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:45:47.171Z,1629035147.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:45:47.591Z,1629035147.591 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:45:48.436Z,1629035148.436 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,01003,18A,80,80,B7,FF
2021-08-15T13:45:48.436Z,1629035148.436 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:45:48.444Z,1629035148.444 [Micromodem](INFO): Nmea in: $SNTTA,0.485953,0.486016,,,134549.06*5D

2021-08-15T13:45:48.852Z,1629035148.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 208.439987 m, bearing: 262.696998 deg, deltaT: 4.550733 s, approachRate: -0.237328 m/s, LOS rate: -4.858439 deg/s, posRepo size: 4
2021-08-15T13:45:48.854Z,1629035148.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 208.439987 m,
      bearing: 262.696998 deg,
      approachRate: -0.237328 m/s,
      LOS rate: -4.858439 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 280.862342 deg,
      new cmd heading: 278.450897 deg.

2021-08-15T13:45:51.231Z,1629035151.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:45:51.637Z,1629035151.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:45:51.637Z,1629035151.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:45:51.637Z,1629035151.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:45:51.638Z,1629035151.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:45:52.017Z,1629035152.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,01003,18A,80,80,B7,FF
2021-08-15T13:45:52.017Z,1629035152.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:45:52.017Z,1629035152.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:45:52.019Z,1629035152.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:45:52.457Z,1629035152.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:45:53.249Z,1629035153.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,36E,000,00FE8,189,80,80,C5,FF
2021-08-15T13:45:53.249Z,1629035153.249 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:45:53.252Z,1629035153.252 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134553.90*52

2021-08-15T13:45:53.714Z,1629035153.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 206.819992 m, bearing: 256.697278 deg, deltaT: 4.746576 s, approachRate: -0.341298 m/s, LOS rate: -1.264010 deg/s, posRepo size: 4
2021-08-15T13:45:53.720Z,1629035153.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 206.819992 m,
      bearing: 256.697278 deg,
      approachRate: -0.341298 m/s,
      LOS rate: -1.264010 deg/s,
      cmd update: -5.056041 deg/s,
      cmd heading: 223.915476 deg,
      new cmd heading: 218.566416 deg.

2021-08-15T13:45:56.087Z,1629035156.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:45:56.473Z,1629035156.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:45:56.473Z,1629035156.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:45:56.473Z,1629035156.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:45:56.474Z,1629035156.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:45:56.861Z,1629035156.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
36E,000,00FE8,189,80,80,C5,FF
2021-08-15T13:45:56.861Z,1629035156.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:45:56.861Z,1629035156.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:45:56.863Z,1629035156.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:45:57.269Z,1629035157.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:45:58.097Z,1629035158.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14C,000,00FB6,185,80,80,A1,FF
2021-08-15T13:45:58.097Z,1629035158.097 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:45:58.100Z,1629035158.100 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134558.75*52

2021-08-15T13:45:58.550Z,1629035158.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 203.819992 m, bearing: 261.271156 deg, deltaT: 4.883450 s, approachRate: -0.614320 m/s, LOS rate: 0.936608 deg/s, posRepo size: 4
2021-08-15T13:45:58.553Z,1629035158.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 203.819992 m,
      bearing: 261.271156 deg,
      approachRate: -0.614320 m/s,
      LOS rate: 0.936608 deg/s,
      cmd update: 3.746431 deg/s,
      cmd heading: 199.261979 deg,
      new cmd heading: 197.208994 deg.

2021-08-15T13:46:00.942Z,1629035160.942 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:46:01.309Z,1629035161.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:46:01.309Z,1629035161.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:46:01.309Z,1629035161.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:46:01.310Z,1629035161.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:46:01.709Z,1629035161.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14C,000,00FB6,185,80,80,A1,FF
2021-08-15T13:46:01.709Z,1629035161.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:46:01.709Z,1629035161.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:46:01.711Z,1629035161.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:46:02.125Z,1629035162.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:46:02.953Z,1629035162.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE9,000,00F83,183,80,80,AE,FF
2021-08-15T13:46:02.953Z,1629035162.953 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:46:02.956Z,1629035162.956 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134603.60*5B

2021-08-15T13:46:03.403Z,1629035163.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 200.759995 m, bearing: 258.150825 deg, deltaT: 4.819126 s, approachRate: -0.634969 m/s, LOS rate: -0.647489 deg/s, posRepo size: 4
2021-08-15T13:46:03.419Z,1629035163.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.759995 m,
      bearing: 258.150825 deg,
      approachRate: -0.634969 m/s,
      LOS rate: -0.647489 deg/s,
      cmd update: -2.589956 deg/s,
      cmd heading: 217.346911 deg,
      new cmd heading: 218.878085 deg.

2021-08-15T13:46:05.799Z,1629035165.799 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:46:06.165Z,1629035166.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:46:06.165Z,1629035166.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:46:06.165Z,1629035166.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:46:06.166Z,1629035166.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:46:06.574Z,1629035166.574 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE9,000,00F83,183,80,80,AE,FF
2021-08-15T13:46:06.574Z,1629035166.574 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:46:06.574Z,1629035166.574 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:46:06.577Z,1629035166.577 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:46:06.992Z,1629035166.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:46:07.413Z,1629035167.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E72,000,00F83,183,80,80,AE,FF
2021-08-15T13:46:07.415Z,1629035167.415 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:46:07.825Z,1629035167.825 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134608.46*54

2021-08-15T13:46:07.872Z,1629035167.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 200.759995 m, bearing: 260.136197 deg, deltaT: 4.531601 s, approachRate: 0.000000 m/s, LOS rate: 0.438117 deg/s, posRepo size: 4
2021-08-15T13:46:07.874Z,1629035167.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.759995 m,
      bearing: 260.136197 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.438117 deg/s,
      cmd update: 1.752469 deg/s,
      cmd heading: 205.620192 deg,
      new cmd heading: 204.718206 deg.

2021-08-15T13:46:10.274Z,1629035170.274 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:46:10.637Z,1629035170.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:46:10.637Z,1629035170.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:46:10.637Z,1629035170.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:46:10.638Z,1629035170.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:46:11.033Z,1629035171.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E72,000,00F83,183,80,80,AE,FF
2021-08-15T13:46:11.033Z,1629035171.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:46:11.033Z,1629035171.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:46:11.035Z,1629035171.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:46:11.469Z,1629035171.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:46:12.265Z,1629035172.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C41,000,00F2E,189,80,80,89,FF
2021-08-15T13:46:12.265Z,1629035172.265 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:46:12.269Z,1629035172.269 [Micromodem](INFO): Nmea in: $SNTTA,0.132445,,,,134612.92*4D

2021-08-15T13:46:12.716Z,1629035172.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 195.659988 m, bearing: 270.801974 deg, deltaT: 4.894654 s, approachRate: -1.041954 m/s, LOS rate: 2.179067 deg/s, posRepo size: 4
2021-08-15T13:46:12.718Z,1629035172.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.659988 m,
      bearing: 270.801974 deg,
      approachRate: -1.041954 m/s,
      LOS rate: 2.179067 deg/s,
      cmd update: 8.716267 deg/s,
      cmd heading: 214.160317 deg,
      new cmd heading: 214.761748 deg.

2021-08-15T13:46:15.088Z,1629035175.088 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:46:15.470Z,1629035175.470 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:46:15.470Z,1629035175.470 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:46:15.470Z,1629035175.470 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:46:15.471Z,1629035175.471 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:46:15.873Z,1629035175.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C41,000,00F2E,189,80,80,89,FF
2021-08-15T13:46:15.873Z,1629035175.873 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:46:15.873Z,1629035175.873 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:46:15.875Z,1629035175.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:46:16.284Z,1629035176.284 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:46:16.708Z,1629035176.708 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BD5,000,00F2E,189,80,80,89,FF
2021-08-15T13:46:16.709Z,1629035176.709 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:46:17.137Z,1629035177.137 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134617.76*59

2021-08-15T13:46:17.188Z,1629035177.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 195.659988 m, bearing: 273.313817 deg, deltaT: 4.411131 s, approachRate: 0.000000 m/s, LOS rate: 0.569433 deg/s, posRepo size: 4
2021-08-15T13:46:17.190Z,1629035177.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.659988 m,
      bearing: 273.313817 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.569433 deg/s,
      cmd update: 2.277731 deg/s,
      cmd heading: 252.796833 deg,
      new cmd heading: 256.093787 deg.

2021-08-15T13:46:19.606Z,1629035179.606 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:46:19.913Z,1629035179.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:46:19.913Z,1629035179.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:46:19.913Z,1629035179.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:46:19.914Z,1629035179.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:46:20.333Z,1629035180.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BD5,000,00F2E,189,80,80,89,FF
2021-08-15T13:46:20.334Z,1629035180.334 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:46:20.334Z,1629035180.334 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:46:20.341Z,1629035180.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:46:20.771Z,1629035180.771 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:46:21.586Z,1629035181.586 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D21,000,00EE2,189,80,80,99,FF
2021-08-15T13:46:21.586Z,1629035181.586 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:46:21.592Z,1629035181.592 [Micromodem](INFO): Nmea in: $SNTTA,0.129527,,,,134622.23*4B

2021-08-15T13:46:22.010Z,1629035182.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 191.099991 m, bearing: 272.140637 deg, deltaT: 4.861338 s, approachRate: -0.938013 m/s, LOS rate: -0.241329 deg/s, posRepo size: 4
2021-08-15T13:46:22.013Z,1629035182.013 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 191.099991 m,
      bearing: 272.140637 deg,
      approachRate: -0.938013 m/s,
      LOS rate: -0.241329 deg/s,
      cmd update: -0.965315 deg/s,
      cmd heading: 263.860600 deg,
      new cmd heading: 264.649228 deg.

2021-08-15T13:46:24.531Z,1629035184.531 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:46:24.793Z,1629035184.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:46:24.793Z,1629035184.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:46:24.794Z,1629035184.794 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:46:24.794Z,1629035184.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:46:25.214Z,1629035185.214 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D21,000,00EE2,189,80,80,99,FF
2021-08-15T13:46:25.214Z,1629035185.214 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:46:25.215Z,1629035185.215 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:46:25.217Z,1629035185.217 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:46:25.606Z,1629035185.606 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:46:26.465Z,1629035186.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E87,000,00EB1,186,80,80,A4,FF
2021-08-15T13:46:26.465Z,1629035186.465 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:46:26.469Z,1629035186.469 [Micromodem](INFO): Nmea in: $SNTTA,0.410078,,,,134627.11*4F

2021-08-15T13:46:26.870Z,1629035186.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 188.160004 m, bearing: 271.001607 deg, deltaT: 4.882164 s, approachRate: -0.602189 m/s, LOS rate: -0.233304 deg/s, posRepo size: 4
2021-08-15T13:46:26.875Z,1629035186.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.160004 m,
      bearing: 271.001607 deg,
      approachRate: -0.602189 m/s,
      LOS rate: -0.233304 deg/s,
      cmd update: -0.933217 deg/s,
      cmd heading: 259.140316 deg,
      new cmd heading: 258.836038 deg.

2021-08-15T13:46:29.281Z,1629035189.281 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:46:29.653Z,1629035189.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:46:29.653Z,1629035189.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:46:29.653Z,1629035189.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:46:29.654Z,1629035189.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:46:30.054Z,1629035190.054 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E87,000,00EB1,186,80,80,A4,FF
2021-08-15T13:46:30.054Z,1629035190.054 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:46:30.054Z,1629035190.054 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:46:30.055Z,1629035190.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:46:30.465Z,1629035190.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:46:30.865Z,1629035190.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E87,000,00EB1,186,80,80,A4,FF
2021-08-15T13:46:30.866Z,1629035190.866 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:46:31.301Z,1629035191.301 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134631.94*51

2021-08-15T13:46:31.336Z,1629035191.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 188.160004 m, bearing: 286.831390 deg, deltaT: 4.369570 s, approachRate: 0.000000 m/s, LOS rate: 3.622732 deg/s, posRepo size: 4
2021-08-15T13:46:31.338Z,1629035191.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.160004 m,
      bearing: 286.831390 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 3.622732 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 255.094685 deg,
      new cmd heading: 254.676563 deg.

2021-08-15T13:46:33.734Z,1629035193.734 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:46:34.089Z,1629035194.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:46:34.089Z,1629035194.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:46:34.089Z,1629035194.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:46:34.090Z,1629035194.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:46:34.490Z,1629035194.490 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E87,000,00EB1,186,80,80,A4,FF
2021-08-15T13:46:34.490Z,1629035194.490 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:46:34.490Z,1629035194.490 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:46:34.517Z,1629035194.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:46:34.901Z,1629035194.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:46:35.322Z,1629035195.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E87,000,00EB1,186,80,80,A4,FF
2021-08-15T13:46:35.322Z,1629035195.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:46:35.741Z,1629035195.741 [Micromodem](INFO): Nmea in: $SNTTA,0.123818,,,,134636.40*40

2021-08-15T13:46:35.785Z,1629035195.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 188.160004 m, bearing: 284.512158 deg, deltaT: 4.458710 s, approachRate: 0.000000 m/s, LOS rate: -0.520158 deg/s, posRepo size: 4
2021-08-15T13:46:35.790Z,1629035195.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 188.160004 m,
      bearing: 284.512158 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.520158 deg/s,
      cmd update: -2.080630 deg/s,
      cmd heading: 308.915120 deg,
      new cmd heading: 313.850036 deg.

2021-08-15T13:46:38.163Z,1629035198.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:46:38.557Z,1629035198.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:46:38.557Z,1629035198.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:46:38.557Z,1629035198.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:46:38.558Z,1629035198.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:46:38.943Z,1629035198.943 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E87,000,00EB1,186,80,80,A4,FF
2021-08-15T13:46:38.943Z,1629035198.943 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:46:38.943Z,1629035198.943 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:46:38.945Z,1629035198.945 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:46:39.345Z,1629035199.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:46:40.173Z,1629035200.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,115,000,00E13,186,80,80,93,FF
2021-08-15T13:46:40.173Z,1629035200.173 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:46:40.176Z,1629035200.176 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134640.83*51

2021-08-15T13:46:40.663Z,1629035200.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 178.679993 m, bearing: 266.901554 deg, deltaT: 4.811145 s, approachRate: -1.970427 m/s, LOS rate: -3.660377 deg/s, posRepo size: 4
2021-08-15T13:46:40.676Z,1629035200.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.679993 m,
      bearing: 266.901554 deg,
      approachRate: -1.970427 m/s,
      LOS rate: -3.660377 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 298.887751 deg,
      new cmd heading: 297.907714 deg.

2021-08-15T13:46:42.995Z,1629035202.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:46:43.389Z,1629035203.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:46:43.389Z,1629035203.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:46:43.389Z,1629035203.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:46:43.390Z,1629035203.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:46:43.796Z,1629035203.796 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
115,000,00E13,186,80,80,93,FF
2021-08-15T13:46:43.796Z,1629035203.796 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:46:43.796Z,1629035203.796 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:46:43.798Z,1629035203.798 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:46:44.193Z,1629035204.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:46:44.602Z,1629035204.602 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,335,000,00E13,186,80,80,93,FF
2021-08-15T13:46:44.603Z,1629035204.603 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:46:45.041Z,1629035205.041 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134645.68*51

2021-08-15T13:46:45.064Z,1629035205.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 178.679993 m, bearing: 256.483002 deg, deltaT: 4.516482 s, approachRate: 0.000000 m/s, LOS rate: -2.306785 deg/s, posRepo size: 4
2021-08-15T13:46:45.066Z,1629035205.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.679993 m,
      bearing: 256.483002 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -2.306785 deg/s,
      cmd update: -9.227139 deg/s,
      cmd heading: 244.788222 deg,
      new cmd heading: 240.431358 deg.

2021-08-15T13:46:47.470Z,1629035207.470 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:46:47.829Z,1629035207.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:46:47.829Z,1629035207.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:46:47.829Z,1629035207.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:46:47.830Z,1629035207.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:46:48.233Z,1629035208.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
335,000,00E13,186,80,80,93,FF
2021-08-15T13:46:48.234Z,1629035208.234 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:46:48.234Z,1629035208.234 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:46:48.235Z,1629035208.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:46:48.657Z,1629035208.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:46:49.046Z,1629035209.046 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,271,000,00E13,186,80,80,93,FF
2021-08-15T13:46:49.046Z,1629035209.046 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:46:49.485Z,1629035209.485 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134650.12*58

2021-08-15T13:46:49.539Z,1629035209.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 178.679993 m, bearing: 265.040464 deg, deltaT: 4.361120 s, approachRate: 0.000000 m/s, LOS rate: 1.962217 deg/s, posRepo size: 4
2021-08-15T13:46:49.545Z,1629035209.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.679993 m,
      bearing: 265.040464 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.962217 deg/s,
      cmd update: 7.848867 deg/s,
      cmd heading: 204.488314 deg,
      new cmd heading: 200.145441 deg.

2021-08-15T13:46:51.921Z,1629035211.921 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:46:52.275Z,1629035212.275 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:46:52.275Z,1629035212.275 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:46:52.275Z,1629035212.275 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:46:52.276Z,1629035212.276 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:46:52.673Z,1629035212.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
271,000,00E13,186,80,80,93,FF
2021-08-15T13:46:52.673Z,1629035212.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:46:52.673Z,1629035212.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:46:52.675Z,1629035212.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:46:53.085Z,1629035213.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:46:53.481Z,1629035213.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B1,000,00E13,186,80,80,93,FF
2021-08-15T13:46:53.481Z,1629035213.481 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:46:53.941Z,1629035213.941 [Micromodem](INFO): Nmea in: $SNTTA,0.125424,,,,134654.56*46

2021-08-15T13:46:53.991Z,1629035213.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 178.679993 m, bearing: 267.425484 deg, deltaT: 4.488265 s, approachRate: 0.000000 m/s, LOS rate: 0.531390 deg/s, posRepo size: 4
2021-08-15T13:46:53.994Z,1629035213.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.679993 m,
      bearing: 267.425484 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.531390 deg/s,
      cmd update: 2.125561 deg/s,
      cmd heading: 239.697105 deg,
      new cmd heading: 243.128104 deg.

2021-08-15T13:46:56.429Z,1629035216.429 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:46:56.725Z,1629035216.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:46:56.725Z,1629035216.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:46:56.725Z,1629035216.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:46:56.726Z,1629035216.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:46:57.125Z,1629035217.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B1,000,00E13,186,80,80,93,FF
2021-08-15T13:46:57.125Z,1629035217.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:46:57.125Z,1629035217.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:46:57.127Z,1629035217.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:46:57.528Z,1629035217.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:46:57.926Z,1629035217.926 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4D,000,00E13,186,80,80,93,FF
2021-08-15T13:46:57.926Z,1629035217.926 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:46:58.397Z,1629035218.397 [Micromodem](INFO): Nmea in: $SNTTA,0.111190,,,,134659.01*44

2021-08-15T13:46:58.473Z,1629035218.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 178.679993 m, bearing: 267.838082 deg, deltaT: 4.391469 s, approachRate: 0.000000 m/s, LOS rate: 0.093954 deg/s, posRepo size: 4
2021-08-15T13:46:58.475Z,1629035218.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.679993 m,
      bearing: 267.838082 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.093954 deg/s,
      cmd update: 0.375818 deg/s,
      cmd heading: 249.036820 deg,
      new cmd heading: 250.151687 deg.

2021-08-15T13:47:00.478Z,1629035220.478 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:47:00.761Z,1629035220.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:47:00.761Z,1629035220.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:47:00.761Z,1629035220.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:47:00.762Z,1629035220.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:47:01.165Z,1629035221.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4D,000,00E13,186,80,80,93,FF
2021-08-15T13:47:01.165Z,1629035221.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:47:01.165Z,1629035221.165 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:47:01.167Z,1629035221.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:47:01.575Z,1629035221.575 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:47:01.977Z,1629035221.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E89,000,00D28,186,80,80,93,FF
2021-08-15T13:47:01.978Z,1629035221.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:47:02.446Z,1629035222.446 [Micromodem](INFO): Nmea in: $SNTTA,0.114312,0.487375,,,134703.05*57

2021-08-15T13:47:02.513Z,1629035222.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 164.580002 m, bearing: 269.976314 deg, deltaT: 4.050396 s, approachRate: -3.481139 m/s, LOS rate: 0.527907 deg/s, posRepo size: 4
2021-08-15T13:47:02.515Z,1629035222.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.580002 m,
      bearing: 269.976314 deg,
      approachRate: -3.481139 m/s,
      LOS rate: 0.527907 deg/s,
      cmd update: 2.111627 deg/s,
      cmd heading: 250.559393 deg,
      new cmd heading: 250.744988 deg.

2021-08-15T13:47:04.535Z,1629035224.535 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:47:04.793Z,1629035224.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:47:04.793Z,1629035224.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:47:04.793Z,1629035224.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:47:04.794Z,1629035224.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:47:05.205Z,1629035225.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E89,000,00D28,186,80,80,93,FF
2021-08-15T13:47:05.206Z,1629035225.206 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:47:05.206Z,1629035225.206 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:47:05.207Z,1629035225.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:47:05.609Z,1629035225.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:47:06.009Z,1629035226.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1A,000,00CFA,186,80,80,93,FF
2021-08-15T13:47:06.010Z,1629035226.010 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:47:06.445Z,1629035226.445 [Micromodem](INFO): Nmea in: $SNTTA,0.467526,0.465901,,,134707.09*5A

2021-08-15T13:47:06.500Z,1629035226.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 161.820007 m, bearing: 267.528210 deg, deltaT: 4.033462 s, approachRate: -0.684274 m/s, LOS rate: -0.606948 deg/s, posRepo size: 4
2021-08-15T13:47:06.502Z,1629035226.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.820007 m,
      bearing: 267.528210 deg,
      approachRate: -0.684274 m/s,
      LOS rate: -0.606948 deg/s,
      cmd update: -2.427794 deg/s,
      cmd heading: 259.074319 deg,
      new cmd heading: 260.063196 deg.

2021-08-15T13:47:08.556Z,1629035228.556 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:47:08.841Z,1629035228.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:47:08.841Z,1629035228.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:47:08.842Z,1629035228.842 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:47:08.843Z,1629035228.843 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:47:09.257Z,1629035229.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1A,000,00CFA,186,80,80,93,FF
2021-08-15T13:47:09.257Z,1629035229.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:47:09.257Z,1629035229.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:47:09.258Z,1629035229.258 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:47:09.648Z,1629035229.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:47:10.062Z,1629035230.062 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7D,000,00CCB,186,80,80,93,FF
2021-08-15T13:47:10.062Z,1629035230.062 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:47:10.489Z,1629035230.489 [Micromodem](INFO): Nmea in: $SNTTA,0.439613,0.439326,,,134711.15*58

2021-08-15T13:47:10.552Z,1629035230.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 159.000000 m, bearing: 266.808281 deg, deltaT: 4.052029 s, approachRate: -0.695949 m/s, LOS rate: -0.177671 deg/s, posRepo size: 4
2021-08-15T13:47:10.554Z,1629035230.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.000000 m,
      bearing: 266.808281 deg,
      approachRate: -0.695949 m/s,
      LOS rate: -0.177671 deg/s,
      cmd update: -0.710685 deg/s,
      cmd heading: 249.236257 deg,
      new cmd heading: 248.099826 deg.

2021-08-15T13:47:12.915Z,1629035232.915 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:47:13.294Z,1629035233.294 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:47:13.294Z,1629035233.294 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:47:13.294Z,1629035233.294 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:47:13.295Z,1629035233.295 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:47:13.687Z,1629035233.687 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7D,000,00CCB,186,80,80,93,FF
2021-08-15T13:47:13.687Z,1629035233.687 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:47:13.687Z,1629035233.687 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:47:13.689Z,1629035233.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:47:14.115Z,1629035234.115 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:47:14.490Z,1629035234.490 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F00,000,00C97,187,80,80,93,FF
2021-08-15T13:47:14.490Z,1629035234.490 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:47:14.946Z,1629035234.946 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134715.57*59

2021-08-15T13:47:14.968Z,1629035234.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.880005 m, bearing: 268.637924 deg, deltaT: 4.476400 s, approachRate: -0.696988 m/s, LOS rate: 0.408731 deg/s, posRepo size: 4
2021-08-15T13:47:14.970Z,1629035234.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.880005 m,
      bearing: 268.637924 deg,
      approachRate: -0.696988 m/s,
      LOS rate: 0.408731 deg/s,
      cmd update: 1.634924 deg/s,
      cmd heading: 246.053792 deg,
      new cmd heading: 245.765474 deg.

2021-08-15T13:47:17.358Z,1629035237.358 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:47:17.721Z,1629035237.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:47:17.721Z,1629035237.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:47:17.721Z,1629035237.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:47:17.722Z,1629035237.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:47:18.129Z,1629035238.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F00,000,00C97,187,80,80,93,FF
2021-08-15T13:47:18.130Z,1629035238.130 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:47:18.130Z,1629035238.130 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:47:18.133Z,1629035238.133 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:47:18.533Z,1629035238.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:47:18.953Z,1629035238.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED1,000,00C6C,186,80,80,AB,FF
2021-08-15T13:47:18.953Z,1629035238.953 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:47:19.378Z,1629035239.378 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134720.02*5F

2021-08-15T13:47:19.440Z,1629035239.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 153.300018 m, bearing: 269.716521 deg, deltaT: 4.443592 s, approachRate: -0.580608 m/s, LOS rate: 0.242731 deg/s, posRepo size: 4
2021-08-15T13:47:19.442Z,1629035239.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.300018 m,
      bearing: 269.716521 deg,
      approachRate: -0.580608 m/s,
      LOS rate: 0.242731 deg/s,
      cmd update: 0.970923 deg/s,
      cmd heading: 253.310689 deg,
      new cmd heading: 254.029448 deg.

2021-08-15T13:47:20.594Z,1629035240.594 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T13:47:21.814Z,1629035241.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:47:22.165Z,1629035242.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:47:22.165Z,1629035242.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:47:22.165Z,1629035242.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:47:22.166Z,1629035242.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:47:22.582Z,1629035242.582 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED1,000,00C6C,186,80,80,AB,FF
2021-08-15T13:47:22.582Z,1629035242.582 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:47:22.582Z,1629035242.582 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:47:22.585Z,1629035242.585 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:47:22.981Z,1629035242.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:47:23.794Z,1629035243.794 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134724.47*5A

2021-08-15T13:47:24.594Z,1629035244.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F52,000,03D51,186,80,80,8C,FF
2021-08-15T13:47:24.594Z,1629035244.594 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:47:25.048Z,1629035245.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 904.320007 m, bearing: 267.313851 deg, deltaT: 5.699978 s, approachRate: 131.758408 m/s, LOS rate: -0.421523 deg/s, posRepo size: 4
2021-08-15T13:47:25.050Z,1629035245.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 904.320007 m,
      bearing: 267.313851 deg,
      approachRate: 131.758408 m/s,
      LOS rate: -0.421523 deg/s,
      cmd update: -1.686090 deg/s,
      cmd heading: 258.849687 deg,
      new cmd heading: 259.166338 deg.

2021-08-15T13:47:27.469Z,1629035247.469 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:47:27.825Z,1629035247.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:47:27.825Z,1629035247.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:47:27.825Z,1629035247.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:47:27.826Z,1629035247.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:47:28.231Z,1629035248.231 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F52,000,03D51,186,80,80,8C,FF
2021-08-15T13:47:28.231Z,1629035248.231 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:47:28.231Z,1629035248.231 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:47:28.233Z,1629035248.233 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:47:28.649Z,1629035248.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:47:29.045Z,1629035249.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAE,000,00BFA,185,80,80,87,FF
2021-08-15T13:47:29.046Z,1629035249.046 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:47:29.497Z,1629035249.497 [Micromodem](INFO): Nmea in: $SNTTA,0.110126,,,,134730.12*44

2021-08-15T13:47:29.586Z,1629035249.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.460007 m, bearing: 266.508627 deg, deltaT: 4.417067 s, approachRate: -171.575394 m/s, LOS rate: -0.182298 deg/s, posRepo size: 4
2021-08-15T13:47:29.594Z,1629035249.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.460007 m,
      bearing: 266.508627 deg,
      approachRate: -171.575394 m/s,
      LOS rate: -0.182298 deg/s,
      cmd update: -0.729194 deg/s,
      cmd heading: 251.409065 deg,
      new cmd heading: 250.628907 deg.

2021-08-15T13:47:31.895Z,1629035251.895 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:47:32.272Z,1629035252.272 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:47:32.273Z,1629035252.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:47:32.273Z,1629035252.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:47:32.273Z,1629035252.273 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:47:32.673Z,1629035252.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAE,000,00BFA,185,80,80,87,FF
2021-08-15T13:47:32.673Z,1629035252.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:47:32.674Z,1629035252.674 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:47:32.675Z,1629035252.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:47:33.094Z,1629035253.094 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:47:33.486Z,1629035253.486 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F30,000,00BC9,186,80,80,A9,FF
2021-08-15T13:47:33.486Z,1629035253.486 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:47:33.929Z,1629035253.929 [Micromodem](INFO): Nmea in: $SNTTA,0.095419,,,,134734.56*45

2021-08-15T13:47:33.945Z,1629035253.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.520004 m, bearing: 268.407419 deg, deltaT: 4.426471 s, approachRate: -0.664187 m/s, LOS rate: 0.428963 deg/s, posRepo size: 4
2021-08-15T13:47:33.947Z,1629035253.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.520004 m,
      bearing: 268.407419 deg,
      approachRate: -0.664187 m/s,
      LOS rate: 0.428963 deg/s,
      cmd update: 1.715852 deg/s,
      cmd heading: 248.183522 deg,
      new cmd heading: 247.889589 deg.

2021-08-15T13:47:36.394Z,1629035256.394 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:47:36.728Z,1629035256.728 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:47:36.728Z,1629035256.728 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:47:36.729Z,1629035256.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:47:36.730Z,1629035256.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:47:37.121Z,1629035257.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F30,000,00BC9,186,80,80,A9,FF
2021-08-15T13:47:37.121Z,1629035257.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:47:37.121Z,1629035257.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:47:37.123Z,1629035257.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:47:37.529Z,1629035257.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:47:37.929Z,1629035257.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0F,000,00B95,186,80,80,B5,FF
2021-08-15T13:47:37.930Z,1629035257.930 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:47:38.401Z,1629035258.401 [Micromodem](INFO): Nmea in: $SNTTA,0.095720,,,,134739.01*43

2021-08-15T13:47:38.518Z,1629035258.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.400009 m, bearing: 268.281170 deg, deltaT: 4.397337 s, approachRate: -0.709519 m/s, LOS rate: -0.028710 deg/s, posRepo size: 4
2021-08-15T13:47:38.526Z,1629035258.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.400009 m,
      bearing: 268.281170 deg,
      approachRate: -0.709519 m/s,
      LOS rate: -0.028710 deg/s,
      cmd update: -0.114842 deg/s,
      cmd heading: 255.740981 deg,
      new cmd heading: 256.713073 deg.

2021-08-15T13:47:40.449Z,1629035260.449 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T13:47:40.479Z,1629035260.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:47:40.758Z,1629035260.758 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:47:40.758Z,1629035260.758 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:47:40.758Z,1629035260.758 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:47:40.759Z,1629035260.759 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:47:41.157Z,1629035261.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0F,000,00B95,186,80,80,B5,FF
2021-08-15T13:47:41.157Z,1629035261.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:47:41.157Z,1629035261.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:47:41.159Z,1629035261.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:47:41.565Z,1629035261.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:47:41.973Z,1629035261.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6C,000,00B69,187,80,80,A2,FF
2021-08-15T13:47:41.974Z,1629035261.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:47:42.449Z,1629035262.449 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134743.05*5D

2021-08-15T13:47:42.503Z,1629035262.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.759995 m, bearing: 267.386716 deg, deltaT: 4.044184 s, approachRate: -0.652793 m/s, LOS rate: -0.221171 deg/s, posRepo size: 4
2021-08-15T13:47:42.505Z,1629035262.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 137.759995 m,
      bearing: 267.386716 deg,
      approachRate: -0.652793 m/s,
      LOS rate: -0.221171 deg/s,
      cmd update: -0.884682 deg/s,
      cmd heading: 255.276542 deg,
      new cmd heading: 255.217738 deg.

2021-08-15T13:47:44.497Z,1629035264.497 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:47:44.797Z,1629035264.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:47:44.797Z,1629035264.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:47:44.797Z,1629035264.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:47:44.798Z,1629035264.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:47:45.202Z,1629035265.202 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6C,000,00B69,187,80,80,A2,FF
2021-08-15T13:47:45.202Z,1629035265.202 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:47:45.202Z,1629035265.202 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:47:45.204Z,1629035265.204 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:47:45.609Z,1629035265.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:47:46.009Z,1629035266.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F76,000,00B37,187,80,80,AE,FF
2021-08-15T13:47:46.009Z,1629035266.009 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:47:46.465Z,1629035266.465 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134747.09*55

2021-08-15T13:47:46.529Z,1629035266.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.760010 m, bearing: 267.522800 deg, deltaT: 4.064155 s, approachRate: -0.738157 m/s, LOS rate: 0.033484 deg/s, posRepo size: 4
2021-08-15T13:47:46.531Z,1629035266.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.760010 m,
      bearing: 267.522800 deg,
      approachRate: -0.738157 m/s,
      LOS rate: 0.033484 deg/s,
      cmd update: 0.133937 deg/s,
      cmd heading: 251.706000 deg,
      new cmd heading: 251.261482 deg.

2021-08-15T13:47:48.859Z,1629035268.859 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:47:49.241Z,1629035269.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:47:49.242Z,1629035269.242 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:47:49.242Z,1629035269.242 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:47:49.243Z,1629035269.243 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:47:49.649Z,1629035269.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F76,000,00B37,187,80,80,AE,FF
2021-08-15T13:47:49.649Z,1629035269.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:47:49.650Z,1629035269.650 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:47:49.651Z,1629035269.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:47:50.052Z,1629035270.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:47:50.481Z,1629035270.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5D,000,00B08,186,80,80,AC,FF
2021-08-15T13:47:50.482Z,1629035270.482 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:47:50.511Z,1629035270.511 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T13:47:50.885Z,1629035270.885 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134751.54*5A

2021-08-15T13:47:50.931Z,1629035270.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.940002 m, bearing: 267.575666 deg, deltaT: 4.496546 s, approachRate: -0.627150 m/s, LOS rate: 0.011757 deg/s, posRepo size: 4
2021-08-15T13:47:50.933Z,1629035270.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.940002 m,
      bearing: 267.575666 deg,
      approachRate: -0.627150 m/s,
      LOS rate: 0.011757 deg/s,
      cmd update: 0.047028 deg/s,
      cmd heading: 252.309852 deg,
      new cmd heading: 252.362438 deg.

2021-08-15T13:47:53.295Z,1629035273.295 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:47:53.685Z,1629035273.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:47:53.685Z,1629035273.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:47:53.686Z,1629035273.686 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:47:53.687Z,1629035273.687 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:47:54.096Z,1629035274.096 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5D,000,00B08,186,80,80,AC,FF
2021-08-15T13:47:54.096Z,1629035274.096 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:47:54.097Z,1629035274.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:47:54.098Z,1629035274.098 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:47:54.493Z,1629035274.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:47:54.893Z,1629035274.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5C,000,00AD4,187,80,80,56,FF
2021-08-15T13:47:54.894Z,1629035274.894 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:47:55.357Z,1629035275.357 [Micromodem](INFO): Nmea in: $SNTTA,0.101911,,,,134755.98*49

2021-08-15T13:47:55.374Z,1629035275.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.820007 m, bearing: 266.303393 deg, deltaT: 4.392993 s, approachRate: -0.710221 m/s, LOS rate: -0.289614 deg/s, posRepo size: 4
2021-08-15T13:47:55.380Z,1629035275.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.820007 m,
      bearing: 266.303393 deg,
      approachRate: -0.710221 m/s,
      LOS rate: -0.289614 deg/s,
      cmd update: -1.158457 deg/s,
      cmd heading: 252.515882 deg,
      new cmd heading: 252.537401 deg.

2021-08-15T13:47:57.766Z,1629035277.766 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:47:58.137Z,1629035278.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:47:58.137Z,1629035278.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:47:58.137Z,1629035278.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:47:58.138Z,1629035278.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:47:58.529Z,1629035278.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5C,000,00AD4,187,80,80,56,FF
2021-08-15T13:47:58.529Z,1629035278.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:47:58.529Z,1629035278.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:47:58.531Z,1629035278.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:47:58.940Z,1629035278.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:47:59.341Z,1629035279.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2B,000,00AA1,186,80,80,BA,FF
2021-08-15T13:47:59.342Z,1629035279.342 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:47:59.785Z,1629035279.785 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134800.42*56

2021-08-15T13:47:59.808Z,1629035279.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.760010 m, bearing: 267.050916 deg, deltaT: 4.503822 s, approachRate: -0.679422 m/s, LOS rate: 0.165975 deg/s, posRepo size: 4
2021-08-15T13:47:59.810Z,1629035279.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.760010 m,
      bearing: 267.050916 deg,
      approachRate: -0.679422 m/s,
      LOS rate: 0.165975 deg/s,
      cmd update: 0.663901 deg/s,
      cmd heading: 247.272549 deg,
      new cmd heading: 246.848524 deg.

2021-08-15T13:48:00.579Z,1629035280.579 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T13:48:02.191Z,1629035282.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:48:02.570Z,1629035282.570 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:48:02.570Z,1629035282.570 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:48:02.570Z,1629035282.570 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:48:02.571Z,1629035282.571 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:48:02.981Z,1629035282.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2B,000,00AA1,186,80,80,BA,FF
2021-08-15T13:48:02.981Z,1629035282.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:48:02.981Z,1629035282.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:48:02.983Z,1629035282.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:48:03.384Z,1629035283.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:48:03.789Z,1629035283.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE6,000,00A70,186,80,80,AE,FF
2021-08-15T13:48:03.790Z,1629035283.790 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:48:04.221Z,1629035284.221 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134804.87*5B

2021-08-15T13:48:04.255Z,1629035284.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.820007 m, bearing: 268.063943 deg, deltaT: 4.411768 s, approachRate: -0.666400 m/s, LOS rate: 0.229619 deg/s, posRepo size: 4
2021-08-15T13:48:04.257Z,1629035284.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.820007 m,
      bearing: 268.063943 deg,
      approachRate: -0.666400 m/s,
      LOS rate: 0.229619 deg/s,
      cmd update: 0.918477 deg/s,
      cmd heading: 250.200419 deg,
      new cmd heading: 250.467899 deg.

2021-08-15T13:48:06.694Z,1629035286.694 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:48:07.043Z,1629035287.043 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:48:07.043Z,1629035287.043 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:48:07.043Z,1629035287.043 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:48:07.044Z,1629035287.044 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:48:07.445Z,1629035287.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE6,000,00A70,186,80,80,AE,FF
2021-08-15T13:48:07.445Z,1629035287.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:48:07.445Z,1629035287.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:48:07.447Z,1629035287.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:48:07.842Z,1629035287.842 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:48:08.229Z,1629035288.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F11,000,00A3D,187,80,80,C0,FF
2021-08-15T13:48:08.230Z,1629035288.230 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:48:08.661Z,1629035288.661 [Micromodem](INFO): Nmea in: $SNTTA,0.346788,0.346800,,,134809.33*56

2021-08-15T13:48:08.720Z,1629035288.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.760010 m, bearing: 267.024033 deg, deltaT: 4.419046 s, approachRate: -0.692457 m/s, LOS rate: -0.235325 deg/s, posRepo size: 4
2021-08-15T13:48:08.722Z,1629035288.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.760010 m,
      bearing: 267.024033 deg,
      approachRate: -0.692457 m/s,
      LOS rate: -0.235325 deg/s,
      cmd update: -0.941298 deg/s,
      cmd heading: 254.265966 deg,
      new cmd heading: 254.671306 deg.

2021-08-15T13:48:11.099Z,1629035291.099 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:48:11.488Z,1629035291.488 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:48:11.488Z,1629035291.488 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:48:11.488Z,1629035291.488 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:48:11.489Z,1629035291.489 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:48:11.874Z,1629035291.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F11,000,00A3D,187,80,80,C0,FF
2021-08-15T13:48:11.874Z,1629035291.874 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:48:11.875Z,1629035291.875 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:48:11.877Z,1629035291.877 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:48:12.277Z,1629035292.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:48:12.677Z,1629035292.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F47,000,00A0D,186,80,80,88,FF
2021-08-15T13:48:12.678Z,1629035292.678 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:48:12.760Z,1629035292.760 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-08-15T13:48:12.760Z,1629035292.760 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-08-15T13:48:12.760Z,1629035292.760 [RDI_PathfinderUp](ERROR): Communications Fault
2021-08-15T13:48:12.928Z,1629035292.928 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-08-15T13:48:13.117Z,1629035293.117 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134813.76*53

2021-08-15T13:48:13.196Z,1629035293.196 [RDI_PathfinderUp](INFO): Powering down
2021-08-15T13:48:13.215Z,1629035293.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.880005 m, bearing: 266.023683 deg, deltaT: 4.516143 s, approachRate: -0.637713 m/s, LOS rate: -0.221505 deg/s, posRepo size: 4
2021-08-15T13:48:13.230Z,1629035293.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.880005 m,
      bearing: 266.023683 deg,
      approachRate: -0.637713 m/s,
      LOS rate: -0.221505 deg/s,
      cmd update: -0.886021 deg/s,
      cmd heading: 250.015011 deg,
      new cmd heading: 249.619086 deg.

2021-08-15T13:48:14.058Z,1629035294.058 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-08-15T13:48:14.058Z,1629035294.058 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-08-15T13:48:15.515Z,1629035295.515 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:48:15.906Z,1629035295.906 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:48:15.906Z,1629035295.906 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:48:15.906Z,1629035295.906 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:48:15.907Z,1629035295.907 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:48:16.305Z,1629035296.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F47,000,00A0D,186,80,80,88,FF
2021-08-15T13:48:16.305Z,1629035296.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:48:16.305Z,1629035296.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:48:16.309Z,1629035296.309 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:48:16.716Z,1629035296.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:48:17.123Z,1629035297.123 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1F,000,009DD,186,80,80,AD,FF
2021-08-15T13:48:17.123Z,1629035297.123 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:48:17.561Z,1629035297.561 [Micromodem](INFO): Nmea in: $SNTTA,0.083226,,,,134818.20*48

2021-08-15T13:48:17.608Z,1629035297.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.000008 m, bearing: 266.096083 deg, deltaT: 4.345887 s, approachRate: -0.662695 m/s, LOS rate: 0.016659 deg/s, posRepo size: 4
2021-08-15T13:48:17.610Z,1629035297.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.000008 m,
      bearing: 266.096083 deg,
      approachRate: -0.662695 m/s,
      LOS rate: 0.016659 deg/s,
      cmd update: 0.066638 deg/s,
      cmd heading: 246.164619 deg,
      new cmd heading: 245.750180 deg.

2021-08-15T13:48:19.963Z,1629035299.963 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:48:20.387Z,1629035300.387 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:48:20.392Z,1629035300.392 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:48:20.392Z,1629035300.392 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:48:20.393Z,1629035300.393 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:48:20.447Z,1629035300.447 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-08-15T13:48:20.749Z,1629035300.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1F,000,009DD,186,80,80,AD,FF
2021-08-15T13:48:20.749Z,1629035300.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:48:20.750Z,1629035300.750 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:48:20.751Z,1629035300.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:48:21.152Z,1629035301.152 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:48:21.562Z,1629035301.562 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE3,000,009B1,186,80,80,A1,FF
2021-08-15T13:48:21.562Z,1629035301.562 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:48:21.993Z,1629035301.993 [Micromodem](INFO): Nmea in: $SNTTA,0.079849,,,,134822.64*47

2021-08-15T13:48:22.015Z,1629035302.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.360001 m, bearing: 266.721783 deg, deltaT: 4.450972 s, approachRate: -0.593130 m/s, LOS rate: 0.140576 deg/s, posRepo size: 4
2021-08-15T13:48:22.038Z,1629035302.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.360001 m,
      bearing: 266.721783 deg,
      approachRate: -0.593130 m/s,
      LOS rate: 0.140576 deg/s,
      cmd update: 0.562304 deg/s,
      cmd heading: 246.461045 deg,
      new cmd heading: 246.489486 deg.

2021-08-15T13:48:24.466Z,1629035304.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:48:24.789Z,1629035304.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:48:24.789Z,1629035304.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:48:24.789Z,1629035304.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:48:24.790Z,1629035304.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:48:25.197Z,1629035305.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE3,000,009B1,186,80,80,A1,FF
2021-08-15T13:48:25.197Z,1629035305.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:48:25.197Z,1629035305.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:48:25.199Z,1629035305.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:48:25.603Z,1629035305.603 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:48:26.001Z,1629035306.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC1,000,00978,187,80,80,C3,FF
2021-08-15T13:48:26.001Z,1629035306.001 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:48:26.429Z,1629035306.429 [Micromodem](INFO): Nmea in: $SNTTA,0.469772,0.469497,,,134827.09*54

2021-08-15T13:48:26.485Z,1629035306.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.940002 m, bearing: 267.621783 deg, deltaT: 4.479686 s, approachRate: -0.763446 m/s, LOS rate: 0.200907 deg/s, posRepo size: 4
2021-08-15T13:48:26.487Z,1629035306.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.940002 m,
      bearing: 267.621783 deg,
      approachRate: -0.763446 m/s,
      LOS rate: 0.200907 deg/s,
      cmd update: 0.803628 deg/s,
      cmd heading: 248.981778 deg,
      new cmd heading: 249.214284 deg.

2021-08-15T13:48:28.857Z,1629035308.857 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:48:29.233Z,1629035309.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:48:29.233Z,1629035309.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:48:29.233Z,1629035309.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:48:29.234Z,1629035309.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:48:29.653Z,1629035309.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC1,000,00978,187,80,80,C3,FF
2021-08-15T13:48:29.653Z,1629035309.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:48:29.653Z,1629035309.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:48:29.655Z,1629035309.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:48:30.057Z,1629035310.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:48:30.477Z,1629035310.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F05,000,00946,186,80,80,9B,FF
2021-08-15T13:48:30.478Z,1629035310.478 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:48:30.885Z,1629035310.885 [Micromodem](INFO): Nmea in: $SNTTA,0.080500,,,,134831.54*40

2021-08-15T13:48:30.901Z,1629035310.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.939995 m, bearing: 266.073216 deg, deltaT: 4.434204 s, approachRate: -0.676561 m/s, LOS rate: -0.349232 deg/s, posRepo size: 4
2021-08-15T13:48:30.903Z,1629035310.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.939995 m,
      bearing: 266.073216 deg,
      approachRate: -0.676561 m/s,
      LOS rate: -0.349232 deg/s,
      cmd update: -1.396930 deg/s,
      cmd heading: 252.545057 deg,
      new cmd heading: 252.862929 deg.

2021-08-15T13:48:33.308Z,1629035313.308 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:48:33.685Z,1629035313.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:48:33.685Z,1629035313.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:48:33.685Z,1629035313.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:48:33.686Z,1629035313.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:48:34.086Z,1629035314.086 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F05,000,00946,186,80,80,9B,FF
2021-08-15T13:48:34.086Z,1629035314.086 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:48:34.086Z,1629035314.086 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:48:34.088Z,1629035314.088 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:48:34.500Z,1629035314.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:48:34.889Z,1629035314.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F15,000,00912,186,80,80,AB,FF
2021-08-15T13:48:34.890Z,1629035314.890 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:48:35.325Z,1629035315.325 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134835.97*58

2021-08-15T13:48:35.377Z,1629035315.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.820007 m, bearing: 266.050676 deg, deltaT: 4.400742 s, approachRate: -0.708969 m/s, LOS rate: -0.005122 deg/s, posRepo size: 4
2021-08-15T13:48:35.405Z,1629035315.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.820007 m,
      bearing: 266.050676 deg,
      approachRate: -0.708969 m/s,
      LOS rate: -0.005122 deg/s,
      cmd update: -0.020487 deg/s,
      cmd heading: 246.397276 deg,
      new cmd heading: 245.757223 deg.

2021-08-15T13:48:37.745Z,1629035317.745 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:48:38.130Z,1629035318.130 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:48:38.130Z,1629035318.130 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:48:38.130Z,1629035318.130 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:48:38.131Z,1629035318.131 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:48:38.525Z,1629035318.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F15,000,00912,186,80,80,AB,FF
2021-08-15T13:48:38.525Z,1629035318.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:48:38.525Z,1629035318.525 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:48:38.527Z,1629035318.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:48:38.936Z,1629035318.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:48:39.345Z,1629035319.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED2,000,008E4,187,80,80,C2,FF
2021-08-15T13:48:39.346Z,1629035319.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:48:39.777Z,1629035319.777 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134840.41*51

2021-08-15T13:48:39.820Z,1629035319.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.060005 m, bearing: 267.201098 deg, deltaT: 4.533571 s, approachRate: -0.608792 m/s, LOS rate: 0.253756 deg/s, posRepo size: 4
2021-08-15T13:48:39.822Z,1629035319.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.060005 m,
      bearing: 267.201098 deg,
      approachRate: -0.608792 m/s,
      LOS rate: 0.253756 deg/s,
      cmd update: 1.015025 deg/s,
      cmd heading: 246.304996 deg,
      new cmd heading: 246.296616 deg.

2021-08-15T13:48:42.179Z,1629035322.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:48:42.578Z,1629035322.578 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:48:42.578Z,1629035322.578 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:48:42.578Z,1629035322.578 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:48:42.579Z,1629035322.579 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:48:42.973Z,1629035322.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED2,000,008E4,187,80,80,C2,FF
2021-08-15T13:48:42.973Z,1629035322.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:48:42.974Z,1629035322.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:48:42.975Z,1629035322.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:48:43.376Z,1629035323.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:48:43.777Z,1629035323.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC9,000,008B5,186,80,80,A3,FF
2021-08-15T13:48:43.778Z,1629035323.778 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:48:44.217Z,1629035324.217 [Micromodem](INFO): Nmea in: $SNTTA,0.088491,,,,134844.87*4D

2021-08-15T13:48:44.257Z,1629035324.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.240005 m, bearing: 267.360706 deg, deltaT: 4.370095 s, approachRate: -0.645295 m/s, LOS rate: 0.036523 deg/s, posRepo size: 4
2021-08-15T13:48:44.259Z,1629035324.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.240005 m,
      bearing: 267.360706 deg,
      approachRate: -0.645295 m/s,
      LOS rate: 0.036523 deg/s,
      cmd update: 0.146091 deg/s,
      cmd heading: 250.770272 deg,
      new cmd heading: 251.223340 deg.

2021-08-15T13:48:46.639Z,1629035326.639 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T13:48:46.679Z,1629035326.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:48:47.009Z,1629035327.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:48:47.009Z,1629035327.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:48:47.009Z,1629035327.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:48:47.010Z,1629035327.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:48:47.417Z,1629035327.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC9,000,008B5,186,80,80,A3,FF
2021-08-15T13:48:47.417Z,1629035327.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:48:47.418Z,1629035327.418 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:48:47.426Z,1629035327.426 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:48:47.825Z,1629035327.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:48:48.237Z,1629035328.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF3,000,00883,186,80,80,AD,FF
2021-08-15T13:48:48.237Z,1629035328.237 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:48:48.677Z,1629035328.677 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134849.31*5F

2021-08-15T13:48:48.745Z,1629035328.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.239998 m, bearing: 266.778392 deg, deltaT: 4.443755 s, approachRate: -0.675106 m/s, LOS rate: -0.131041 deg/s, posRepo size: 4
2021-08-15T13:48:48.747Z,1629035328.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.239998 m,
      bearing: 266.778392 deg,
      approachRate: -0.675106 m/s,
      LOS rate: -0.131041 deg/s,
      cmd update: -0.524164 deg/s,
      cmd heading: 251.419492 deg,
      new cmd heading: 251.491215 deg.

2021-08-15T13:48:51.106Z,1629035331.106 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:48:51.481Z,1629035331.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:48:51.481Z,1629035331.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:48:51.481Z,1629035331.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:48:51.482Z,1629035331.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:48:51.869Z,1629035331.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF3,000,00883,186,80,80,AD,FF
2021-08-15T13:48:51.869Z,1629035331.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:48:51.869Z,1629035331.869 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:48:51.871Z,1629035331.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:48:52.276Z,1629035332.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:48:52.679Z,1629035332.679 [Micromodem](INFO): Nmea in: $SNTTA,0.134317,0.134417,,,134853.76*50

2021-08-15T13:48:53.911Z,1629035333.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:48:55.509Z,1629035335.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,186,80,80,AD,FF
2021-08-15T13:48:55.509Z,1629035335.509 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,186,80,80,AD,FF
2021-08-15T13:48:55.509Z,1629035335.509 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T13:48:56.466Z,1629035336.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:48:56.721Z,1629035336.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:48:56.721Z,1629035336.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:48:56.721Z,1629035336.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:48:56.722Z,1629035336.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:48:57.125Z,1629035337.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,186,80,80,AD,FF
2021-08-15T13:48:57.125Z,1629035337.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:48:57.125Z,1629035337.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:48:57.127Z,1629035337.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:48:57.536Z,1629035337.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:48:57.929Z,1629035337.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE4,000,00813,187,80,80,B6,FF
2021-08-15T13:48:57.929Z,1629035337.929 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:48:58.425Z,1629035338.425 [Micromodem](INFO): Nmea in: $SNTTA,0.064368,,,,134859.01*4C

2021-08-15T13:48:58.508Z,1629035338.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.520004 m, bearing: 266.664273 deg, deltaT: 9.724769 s, approachRate: -0.691018 m/s, LOS rate: -0.011735 deg/s, posRepo size: 4
2021-08-15T13:48:58.510Z,1629035338.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.520004 m,
      bearing: 266.664273 deg,
      approachRate: -0.691018 m/s,
      LOS rate: -0.011735 deg/s,
      cmd update: -0.046939 deg/s,
      cmd heading: 246.324248 deg,
      new cmd heading: 246.044691 deg.

2021-08-15T13:49:00.517Z,1629035340.517 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:49:00.797Z,1629035340.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:49:00.797Z,1629035340.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:49:00.797Z,1629035340.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:49:00.798Z,1629035340.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:49:01.193Z,1629035341.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE4,000,00813,187,80,80,B6,FF
2021-08-15T13:49:01.193Z,1629035341.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:49:01.193Z,1629035341.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:49:01.195Z,1629035341.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:49:01.614Z,1629035341.614 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:49:02.005Z,1629035342.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE1,000,007E4,187,80,80,70,FF
2021-08-15T13:49:02.005Z,1629035342.005 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:49:02.505Z,1629035342.505 [Micromodem](INFO): Nmea in: $SNTTA,0.059759,,,,134903.08*43

2021-08-15T13:49:02.594Z,1629035342.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.699997 m, bearing: 266.469776 deg, deltaT: 4.076063 s, approachRate: -0.691846 m/s, LOS rate: -0.047717 deg/s, posRepo size: 4
2021-08-15T13:49:02.601Z,1629035342.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.699997 m,
      bearing: 266.469776 deg,
      approachRate: -0.691846 m/s,
      LOS rate: -0.047717 deg/s,
      cmd update: -0.190867 deg/s,
      cmd heading: 246.132919 deg,
      new cmd heading: 246.107663 deg.

2021-08-15T13:49:04.879Z,1629035344.879 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:49:05.253Z,1629035345.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:49:05.253Z,1629035345.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:49:05.253Z,1629035345.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:49:05.254Z,1629035345.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:49:05.665Z,1629035345.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE1,000,007E4,187,80,80,70,FF
2021-08-15T13:49:05.666Z,1629035345.666 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:49:05.666Z,1629035345.666 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:49:05.668Z,1629035345.668 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:49:05.713Z,1629035345.713 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T13:49:06.064Z,1629035346.064 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:49:06.481Z,1629035346.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E73,000,007B0,185,80,80,B0,FF
2021-08-15T13:49:06.482Z,1629035346.482 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:49:06.917Z,1629035346.917 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134907.55*56

2021-08-15T13:49:06.933Z,1629035346.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.580009 m, bearing: 270.097809 deg, deltaT: 4.547400 s, approachRate: -0.686104 m/s, LOS rate: 0.797826 deg/s, posRepo size: 4
2021-08-15T13:49:06.935Z,1629035346.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.580009 m,
      bearing: 270.097809 deg,
      approachRate: -0.686104 m/s,
      LOS rate: 0.797826 deg/s,
      cmd update: 3.191303 deg/s,
      cmd heading: 245.267508 deg,
      new cmd heading: 245.201079 deg.

2021-08-15T13:49:09.324Z,1629035349.324 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:49:09.709Z,1629035349.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:49:09.709Z,1629035349.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:49:09.709Z,1629035349.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:49:09.710Z,1629035349.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:49:10.101Z,1629035350.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E73,000,007B0,185,80,80,B0,FF
2021-08-15T13:49:10.101Z,1629035350.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:49:10.101Z,1629035350.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:49:10.103Z,1629035350.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:49:10.521Z,1629035350.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:49:10.575Z,1629035350.575 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T13:49:10.909Z,1629035350.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E70,000,0077F,186,80,80,8F,FF
2021-08-15T13:49:10.910Z,1629035350.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:49:11.354Z,1629035351.354 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134911.99*51

2021-08-15T13:49:11.439Z,1629035351.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.640007 m, bearing: 271.283311 deg, deltaT: 4.382809 s, approachRate: -0.670803 m/s, LOS rate: 0.270489 deg/s, posRepo size: 4
2021-08-15T13:49:11.447Z,1629035351.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.640007 m,
      bearing: 271.283311 deg,
      approachRate: -0.670803 m/s,
      LOS rate: 0.270489 deg/s,
      cmd update: 1.081957 deg/s,
      cmd heading: 259.308172 deg,
      new cmd heading: 260.734879 deg.

2021-08-15T13:49:13.793Z,1629035353.793 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:49:14.145Z,1629035354.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:49:14.145Z,1629035354.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:49:14.145Z,1629035354.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:49:14.146Z,1629035354.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:49:14.557Z,1629035354.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E70,000,0077F,186,80,80,8F,FF
2021-08-15T13:49:14.558Z,1629035354.558 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:49:14.558Z,1629035354.558 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:49:14.562Z,1629035354.562 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:49:14.966Z,1629035354.966 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:49:15.359Z,1629035355.359 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F21,000,0074D,187,80,80,AC,FF
2021-08-15T13:49:15.359Z,1629035355.359 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:49:15.789Z,1629035355.789 [Micromodem](INFO): Nmea in: $SNTTA,0.066903,,,,134916.45*43

2021-08-15T13:49:15.809Z,1629035355.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.639999 m, bearing: 268.969899 deg, deltaT: 4.522658 s, approachRate: -0.663328 m/s, LOS rate: -0.511516 deg/s, posRepo size: 4
2021-08-15T13:49:15.817Z,1629035355.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.639999 m,
      bearing: 268.969899 deg,
      approachRate: -0.663328 m/s,
      LOS rate: -0.511516 deg/s,
      cmd update: -2.046064 deg/s,
      cmd heading: 264.197629 deg,
      new cmd heading: 264.526840 deg.

2021-08-15T13:49:18.208Z,1629035358.208 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:49:18.598Z,1629035358.598 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:49:18.598Z,1629035358.598 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:49:18.599Z,1629035358.599 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:49:18.608Z,1629035358.608 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:49:18.997Z,1629035358.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F21,000,0074D,187,80,80,AC,FF
2021-08-15T13:49:18.997Z,1629035358.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:49:18.998Z,1629035358.998 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:49:18.999Z,1629035358.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:49:19.441Z,1629035359.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:49:19.801Z,1629035359.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC6,000,0071D,184,80,80,B1,FF
2021-08-15T13:49:19.802Z,1629035359.802 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:49:20.250Z,1629035360.250 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134920.89*52

2021-08-15T13:49:20.305Z,1629035360.305 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.760002 m, bearing: 269.064811 deg, deltaT: 4.343171 s, approachRate: -0.663109 m/s, LOS rate: 0.021853 deg/s, posRepo size: 4
2021-08-15T13:49:20.315Z,1629035360.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.760002 m,
      bearing: 269.064811 deg,
      approachRate: -0.663109 m/s,
      LOS rate: 0.021853 deg/s,
      cmd update: 0.087413 deg/s,
      cmd heading: 255.311258 deg,
      new cmd heading: 254.383286 deg.

2021-08-15T13:49:20.669Z,1629035360.669 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-15T13:49:22.741Z,1629035362.741 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:49:23.029Z,1629035363.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:49:23.029Z,1629035363.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:49:23.029Z,1629035363.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:49:23.030Z,1629035363.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:49:23.439Z,1629035363.439 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC6,000,0071D,184,80,80,B1,FF
2021-08-15T13:49:23.439Z,1629035363.439 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:49:23.439Z,1629035363.439 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:49:23.445Z,1629035363.445 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:49:23.853Z,1629035363.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:49:24.249Z,1629035364.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F67,000,006E8,186,80,80,81,FF
2021-08-15T13:49:24.249Z,1629035364.249 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:49:24.689Z,1629035364.689 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134925.33*56

2021-08-15T13:49:24.724Z,1629035364.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.580002 m, bearing: 269.485551 deg, deltaT: 4.528418 s, approachRate: -0.702232 m/s, LOS rate: 0.092911 deg/s, posRepo size: 4
2021-08-15T13:49:24.726Z,1629035364.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.580002 m,
      bearing: 269.485551 deg,
      approachRate: -0.702232 m/s,
      LOS rate: 0.092911 deg/s,
      cmd update: 0.371644 deg/s,
      cmd heading: 255.703997 deg,
      new cmd heading: 255.737581 deg.

2021-08-15T13:49:25.530Z,1629035365.530 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T13:49:27.090Z,1629035367.090 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:49:27.487Z,1629035367.487 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:49:27.487Z,1629035367.487 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:49:27.487Z,1629035367.487 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:49:27.489Z,1629035367.489 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:49:27.877Z,1629035367.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F67,000,006E8,186,80,80,81,FF
2021-08-15T13:49:27.877Z,1629035367.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:49:27.877Z,1629035367.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:49:27.879Z,1629035367.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:49:28.285Z,1629035368.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:49:28.685Z,1629035368.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3A,000,006B4,187,80,80,A3,FF
2021-08-15T13:49:28.686Z,1629035368.686 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:49:28.689Z,1629035368.689 [Micromodem](INFO): Nmea in: $SNTTA,0.043336,0.129584,,,134929.77*58

2021-08-15T13:49:29.129Z,1629035369.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.460007 m, bearing: 269.164505 deg, deltaT: 4.396459 s, approachRate: -0.709661 m/s, LOS rate: -0.073024 deg/s, posRepo size: 4
2021-08-15T13:49:29.131Z,1629035369.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.460007 m,
      bearing: 269.164505 deg,
      approachRate: -0.709661 m/s,
      LOS rate: -0.073024 deg/s,
      cmd update: -0.292095 deg/s,
      cmd heading: 257.352606 deg,
      new cmd heading: 257.484059 deg.

2021-08-15T13:49:31.571Z,1629035371.571 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:49:31.921Z,1629035371.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:49:31.921Z,1629035371.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:49:31.922Z,1629035371.922 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:49:31.923Z,1629035371.923 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:49:32.360Z,1629035372.360 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3A,000,006B4,187,80,80,A3,FF
2021-08-15T13:49:32.361Z,1629035372.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:49:32.361Z,1629035372.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:49:32.376Z,1629035372.376 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:49:32.779Z,1629035372.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:49:33.173Z,1629035373.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3E,000,00681,186,80,80,9C,FF
2021-08-15T13:49:33.173Z,1629035373.173 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:49:33.625Z,1629035373.625 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134934.26*52

2021-08-15T13:49:33.673Z,1629035373.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.400005 m, bearing: 269.478557 deg, deltaT: 4.450896 s, approachRate: -0.687502 m/s, LOS rate: 0.070559 deg/s, posRepo size: 4
2021-08-15T13:49:33.675Z,1629035373.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.400005 m,
      bearing: 269.478557 deg,
      approachRate: -0.687502 m/s,
      LOS rate: 0.070559 deg/s,
      cmd update: 0.282237 deg/s,
      cmd heading: 256.053729 deg,
      new cmd heading: 255.928153 deg.

2021-08-15T13:49:36.028Z,1629035376.028 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:49:36.434Z,1629035376.434 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:49:36.435Z,1629035376.435 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:49:36.435Z,1629035376.435 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:49:36.437Z,1629035376.437 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:49:36.557Z,1629035376.557 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-15T13:49:36.809Z,1629035376.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3E,000,00681,186,80,80,9C,FF
2021-08-15T13:49:36.809Z,1629035376.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:49:36.809Z,1629035376.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:49:36.811Z,1629035376.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:49:37.228Z,1629035377.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:49:37.625Z,1629035377.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1C,000,00648,187,80,80,7A,FF
2021-08-15T13:49:37.625Z,1629035377.625 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:49:38.058Z,1629035378.058 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134938.70*5D

2021-08-15T13:49:38.074Z,1629035378.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.980000 m, bearing: 270.348750 deg, deltaT: 4.450950 s, approachRate: -0.768377 m/s, LOS rate: 0.195507 deg/s, posRepo size: 4
2021-08-15T13:49:38.076Z,1629035378.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.980000 m,
      bearing: 270.348750 deg,
      approachRate: -0.768377 m/s,
      LOS rate: 0.195507 deg/s,
      cmd update: 0.782029 deg/s,
      cmd heading: 257.311126 deg,
      new cmd heading: 257.423031 deg.

2021-08-15T13:49:40.570Z,1629035380.570 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:49:40.849Z,1629035380.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:49:40.849Z,1629035380.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:49:40.849Z,1629035380.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:49:40.850Z,1629035380.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:49:41.261Z,1629035381.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1C,000,00648,187,80,80,7A,FF
2021-08-15T13:49:41.261Z,1629035381.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:49:41.261Z,1629035381.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:49:41.263Z,1629035381.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:49:41.661Z,1629035381.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:49:42.070Z,1629035382.070 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4D,000,0061A,186,80,80,A6,FF
2021-08-15T13:49:42.070Z,1629035382.070 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:49:42.497Z,1629035382.497 [Micromodem](INFO): Nmea in: $SNTTA,0.063559,0.438360,,,134943.15*54

2021-08-15T13:49:42.610Z,1629035382.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.219994 m, bearing: 270.597588 deg, deltaT: 4.409571 s, approachRate: -0.625913 m/s, LOS rate: 0.056431 deg/s, posRepo size: 4
2021-08-15T13:49:42.617Z,1629035382.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.219994 m,
      bearing: 270.597588 deg,
      approachRate: -0.625913 m/s,
      LOS rate: 0.056431 deg/s,
      cmd update: 0.225725 deg/s,
      cmd heading: 260.759511 deg,
      new cmd heading: 261.168680 deg.

2021-08-15T13:49:44.907Z,1629035384.907 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:49:45.301Z,1629035385.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:49:45.301Z,1629035385.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:49:45.302Z,1629035385.302 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:49:45.303Z,1629035385.303 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:49:45.697Z,1629035385.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4D,000,0061A,186,80,80,A6,FF
2021-08-15T13:49:45.697Z,1629035385.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:49:45.697Z,1629035385.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:49:45.699Z,1629035385.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:49:46.109Z,1629035386.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:49:46.509Z,1629035386.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F69,000,005E6,187,80,80,94,FF
2021-08-15T13:49:46.510Z,1629035386.510 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:49:46.954Z,1629035386.954 [Micromodem](INFO): Nmea in: $SNTTA,,,,,134947.59*5E

2021-08-15T13:49:46.976Z,1629035386.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.100006 m, bearing: 269.580108 deg, deltaT: 4.551635 s, approachRate: -0.685465 m/s, LOS rate: -0.223542 deg/s, posRepo size: 4
2021-08-15T13:49:46.978Z,1629035386.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.100006 m,
      bearing: 269.580108 deg,
      approachRate: -0.685465 m/s,
      LOS rate: -0.223542 deg/s,
      cmd update: -0.894166 deg/s,
      cmd heading: 261.785144 deg,
      new cmd heading: 261.863054 deg.

2021-08-15T13:49:49.367Z,1629035389.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:49:49.741Z,1629035389.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:49:49.741Z,1629035389.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:49:49.741Z,1629035389.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:49:49.742Z,1629035389.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:49:50.141Z,1629035390.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F69,000,005E6,187,80,80,94,FF
2021-08-15T13:49:50.141Z,1629035390.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:49:50.141Z,1629035390.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:49:50.143Z,1629035390.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:49:50.577Z,1629035390.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:49:50.626Z,1629035390.626 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T13:49:50.957Z,1629035390.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F90,000,005B1,186,80,80,B2,FF
2021-08-15T13:49:50.958Z,1629035390.958 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:49:51.389Z,1629035391.389 [Micromodem](INFO): Nmea in: $SNTTA,0.043845,,,,134952.03*45

2021-08-15T13:49:51.476Z,1629035391.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.920002 m, bearing: 269.708734 deg, deltaT: 4.336430 s, approachRate: -0.733323 m/s, LOS rate: 0.029662 deg/s, posRepo size: 4
2021-08-15T13:49:51.478Z,1629035391.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.920002 m,
      bearing: 269.708734 deg,
      approachRate: -0.733323 m/s,
      LOS rate: 0.029662 deg/s,
      cmd update: 0.118647 deg/s,
      cmd heading: 257.900721 deg,
      new cmd heading: 257.452793 deg.

2021-08-15T13:49:53.816Z,1629035393.816 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:49:54.177Z,1629035394.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:49:54.177Z,1629035394.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:49:54.177Z,1629035394.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:49:54.178Z,1629035394.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:49:54.582Z,1629035394.582 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F90,000,005B1,186,80,80,B2,FF
2021-08-15T13:49:54.582Z,1629035394.582 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:49:54.582Z,1629035394.582 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:49:54.589Z,1629035394.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:49:55.005Z,1629035395.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:49:55.397Z,1629035395.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F83,000,0057D,187,80,80,75,FF
2021-08-15T13:49:55.398Z,1629035395.398 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:49:55.833Z,1629035395.833 [Micromodem](INFO): Nmea in: $SNTTA,0.047217,,,,134956.48*47

2021-08-15T13:49:55.883Z,1629035395.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.800003 m, bearing: 269.975822 deg, deltaT: 4.513627 s, approachRate: -0.691240 m/s, LOS rate: 0.059174 deg/s, posRepo size: 4
2021-08-15T13:49:55.890Z,1629035395.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.800003 m,
      bearing: 269.975822 deg,
      approachRate: -0.691240 m/s,
      LOS rate: 0.059174 deg/s,
      cmd update: 0.236695 deg/s,
      cmd heading: 258.434737 deg,
      new cmd heading: 258.483065 deg.

2021-08-15T13:49:58.253Z,1629035398.253 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:49:58.641Z,1629035398.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:49:58.641Z,1629035398.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:49:58.641Z,1629035398.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:49:58.642Z,1629035398.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:49:59.029Z,1629035399.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F83,000,0057D,187,80,80,75,FF
2021-08-15T13:49:59.029Z,1629035399.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:49:59.029Z,1629035399.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:49:59.031Z,1629035399.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:49:59.460Z,1629035399.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:49:59.841Z,1629035399.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7D,000,00550,187,80,80,91,FF
2021-08-15T13:49:59.841Z,1629035399.841 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:50:00.285Z,1629035400.285 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135000.92*52

2021-08-15T13:50:00.331Z,1629035400.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.100002 m, bearing: 269.747420 deg, deltaT: 4.369743 s, approachRate: -0.617885 m/s, LOS rate: -0.052269 deg/s, posRepo size: 4
2021-08-15T13:50:00.392Z,1629035400.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.100002 m,
      bearing: 269.747420 deg,
      approachRate: -0.617885 m/s,
      LOS rate: -0.052269 deg/s,
      cmd update: -0.209075 deg/s,
      cmd heading: 259.472050 deg,
      new cmd heading: 259.582611 deg.

2021-08-15T13:50:02.727Z,1629035402.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:50:03.069Z,1629035403.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:50:03.069Z,1629035403.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:50:03.069Z,1629035403.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:50:03.070Z,1629035403.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:50:03.489Z,1629035403.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7D,000,00550,187,80,80,91,FF
2021-08-15T13:50:03.489Z,1629035403.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:50:03.489Z,1629035403.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:50:03.491Z,1629035403.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:50:03.889Z,1629035403.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:50:04.286Z,1629035404.286 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC8,000,0051A,184,80,80,AD,FF
2021-08-15T13:50:04.286Z,1629035404.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:50:04.737Z,1629035404.737 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135005.38*57

2021-08-15T13:50:04.795Z,1629035404.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.859997 m, bearing: 267.848710 deg, deltaT: 4.508853 s, approachRate: -0.718588 m/s, LOS rate: -0.421107 deg/s, posRepo size: 4
2021-08-15T13:50:04.818Z,1629035404.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.859997 m,
      bearing: 267.848710 deg,
      approachRate: -0.718588 m/s,
      LOS rate: -0.421107 deg/s,
      cmd update: -1.684429 deg/s,
      cmd heading: 258.541098 deg,
      new cmd heading: 258.439912 deg.

2021-08-15T13:50:07.138Z,1629035407.138 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:50:07.545Z,1629035407.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:50:07.545Z,1629035407.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:50:07.545Z,1629035407.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:50:07.546Z,1629035407.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:50:07.917Z,1629035407.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC8,000,0051A,184,80,80,AD,FF
2021-08-15T13:50:07.917Z,1629035407.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:50:07.917Z,1629035407.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:50:07.919Z,1629035407.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:50:08.377Z,1629035408.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:50:08.741Z,1629035408.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F89,000,004EC,186,80,80,6D,FF
2021-08-15T13:50:08.742Z,1629035408.742 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:50:09.169Z,1629035409.169 [Micromodem](INFO): Nmea in: $SNTTA,0.048741,,,,135009.81*49

2021-08-15T13:50:09.188Z,1629035409.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.099998 m, bearing: 270.450028 deg, deltaT: 4.401932 s, approachRate: -0.626997 m/s, LOS rate: 0.590949 deg/s, posRepo size: 4
2021-08-15T13:50:09.188Z,1629035409.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.10 m.
2021-08-15T13:50:09.190Z,1629035409.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.099998 m,
      bearing: 270.450028 deg,
      approachRate: -0.626997 m/s,
      LOS rate: 0.590949 deg/s,
      cmd update: 2.363797 deg/s,
      cmd heading: 251.032100 deg,
      new cmd heading: 250.326642 deg.

2021-08-15T13:50:09.591Z,1629035409.591 [PowerOnly](INFO): Powering up loadControl
2021-08-15T13:50:09.642Z,1629035409.642 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T13:50:09.642Z,1629035409.642 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T13:50:09.642Z,1629035409.642 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T13:50:09.643Z,1629035409.643 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T13:50:09.643Z,1629035409.643 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T13:50:09.643Z,1629035409.643 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T13:50:10.027Z,1629035410.027 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T13:50:10.027Z,1629035410.027 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T13:50:10.027Z,1629035410.027 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T13:50:10.028Z,1629035410.028 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T13:50:11.705Z,1629035411.705 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:50:11.969Z,1629035411.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:50:11.969Z,1629035411.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:50:11.969Z,1629035411.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:50:11.970Z,1629035411.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:50:12.413Z,1629035412.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F89,000,004EC,186,80,80,6D,FF
2021-08-15T13:50:12.413Z,1629035412.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:50:12.413Z,1629035412.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:50:12.415Z,1629035412.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:50:12.812Z,1629035412.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:50:13.221Z,1629035413.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F80,000,004BF,187,80,80,8F,FF
2021-08-15T13:50:13.221Z,1629035413.221 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:50:13.242Z,1629035413.242 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T13:50:13.676Z,1629035413.676 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135014.30*5F

2021-08-15T13:50:13.711Z,1629035413.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.399998 m, bearing: 265.985243 deg, deltaT: 4.469819 s, approachRate: -0.604051 m/s, LOS rate: -0.998874 deg/s, posRepo size: 4
2021-08-15T13:50:13.711Z,1629035413.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.40 m.
2021-08-15T13:50:13.713Z,1629035413.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.399998 m,
      bearing: 265.985243 deg,
      approachRate: -0.604051 m/s,
      LOS rate: -0.998874 deg/s,
      cmd update: -3.995495 deg/s,
      cmd heading: 261.597533 deg,
      new cmd heading: 262.713534 deg.

2021-08-15T13:50:16.087Z,1629035416.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:50:16.449Z,1629035416.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:50:16.449Z,1629035416.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:50:16.449Z,1629035416.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:50:16.450Z,1629035416.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:50:16.846Z,1629035416.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F80,000,004BF,187,80,80,8F,FF
2021-08-15T13:50:16.846Z,1629035416.846 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:50:16.846Z,1629035416.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:50:16.847Z,1629035416.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:50:17.265Z,1629035417.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:50:17.658Z,1629035417.658 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F89,000,00489,186,80,80,51,FF
2021-08-15T13:50:17.659Z,1629035417.659 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:50:17.689Z,1629035417.689 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T13:50:18.101Z,1629035418.101 [Micromodem](INFO): Nmea in: $SNTTA,0.023606,,,,135018.74*4C

2021-08-15T13:50:18.184Z,1629035418.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.160004 m, bearing: 267.999438 deg, deltaT: 4.447413 s, approachRate: -0.728512 m/s, LOS rate: 0.452891 deg/s, posRepo size: 4
2021-08-15T13:50:18.184Z,1629035418.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 32.16 m.
2021-08-15T13:50:18.186Z,1629035418.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.160004 m,
      bearing: 267.999438 deg,
      approachRate: -0.728512 m/s,
      LOS rate: 0.452891 deg/s,
      cmd update: 1.811566 deg/s,
      cmd heading: 243.827767 deg,
      new cmd heading: 241.855830 deg.

2021-08-15T13:50:20.560Z,1629035420.560 [DDM](ERROR): Could not parse whisker state
2021-08-15T13:50:20.650Z,1629035420.650 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:50:20.893Z,1629035420.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:50:20.893Z,1629035420.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:50:20.893Z,1629035420.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:50:20.894Z,1629035420.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:50:21.302Z,1629035421.302 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F89,000,00489,186,80,80,51,FF
2021-08-15T13:50:21.302Z,1629035421.302 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:50:21.303Z,1629035421.303 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:50:21.305Z,1629035421.305 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:50:21.697Z,1629035421.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:50:22.101Z,1629035422.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,30F,000,00461,189,80,80,44,FF
2021-08-15T13:50:22.102Z,1629035422.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:50:22.135Z,1629035422.135 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T13:50:22.557Z,1629035422.557 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135023.19*50

2021-08-15T13:50:22.637Z,1629035422.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.760000 m, bearing: 214.334915 deg, deltaT: 4.445607 s, approachRate: -0.539860 m/s, LOS rate: -12.071360 deg/s, posRepo size: 4
2021-08-15T13:50:22.638Z,1629035422.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 29.76 m.
2021-08-15T13:50:22.638Z,1629035422.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 29.76 m.
2021-08-15T13:50:22.638Z,1629035422.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-15T13:50:22.639Z,1629035422.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.071360 deg/s. Setting heading cmd to target bearing of 214.334915deg and heading rate command to 0 deg/s.
2021-08-15T13:50:24.645Z,1629035424.645 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:50:24.925Z,1629035424.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:50:24.925Z,1629035424.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:50:24.925Z,1629035424.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:50:24.926Z,1629035424.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:50:25.325Z,1629035425.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
30F,000,00461,189,80,80,44,FF
2021-08-15T13:50:25.325Z,1629035425.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:50:25.326Z,1629035425.326 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:50:25.327Z,1629035425.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:50:25.730Z,1629035425.730 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:50:26.137Z,1629035426.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E49,000,00435,186,80,80,73,FF
2021-08-15T13:50:26.138Z,1629035426.138 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:50:26.170Z,1629035426.170 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T13:50:26.570Z,1629035426.570 [Micromodem](INFO): Nmea in: $SNTTA,0.038556,,,,135027.21*4C

2021-08-15T13:50:26.631Z,1629035426.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.119997 m, bearing: 273.038069 deg, deltaT: 4.035277 s, approachRate: -0.654231 m/s, LOS rate: 14.547490 deg/s, posRepo size: 4
2021-08-15T13:50:26.631Z,1629035426.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.547490 deg/s. Setting heading cmd to target bearing of 273.038069deg and heading rate command to 0 deg/s.
2021-08-15T13:50:29.006Z,1629035429.006 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:50:29.367Z,1629035429.367 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:50:29.367Z,1629035429.367 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:50:29.367Z,1629035429.367 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:50:29.368Z,1629035429.368 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:50:29.782Z,1629035429.782 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E49,000,00435,186,80,80,73,FF
2021-08-15T13:50:29.782Z,1629035429.782 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:50:29.783Z,1629035429.783 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:50:29.784Z,1629035429.784 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:50:30.177Z,1629035430.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:50:30.578Z,1629035430.578 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9B,000,00416,189,80,80,7A,FF
2021-08-15T13:50:30.578Z,1629035430.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:50:30.678Z,1629035430.678 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T13:50:31.009Z,1629035431.009 [Micromodem](INFO): Nmea in: $SNTTA,0.036106,,,,135031.67*46

2021-08-15T13:50:31.075Z,1629035431.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.259996 m, bearing: 268.806603 deg, deltaT: 4.508069 s, approachRate: -0.412594 m/s, LOS rate: -0.938643 deg/s, posRepo size: 4
2021-08-15T13:50:31.083Z,1629035431.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.259996 m,
      bearing: 268.806603 deg,
      approachRate: -0.412594 m/s,
      LOS rate: -0.938643 deg/s,
      cmd update: -3.754571 deg/s,
      cmd heading: 273.038069 deg,
      new cmd heading: 273.038069 deg.

2021-08-15T13:50:33.490Z,1629035433.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:50:33.821Z,1629035433.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:50:33.821Z,1629035433.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:50:33.821Z,1629035433.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:50:33.822Z,1629035433.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:50:34.213Z,1629035434.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9B,000,00416,189,80,80,7A,FF
2021-08-15T13:50:34.213Z,1629035434.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:50:34.213Z,1629035434.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:50:34.215Z,1629035434.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:50:34.649Z,1629035434.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:50:35.033Z,1629035435.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDD,000,003F3,189,80,80,AF,FF
2021-08-15T13:50:35.034Z,1629035435.034 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:50:35.054Z,1629035435.054 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T13:50:35.465Z,1629035435.465 [Micromodem](INFO): Nmea in: $SNTTA,0.038069,,,,135036.11*46

2021-08-15T13:50:35.535Z,1629035435.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.160000 m, bearing: 262.476056 deg, deltaT: 4.375857 s, approachRate: -0.479905 m/s, LOS rate: -1.446699 deg/s, posRepo size: 4
2021-08-15T13:50:35.541Z,1629035435.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.160000 m,
      bearing: 262.476056 deg,
      approachRate: -0.479905 m/s,
      LOS rate: -1.446699 deg/s,
      cmd update: -5.786795 deg/s,
      cmd heading: 256.569538 deg,
      new cmd heading: 254.753666 deg.

2021-08-15T13:50:37.922Z,1629035437.922 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:50:38.261Z,1629035438.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:50:38.261Z,1629035438.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:50:38.262Z,1629035438.262 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:50:38.263Z,1629035438.263 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:50:38.661Z,1629035438.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDD,000,003F3,189,80,80,AF,FF
2021-08-15T13:50:38.661Z,1629035438.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:50:38.661Z,1629035438.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:50:38.663Z,1629035438.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:50:39.073Z,1629035439.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:50:39.477Z,1629035439.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E75,000,001C2,186,80,80,59,FF
2021-08-15T13:50:39.477Z,1629035439.477 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2021-08-15T13:50:39.913Z,1629035439.913 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135040.55*5D

2021-08-15T13:50:40.746Z,1629035440.746 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:50:43.562Z,1629035443.562 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:50:43.917Z,1629035443.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:50:43.918Z,1629035443.918 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:50:43.918Z,1629035443.918 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:50:43.919Z,1629035443.919 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:50:44.318Z,1629035444.318 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E75,000,001C2,186,80,80,59,FF
2021-08-15T13:50:44.318Z,1629035444.318 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:50:44.318Z,1629035444.318 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:50:44.345Z,1629035444.345 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:50:44.745Z,1629035444.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:50:45.151Z,1629035445.151 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDF,000,003A4,188,80,80,80,FF
2021-08-15T13:50:45.151Z,1629035445.151 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:50:45.172Z,1629035445.172 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T13:50:45.621Z,1629035445.621 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135046.24*5D

2021-08-15T13:50:45.629Z,1629035445.629 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T13:50:45.653Z,1629035445.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.420000 m, bearing: 269.289169 deg, deltaT: 10.117875 s, approachRate: -0.468478 m/s, LOS rate: 0.673374 deg/s, posRepo size: 4
2021-08-15T13:50:45.655Z,1629035445.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.420000 m,
      bearing: 269.289169 deg,
      approachRate: -0.468478 m/s,
      LOS rate: 0.673374 deg/s,
      cmd update: 2.693496 deg/s,
      cmd heading: 198.020675 deg,
      new cmd heading: 195.220867 deg.

2021-08-15T13:50:48.007Z,1629035448.007 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:50:48.409Z,1629035448.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:50:48.409Z,1629035448.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:50:48.409Z,1629035448.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:50:48.410Z,1629035448.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:50:48.781Z,1629035448.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDF,000,003A4,188,80,80,80,FF
2021-08-15T13:50:48.781Z,1629035448.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:50:48.781Z,1629035448.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:50:48.783Z,1629035448.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:50:49.189Z,1629035449.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:50:49.602Z,1629035449.602 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BEA,000,0036F,189,80,80,99,FF
2021-08-15T13:50:49.602Z,1629035449.602 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:50:49.658Z,1629035449.658 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T13:50:50.025Z,1629035450.025 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135050.67*5D

2021-08-15T13:50:50.108Z,1629035450.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.240002 m, bearing: 278.890202 deg, deltaT: 4.486113 s, approachRate: -0.708854 m/s, LOS rate: 2.140167 deg/s, posRepo size: 4
2021-08-15T13:50:50.110Z,1629035450.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.240002 m,
      bearing: 278.890202 deg,
      approachRate: -0.708854 m/s,
      LOS rate: 2.140167 deg/s,
      cmd update: 8.560670 deg/s,
      cmd heading: 210.093729 deg,
      new cmd heading: 211.304564 deg.

2021-08-15T13:50:52.504Z,1629035452.504 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:50:52.821Z,1629035452.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:50:52.821Z,1629035452.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:50:52.821Z,1629035452.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:50:52.822Z,1629035452.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:50:53.230Z,1629035453.230 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BEA,000,0036F,189,80,80,99,FF
2021-08-15T13:50:53.230Z,1629035453.230 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:50:53.230Z,1629035453.230 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:50:53.232Z,1629035453.232 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:50:53.641Z,1629035453.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:50:54.034Z,1629035454.034 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D7B,000,0035B,189,80,80,B9,FF
2021-08-15T13:50:54.036Z,1629035454.036 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:50:54.059Z,1629035454.059 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T13:50:54.473Z,1629035454.473 [Micromodem](INFO): Nmea in: $SNTTA,0.030791,,,,135055.12*48

2021-08-15T13:50:54.586Z,1629035454.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.039998 m, bearing: 244.091481 deg, deltaT: 4.401433 s, approachRate: -0.272639 m/s, LOS rate: -7.906226 deg/s, posRepo size: 4
2021-08-15T13:50:54.589Z,1629035454.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.039998 m,
      bearing: 244.091481 deg,
      approachRate: -0.272639 m/s,
      LOS rate: -7.906226 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 247.805149 deg,
      new cmd heading: 252.331919 deg.

2021-08-15T13:50:56.883Z,1629035456.883 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:50:57.269Z,1629035457.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:50:57.269Z,1629035457.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:50:57.269Z,1629035457.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:50:57.270Z,1629035457.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:50:57.681Z,1629035457.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D7B,000,0035B,189,80,80,B9,FF
2021-08-15T13:50:57.681Z,1629035457.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:50:57.682Z,1629035457.682 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:50:57.683Z,1629035457.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:50:58.080Z,1629035458.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:50:58.486Z,1629035458.486 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,392,000,00362,189,80,80,2B,FF
2021-08-15T13:50:58.486Z,1629035458.486 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:50:58.566Z,1629035458.566 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T13:50:58.933Z,1629035458.933 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135059.57*57

2021-08-15T13:50:58.975Z,1629035458.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.459998 m, bearing: 178.631590 deg, deltaT: 4.506370 s, approachRate: 0.093201 m/s, LOS rate: -14.526079 deg/s, posRepo size: 4
2021-08-15T13:50:58.976Z,1629035458.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.526079 deg/s. Setting heading cmd to target bearing of 178.631590deg and heading rate command to 0 deg/s.
2021-08-15T13:51:01.335Z,1629035461.335 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:51:01.709Z,1629035461.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:51:01.709Z,1629035461.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:51:01.709Z,1629035461.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:51:01.710Z,1629035461.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:51:02.114Z,1629035462.114 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
392,000,00362,189,80,80,2B,FF
2021-08-15T13:51:02.114Z,1629035462.114 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:51:02.114Z,1629035462.114 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:51:02.140Z,1629035462.140 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:51:02.561Z,1629035462.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:51:02.921Z,1629035462.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D03,000,00344,188,80,80,8E,FF
2021-08-15T13:51:02.922Z,1629035462.922 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:51:02.979Z,1629035462.979 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T13:51:03.345Z,1629035463.345 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135104.03*5F

2021-08-15T13:51:03.378Z,1629035463.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.660002 m, bearing: 270.564475 deg, deltaT: 4.412839 s, approachRate: -0.407900 m/s, LOS rate: 20.833047 deg/s, posRepo size: 4
2021-08-15T13:51:03.378Z,1629035463.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 20.833047 deg/s. Setting heading cmd to target bearing of 270.564475deg and heading rate command to 0 deg/s.
2021-08-15T13:51:05.813Z,1629035465.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:51:06.153Z,1629035466.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:51:06.153Z,1629035466.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:51:06.153Z,1629035466.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:51:06.154Z,1629035466.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:51:06.570Z,1629035466.570 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D03,000,00344,188,80,80,8E,FF
2021-08-15T13:51:06.570Z,1629035466.570 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:51:06.570Z,1629035466.570 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:51:06.573Z,1629035466.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:51:06.989Z,1629035466.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:51:07.365Z,1629035467.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDF,000,00343,187,80,80,7F,FF
2021-08-15T13:51:07.366Z,1629035467.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:51:07.440Z,1629035467.440 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T13:51:07.806Z,1629035467.806 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135108.46*52

2021-08-15T13:51:07.828Z,1629035467.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.599998 m, bearing: 229.813326 deg, deltaT: 4.461035 s, approachRate: -0.013451 m/s, LOS rate: -9.134909 deg/s, posRepo size: 4
2021-08-15T13:51:07.830Z,1629035467.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.599998 m,
      bearing: 229.813326 deg,
      approachRate: -0.013451 m/s,
      LOS rate: -9.134909 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 270.564475 deg,
      new cmd heading: 270.564475 deg.

2021-08-15T13:51:10.265Z,1629035470.265 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:51:10.602Z,1629035470.602 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:51:10.602Z,1629035470.602 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:51:10.602Z,1629035470.602 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:51:10.603Z,1629035470.603 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:51:11.021Z,1629035471.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDF,000,00343,187,80,80,7F,FF
2021-08-15T13:51:11.021Z,1629035471.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:51:11.021Z,1629035471.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:51:11.023Z,1629035471.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:51:11.417Z,1629035471.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:51:11.817Z,1629035471.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,185,000,0035F,186,80,80,99,FF
2021-08-15T13:51:11.818Z,1629035471.818 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:51:11.838Z,1629035471.838 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T13:51:12.241Z,1629035472.241 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135112.91*53

2021-08-15T13:51:12.276Z,1629035472.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.280000 m, bearing: 192.161512 deg, deltaT: 4.398646 s, approachRate: 0.381936 m/s, LOS rate: -8.559865 deg/s, posRepo size: 4
2021-08-15T13:51:12.278Z,1629035472.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.280000 m,
      bearing: 192.161512 deg,
      approachRate: 0.381936 m/s,
      LOS rate: -8.559865 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 217.682225 deg,
      new cmd heading: 212.392277 deg.

2021-08-15T13:51:14.718Z,1629035474.718 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:51:15.053Z,1629035475.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:51:15.053Z,1629035475.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:51:15.053Z,1629035475.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:51:15.054Z,1629035475.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:51:15.445Z,1629035475.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
185,000,0035F,186,80,80,99,FF
2021-08-15T13:51:15.445Z,1629035475.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:51:15.445Z,1629035475.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:51:15.447Z,1629035475.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:51:15.867Z,1629035475.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:51:16.253Z,1629035476.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E20,000,00360,186,80,80,AD,FF
2021-08-15T13:51:16.254Z,1629035476.254 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:51:16.355Z,1629035476.355 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T13:51:16.694Z,1629035476.694 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135117.34*59

2021-08-15T13:51:16.758Z,1629035476.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.339997 m, bearing: 251.650588 deg, deltaT: 4.533071 s, approachRate: 0.013236 m/s, LOS rate: 13.123350 deg/s, posRepo size: 4
2021-08-15T13:51:16.759Z,1629035476.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.123350 deg/s. Setting heading cmd to target bearing of 251.650588deg and heading rate command to 0 deg/s.
2021-08-15T13:51:19.150Z,1629035479.150 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:51:19.485Z,1629035479.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:51:19.485Z,1629035479.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:51:19.485Z,1629035479.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:51:19.486Z,1629035479.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:51:19.898Z,1629035479.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E20,000,00360,186,80,80,AD,FF
2021-08-15T13:51:19.898Z,1629035479.898 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:51:19.899Z,1629035479.899 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:51:19.901Z,1629035479.901 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:51:20.308Z,1629035480.308 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:51:20.708Z,1629035480.708 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,249,000,00376,18A,80,80,6B,FF
2021-08-15T13:51:20.708Z,1629035480.708 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:51:20.799Z,1629035480.799 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T13:51:21.129Z,1629035481.129 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135121.79*55

2021-08-15T13:51:21.155Z,1629035481.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.660002 m, bearing: 196.858742 deg, deltaT: 4.427445 s, approachRate: 0.298141 m/s, LOS rate: -12.375500 deg/s, posRepo size: 4
2021-08-15T13:51:21.176Z,1629035481.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.375500 deg/s. Setting heading cmd to target bearing of 196.858742deg and heading rate command to 0 deg/s.
2021-08-15T13:51:23.550Z,1629035483.550 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:51:23.950Z,1629035483.950 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:51:23.950Z,1629035483.950 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:51:23.950Z,1629035483.950 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:51:23.951Z,1629035483.951 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:51:24.376Z,1629035484.376 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
249,000,00376,18A,80,80,6B,FF
2021-08-15T13:51:24.376Z,1629035484.376 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:51:24.376Z,1629035484.376 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:51:24.378Z,1629035484.378 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:51:24.746Z,1629035484.746 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:51:25.141Z,1629035485.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E94,000,0039B,185,80,80,97,FF
2021-08-15T13:51:25.142Z,1629035485.142 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:51:25.195Z,1629035485.195 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T13:51:25.653Z,1629035485.653 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135126.27*59

2021-08-15T13:51:25.668Z,1629035485.668 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-15T13:51:25.701Z,1629035485.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.879999 m, bearing: 230.292532 deg, deltaT: 4.401998 s, approachRate: 0.504316 m/s, LOS rate: 7.595140 deg/s, posRepo size: 4
2021-08-15T13:51:25.703Z,1629035485.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.879999 m,
      bearing: 230.292532 deg,
      approachRate: 0.504316 m/s,
      LOS rate: 7.595140 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 196.858742 deg,
      new cmd heading: 196.858742 deg.

2021-08-15T13:51:28.036Z,1629035488.036 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:51:28.405Z,1629035488.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:51:28.405Z,1629035488.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:51:28.405Z,1629035488.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:51:28.406Z,1629035488.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:51:28.797Z,1629035488.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E94,000,0039B,185,80,80,97,FF
2021-08-15T13:51:28.798Z,1629035488.798 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:51:28.798Z,1629035488.798 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:51:28.799Z,1629035488.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:51:29.197Z,1629035489.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:51:29.582Z,1629035489.582 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC3,000,003BC,185,80,80,32,FF
2021-08-15T13:51:29.582Z,1629035489.582 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:51:29.650Z,1629035489.650 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T13:51:30.005Z,1629035490.005 [Micromodem](INFO): Nmea in: $SNTTA,0.069329,,,,135130.69*4D

2021-08-15T13:51:30.042Z,1629035490.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.860001 m, bearing: 206.583497 deg, deltaT: 4.449166 s, approachRate: 0.445028 m/s, LOS rate: -5.328872 deg/s, posRepo size: 4
2021-08-15T13:51:30.047Z,1629035490.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.860001 m,
      bearing: 206.583497 deg,
      approachRate: 0.445028 m/s,
      LOS rate: -5.328872 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 250.228828 deg,
      new cmd heading: 255.046216 deg.

2021-08-15T13:51:32.475Z,1629035492.475 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:51:32.821Z,1629035492.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:51:32.821Z,1629035492.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:51:32.822Z,1629035492.822 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:51:32.822Z,1629035492.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:51:33.217Z,1629035493.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC3,000,003BC,185,80,80,32,FF
2021-08-15T13:51:33.217Z,1629035493.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:51:33.217Z,1629035493.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:51:33.219Z,1629035493.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:51:33.637Z,1629035493.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:51:34.044Z,1629035494.044 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E0,000,003E5,187,80,80,47,FF
2021-08-15T13:51:34.045Z,1629035494.045 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:51:34.102Z,1629035494.102 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T13:51:34.473Z,1629035494.473 [Micromodem](INFO): Nmea in: $SNTTA,0.029931,,,,135135.11*40

2021-08-15T13:51:34.579Z,1629035494.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.320000 m, bearing: 203.066155 deg, deltaT: 4.451682 s, approachRate: 0.552600 m/s, LOS rate: -0.790115 deg/s, posRepo size: 4
2021-08-15T13:51:34.585Z,1629035494.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 22.32 m. Rolling out.
2021-08-15T13:51:34.586Z,1629035494.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-15T13:51:36.888Z,1629035496.888 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:51:37.268Z,1629035497.268 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:51:37.269Z,1629035497.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:51:37.269Z,1629035497.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:51:37.270Z,1629035497.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:51:37.673Z,1629035497.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E0,000,003E5,187,80,80,47,FF
2021-08-15T13:51:37.673Z,1629035497.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:51:37.673Z,1629035497.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:51:37.675Z,1629035497.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:51:38.070Z,1629035498.070 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:51:38.906Z,1629035498.906 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135139.56*51

2021-08-15T13:51:39.760Z,1629035499.760 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:51:41.377Z,1629035501.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,187,80,80,47,FF
2021-08-15T13:51:41.377Z,1629035501.377 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,187,80,80,47,FF
2021-08-15T13:51:41.377Z,1629035501.377 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T13:51:42.586Z,1629035502.586 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:51:42.927Z,1629035502.927 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:51:42.927Z,1629035502.927 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:51:42.927Z,1629035502.927 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:51:42.928Z,1629035502.928 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:51:43.321Z,1629035503.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,187,80,80,47,FF
2021-08-15T13:51:43.321Z,1629035503.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:51:43.322Z,1629035503.322 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:51:43.323Z,1629035503.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:51:43.729Z,1629035503.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:51:44.135Z,1629035504.135 [PowerOnly](INFO): Powering down loadControl
2021-08-15T13:51:44.567Z,1629035504.567 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135145.21*5A

2021-08-15T13:51:45.370Z,1629035505.370 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:51:46.966Z,1629035506.966 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,187,80,80,47,FF
2021-08-15T13:51:46.966Z,1629035506.966 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,187,80,80,47,FF
2021-08-15T13:51:46.966Z,1629035506.966 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T13:51:48.218Z,1629035508.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:51:48.574Z,1629035508.574 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:51:48.574Z,1629035508.574 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:51:48.574Z,1629035508.574 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:51:48.575Z,1629035508.575 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:51:48.981Z,1629035508.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,187,80,80,47,FF
2021-08-15T13:51:48.981Z,1629035508.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:51:48.982Z,1629035508.982 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:51:48.983Z,1629035508.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:51:49.389Z,1629035509.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:51:50.219Z,1629035510.219 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135150.87*52

2021-08-15T13:51:51.038Z,1629035511.038 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:51:52.637Z,1629035512.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F42,000,08E33,185,80,80,83,FF
2021-08-15T13:51:52.638Z,1629035512.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:51:52.741Z,1629035512.741 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T13:51:53.056Z,1629035513.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2146.680176 m, bearing: 213.263013 deg, deltaT: 18.639040 s, approachRate: 113.973686 m/s, LOS rate: 0.547070 deg/s, posRepo size: 4
2021-08-15T13:51:53.057Z,1629035513.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 2146.68 m. Resuming terminal guidance.
2021-08-15T13:51:53.057Z,1629035513.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-15T13:51:53.465Z,1629035513.465 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T13:51:53.465Z,1629035513.465 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T13:51:53.466Z,1629035513.466 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T13:51:53.467Z,1629035513.467 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T13:51:53.467Z,1629035513.467 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T13:51:53.469Z,1629035513.469 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T13:51:53.664Z,1629035513.664 [ThrusterServo](ERROR): Thruster uart error: serial timeout
2021-08-15T13:51:53.664Z,1629035513.664 [ThrusterServo] Communications Fault, FailCount= 1
2021-08-15T13:51:53.664Z,1629035513.664 [ThrusterServo](ERROR): Communications Fault
2021-08-15T13:51:53.668Z,1629035513.668 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2021-08-15T13:51:53.857Z,1629035513.857 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T13:51:53.857Z,1629035513.857 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T13:51:53.858Z,1629035513.858 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T13:51:53.858Z,1629035513.858 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T13:51:53.961Z,1629035513.961 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2021-08-15T13:51:53.961Z,1629035513.961 [ThrusterServo](INFO): Powering down
2021-08-15T13:51:54.742Z,1629035514.742 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-08-15T13:51:54.861Z,1629035514.861 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-08-15T13:51:54.865Z,1629035514.865 [CBIT](INFO): Clearing failed state for component ThrusterServo
2021-08-15T13:51:54.865Z,1629035514.865 [ThrusterServo] No Fault, FailCount= 1
2021-08-15T13:51:55.467Z,1629035515.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:51:55.862Z,1629035515.862 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:51:55.862Z,1629035515.862 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:51:55.862Z,1629035515.862 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:51:55.863Z,1629035515.863 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:51:56.249Z,1629035516.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F42,000,08E33,185,80,80,83,FF
2021-08-15T13:51:56.250Z,1629035516.250 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:51:56.250Z,1629035516.250 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:51:56.251Z,1629035516.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:51:56.668Z,1629035516.668 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:51:57.061Z,1629035517.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F97,000,00454,187,80,80,AD,FF
2021-08-15T13:51:57.061Z,1629035517.061 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:51:57.501Z,1629035517.501 [Micromodem](INFO): Nmea in: $SNTTA,0.018801,,,,135158.14*4E

2021-08-15T13:51:57.527Z,1629035517.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.979998 m, bearing: 206.712615 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-15T13:51:57.527Z,1629035517.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 28.98 m.
2021-08-15T13:51:57.548Z,1629035517.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 206.712615deg and heading rate command to 0 deg/s.
2021-08-15T13:51:57.915Z,1629035517.915 [PowerOnly](INFO): Powering up loadControl
2021-08-15T13:51:57.946Z,1629035517.946 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T13:51:57.946Z,1629035517.946 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T13:51:57.946Z,1629035517.946 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T13:51:57.946Z,1629035517.946 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T13:51:57.946Z,1629035517.946 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T13:51:57.947Z,1629035517.947 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T13:51:58.382Z,1629035518.382 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T13:51:58.383Z,1629035518.383 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T13:51:58.383Z,1629035518.383 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T13:51:58.383Z,1629035518.383 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T13:51:59.936Z,1629035519.936 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:52:00.293Z,1629035520.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:52:00.293Z,1629035520.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:52:00.293Z,1629035520.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:52:00.294Z,1629035520.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:52:00.705Z,1629035520.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F97,000,00454,187,80,80,AD,FF
2021-08-15T13:52:00.705Z,1629035520.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:52:00.705Z,1629035520.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:52:00.707Z,1629035520.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:52:01.119Z,1629035521.119 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:52:01.505Z,1629035521.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F97,000,00462,186,80,80,60,FF
2021-08-15T13:52:01.505Z,1629035521.505 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:52:01.578Z,1629035521.578 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T13:52:01.957Z,1629035521.957 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135202.60*5F

2021-08-15T13:52:01.980Z,1629035521.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.819998 m, bearing: 207.015521 deg, deltaT: 4.444731 s, approachRate: 0.188988 m/s, LOS rate: 0.068149 deg/s, posRepo size: 2
2021-08-15T13:52:01.980Z,1629035521.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 29.82 m.
2021-08-15T13:52:01.982Z,1629035521.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.819998 m,
      bearing: 207.015521 deg,
      approachRate: 0.188988 m/s,
      LOS rate: 0.068149 deg/s,
      cmd update: 0.272597 deg/s,
      cmd heading: 206.712615 deg,
      new cmd heading: 206.712615 deg.

2021-08-15T13:52:02.391Z,1629035522.391 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T13:52:04.493Z,1629035524.493 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:52:04.754Z,1629035524.754 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:52:04.755Z,1629035524.755 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:52:04.755Z,1629035524.755 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:52:04.756Z,1629035524.756 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:52:05.154Z,1629035525.154 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F97,000,00462,186,80,80,60,FF
2021-08-15T13:52:05.154Z,1629035525.154 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:52:05.154Z,1629035525.154 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:52:05.156Z,1629035525.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:52:05.592Z,1629035525.592 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:52:06.418Z,1629035526.418 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135207.05*59

2021-08-15T13:52:07.210Z,1629035527.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:52:08.793Z,1629035528.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,186,80,80,60,FF
2021-08-15T13:52:08.793Z,1629035528.793 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,186,80,80,60,FF
2021-08-15T13:52:08.793Z,1629035528.793 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T13:52:10.026Z,1629035530.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:52:10.457Z,1629035530.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:52:10.457Z,1629035530.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:52:10.457Z,1629035530.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:52:10.458Z,1629035530.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:52:10.797Z,1629035530.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,186,80,80,60,FF
2021-08-15T13:52:10.797Z,1629035530.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:52:10.797Z,1629035530.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:52:10.799Z,1629035530.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:52:11.228Z,1629035531.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:52:11.609Z,1629035531.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E53,000,004A7,187,80,80,33,FF
2021-08-15T13:52:11.609Z,1629035531.609 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:52:11.677Z,1629035531.677 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T13:52:12.058Z,1629035532.058 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135212.69*57

2021-08-15T13:52:12.080Z,1629035532.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.959999 m, bearing: 234.784884 deg, deltaT: 10.099292 s, approachRate: 0.409930 m/s, LOS rate: 2.749635 deg/s, posRepo size: 3
2021-08-15T13:52:12.081Z,1629035532.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.96 m.
2021-08-15T13:52:12.081Z,1629035532.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 33.96 m.
2021-08-15T13:52:12.081Z,1629035532.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-15T13:52:12.083Z,1629035532.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.959999 m,
      bearing: 234.784884 deg,
      approachRate: 0.409930 m/s,
      LOS rate: 2.749635 deg/s,
      cmd update: 10.998538 deg/s,
      cmd heading: 209.467483 deg,
      new cmd heading: 209.579314 deg.

2021-08-15T13:52:14.510Z,1629035534.510 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:52:14.846Z,1629035534.846 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:52:14.846Z,1629035534.846 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:52:14.846Z,1629035534.846 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:52:14.847Z,1629035534.847 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:52:15.246Z,1629035535.246 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E53,000,004A7,187,80,80,33,FF
2021-08-15T13:52:15.247Z,1629035535.247 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:52:15.247Z,1629035535.247 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:52:15.274Z,1629035535.274 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:52:15.657Z,1629035535.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:52:16.053Z,1629035536.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D2F,000,004D5,189,80,80,56,FF
2021-08-15T13:52:16.054Z,1629035536.054 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:52:16.126Z,1629035536.126 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T13:52:16.493Z,1629035536.493 [Micromodem](INFO): Nmea in: $SNTTA,0.071299,,,,135217.16*40

2021-08-15T13:52:16.510Z,1629035536.510 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-15T13:52:16.554Z,1629035536.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.719997 m, bearing: 254.472112 deg, deltaT: 4.449176 s, approachRate: 0.620339 m/s, LOS rate: 4.424915 deg/s, posRepo size: 4
2021-08-15T13:52:16.556Z,1629035536.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.719997 m,
      bearing: 254.472112 deg,
      approachRate: 0.620339 m/s,
      LOS rate: 4.424915 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 258.402785 deg,
      new cmd heading: 263.186236 deg.

2021-08-15T13:52:18.523Z,1629035538.523 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-15T13:52:18.924Z,1629035538.924 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:52:19.285Z,1629035539.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:52:19.285Z,1629035539.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:52:19.285Z,1629035539.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:52:19.286Z,1629035539.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:52:19.698Z,1629035539.698 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D2F,000,004D5,189,80,80,56,FF
2021-08-15T13:52:19.698Z,1629035539.698 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:52:19.698Z,1629035539.698 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:52:19.700Z,1629035539.700 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:52:20.097Z,1629035540.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:52:20.505Z,1629035540.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F55,000,004F3,186,80,80,50,FF
2021-08-15T13:52:20.506Z,1629035540.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:52:20.640Z,1629035540.640 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T13:52:20.938Z,1629035540.938 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135221.59*54

2021-08-15T13:52:20.998Z,1629035540.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.520000 m, bearing: 238.552963 deg, deltaT: 4.514271 s, approachRate: 0.398736 m/s, LOS rate: -3.526405 deg/s, posRepo size: 4
2021-08-15T13:52:20.000Z,1629035541.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.520000 m,
      bearing: 238.552963 deg,
      approachRate: 0.398736 m/s,
      LOS rate: -3.526405 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 312.524502 deg,
      new cmd heading: 316.947558 deg.

2021-08-15T13:52:23.399Z,1629035543.399 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:52:23.729Z,1629035543.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:52:23.729Z,1629035543.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:52:23.729Z,1629035543.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:52:23.730Z,1629035543.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:52:24.133Z,1629035544.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F55,000,004F3,186,80,80,50,FF
2021-08-15T13:52:24.133Z,1629035544.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:52:24.133Z,1629035544.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:52:24.135Z,1629035544.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:52:24.549Z,1629035544.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:52:24.941Z,1629035544.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E60,000,00517,186,80,80,7E,FF
2021-08-15T13:52:24.942Z,1629035544.942 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:52:25.031Z,1629035545.031 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T13:52:25.393Z,1629035545.393 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135226.03*5C

2021-08-15T13:52:25.419Z,1629035545.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.680000 m, bearing: 268.572273 deg, deltaT: 4.390507 s, approachRate: 0.491970 m/s, LOS rate: 6.837322 deg/s, posRepo size: 4
2021-08-15T13:52:25.440Z,1629035545.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 40.68 m. Rolling out.
2021-08-15T13:52:25.440Z,1629035545.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-15T13:52:25.781Z,1629035545.781 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T13:52:25.781Z,1629035545.781 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T13:52:25.782Z,1629035545.782 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T13:52:25.782Z,1629035545.782 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T13:52:25.782Z,1629035545.782 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T13:52:25.782Z,1629035545.782 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T13:52:26.197Z,1629035546.197 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T13:52:26.197Z,1629035546.197 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T13:52:26.198Z,1629035546.198 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T13:52:26.198Z,1629035546.198 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T13:52:27.816Z,1629035547.816 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:52:28.177Z,1629035548.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:52:28.177Z,1629035548.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:52:28.177Z,1629035548.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:52:28.178Z,1629035548.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:52:28.594Z,1629035548.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E60,000,00517,186,80,80,7E,FF
2021-08-15T13:52:28.594Z,1629035548.594 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:52:28.594Z,1629035548.594 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:52:28.668Z,1629035548.668 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:52:29.054Z,1629035549.054 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:52:29.457Z,1629035549.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF1,000,0052A,187,80,80,44,FF
2021-08-15T13:52:29.458Z,1629035549.458 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:52:29.871Z,1629035549.871 [Micromodem](INFO): Nmea in: $SNTTA,0.109664,,,,135230.59*46

2021-08-15T13:52:29.945Z,1629035549.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.820000 m, bearing: 276.064307 deg, deltaT: 4.503616 s, approachRate: 0.253130 m/s, LOS rate: 1.663560 deg/s, posRepo size: 4
2021-08-15T13:52:32.377Z,1629035552.377 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:52:32.688Z,1629035552.688 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:52:32.688Z,1629035552.688 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:52:32.688Z,1629035552.688 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:52:32.689Z,1629035552.689 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:52:33.081Z,1629035553.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF1,000,0052A,187,80,80,44,FF
2021-08-15T13:52:33.081Z,1629035553.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:52:33.081Z,1629035553.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:52:33.083Z,1629035553.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:52:33.488Z,1629035553.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:52:33.894Z,1629035553.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E41,000,00536,186,80,80,43,FF
2021-08-15T13:52:33.894Z,1629035553.894 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:52:34.422Z,1629035554.422 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135234.98*5D

2021-08-15T13:52:34.489Z,1629035554.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.540001 m, bearing: 292.838077 deg, deltaT: 4.389491 s, approachRate: 0.164028 m/s, LOS rate: 3.821347 deg/s, posRepo size: 4
2021-08-15T13:52:36.387Z,1629035556.387 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T13:52:36.449Z,1629035556.449 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:52:36.809Z,1629035556.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:52:36.809Z,1629035556.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:52:36.809Z,1629035556.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:52:36.810Z,1629035556.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:52:37.125Z,1629035557.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E41,000,00536,186,80,80,43,FF
2021-08-15T13:52:37.125Z,1629035557.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:52:37.125Z,1629035557.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:52:37.127Z,1629035557.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:52:37.618Z,1629035557.618 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:52:37.929Z,1629035557.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E94,000,0053B,185,80,80,5B,FF
2021-08-15T13:52:37.930Z,1629035557.930 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:52:38.433Z,1629035558.433 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135239.02*53

2021-08-15T13:52:38.514Z,1629035558.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.840000 m, bearing: 287.015641 deg, deltaT: 4.042688 s, approachRate: 0.074208 m/s, LOS rate: -1.440239 deg/s, posRepo size: 4
2021-08-15T13:52:40.523Z,1629035560.523 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:52:40.765Z,1629035560.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:52:40.765Z,1629035560.765 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:52:40.765Z,1629035560.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:52:40.766Z,1629035560.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:52:41.165Z,1629035561.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E94,000,0053B,185,80,80,5B,FF
2021-08-15T13:52:41.166Z,1629035561.166 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:52:41.166Z,1629035561.166 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:52:41.168Z,1629035561.168 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:52:41.575Z,1629035561.575 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:52:41.984Z,1629035561.984 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E79,000,00546,187,80,80,A9,FF
2021-08-15T13:52:41.985Z,1629035561.985 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:52:42.437Z,1629035562.437 [Micromodem](INFO): Nmea in: $SNTTA,0.028597,,,,135243.06*45

2021-08-15T13:52:42.521Z,1629035562.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.500000 m, bearing: 287.034028 deg, deltaT: 4.038313 s, approachRate: 0.163435 m/s, LOS rate: 0.004553 deg/s, posRepo size: 4
2021-08-15T13:52:44.510Z,1629035564.510 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:52:44.801Z,1629035564.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:52:44.801Z,1629035564.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:52:44.802Z,1629035564.802 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:52:44.803Z,1629035564.803 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:52:45.197Z,1629035565.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E79,000,00546,187,80,80,A9,FF
2021-08-15T13:52:45.197Z,1629035565.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:52:45.198Z,1629035565.198 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:52:45.199Z,1629035565.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:52:45.621Z,1629035565.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:52:46.009Z,1629035566.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFB,000,00552,188,80,80,71,FF
2021-08-15T13:52:46.010Z,1629035566.010 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:52:46.449Z,1629035566.449 [Micromodem](INFO): Nmea in: $SNTTA,0.041004,,,,135247.09*4E

2021-08-15T13:52:46.523Z,1629035566.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.220001 m, bearing: 295.284241 deg, deltaT: 4.053276 s, approachRate: 0.177634 m/s, LOS rate: 2.035443 deg/s, posRepo size: 4
2021-08-15T13:52:48.870Z,1629035568.870 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:52:49.237Z,1629035569.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:52:49.237Z,1629035569.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:52:49.237Z,1629035569.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:52:49.238Z,1629035569.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:52:49.645Z,1629035569.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFB,000,00552,188,80,80,71,FF
2021-08-15T13:52:49.645Z,1629035569.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:52:49.645Z,1629035569.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:52:49.647Z,1629035569.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:52:50.101Z,1629035570.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:52:50.497Z,1629035570.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D5F,000,00562,189,80,80,9D,FF
2021-08-15T13:52:50.497Z,1629035570.497 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:52:50.918Z,1629035570.918 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135251.54*5E

2021-08-15T13:52:50.941Z,1629035570.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.179996 m, bearing: 301.268552 deg, deltaT: 4.570769 s, approachRate: 0.210029 m/s, LOS rate: 1.309257 deg/s, posRepo size: 4
2021-08-15T13:52:53.412Z,1629035573.412 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:52:53.729Z,1629035573.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:52:53.729Z,1629035573.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:52:53.729Z,1629035573.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:52:53.730Z,1629035573.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:52:54.133Z,1629035574.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D5F,000,00562,189,80,80,9D,FF
2021-08-15T13:52:54.133Z,1629035574.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:52:54.133Z,1629035574.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:52:54.135Z,1629035574.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:52:54.541Z,1629035574.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:52:54.607Z,1629035574.607 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-15T13:52:54.941Z,1629035574.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E69,000,00577,186,80,80,83,FF
2021-08-15T13:52:54.942Z,1629035574.942 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:52:55.421Z,1629035575.421 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135256.03*5B

2021-08-15T13:52:55.476Z,1629035575.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.439999 m, bearing: 286.957229 deg, deltaT: 4.338019 s, approachRate: 0.290456 m/s, LOS rate: -3.299046 deg/s, posRepo size: 4
2021-08-15T13:52:57.803Z,1629035577.803 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:52:58.177Z,1629035578.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:52:58.177Z,1629035578.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:52:58.177Z,1629035578.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:52:58.178Z,1629035578.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:52:58.586Z,1629035578.586 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E69,000,00577,186,80,80,83,FF
2021-08-15T13:52:58.586Z,1629035578.586 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:52:58.586Z,1629035578.586 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:52:58.589Z,1629035578.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:52:58.993Z,1629035578.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:52:59.416Z,1629035579.416 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE4,000,0057D,186,80,80,5B,FF
2021-08-15T13:52:59.417Z,1629035579.417 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:52:59.821Z,1629035579.821 [Micromodem](INFO): Nmea in: $SNTTA,0.060568,,,,135300.48*45

2021-08-15T13:52:59.870Z,1629035579.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.800003 m, bearing: 280.299571 deg, deltaT: 4.527618 s, approachRate: 0.079513 m/s, LOS rate: -1.470455 deg/s, posRepo size: 4
2021-08-15T13:53:02.240Z,1629035582.240 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:53:02.625Z,1629035582.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:53:02.625Z,1629035582.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:53:02.625Z,1629035582.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:53:02.626Z,1629035582.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:53:03.025Z,1629035583.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE4,000,0057D,186,80,80,5B,FF
2021-08-15T13:53:03.025Z,1629035583.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:53:03.025Z,1629035583.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:53:03.027Z,1629035583.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:53:03.429Z,1629035583.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:53:03.834Z,1629035583.834 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF3,000,0058F,186,80,80,67,FF
2021-08-15T13:53:03.834Z,1629035583.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:53:04.273Z,1629035584.273 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135304.92*55

2021-08-15T13:53:04.302Z,1629035584.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.880001 m, bearing: 279.536557 deg, deltaT: 4.364050 s, approachRate: 0.247476 m/s, LOS rate: -0.174841 deg/s, posRepo size: 4
2021-08-15T13:53:06.724Z,1629035586.724 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:53:07.067Z,1629035587.067 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:53:07.067Z,1629035587.067 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:53:07.067Z,1629035587.067 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:53:07.070Z,1629035587.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:53:07.483Z,1629035587.483 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF3,000,0058F,186,80,80,67,FF
2021-08-15T13:53:07.483Z,1629035587.483 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:53:07.483Z,1629035587.483 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:53:07.485Z,1629035587.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:53:07.885Z,1629035587.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:53:08.290Z,1629035588.290 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F78,000,0059C,187,80,80,5B,FF
2021-08-15T13:53:08.291Z,1629035588.291 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:53:08.717Z,1629035588.717 [Micromodem](INFO): Nmea in: $SNTTA,0.043212,,,,135309.38*40

2021-08-15T13:53:08.787Z,1629035588.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.660000 m, bearing: 272.381251 deg, deltaT: 4.540781 s, approachRate: 0.171776 m/s, LOS rate: -1.575788 deg/s, posRepo size: 4
2021-08-15T13:53:11.131Z,1629035591.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:53:11.521Z,1629035591.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:53:11.521Z,1629035591.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:53:11.522Z,1629035591.522 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:53:11.522Z,1629035591.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:53:11.932Z,1629035591.932 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F78,000,0059C,187,80,80,5B,FF
2021-08-15T13:53:11.932Z,1629035591.932 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:53:11.933Z,1629035591.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:53:11.934Z,1629035591.934 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:53:12.369Z,1629035592.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:53:12.726Z,1629035592.726 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED4,000,005AC,187,80,80,6F,FF
2021-08-15T13:53:12.726Z,1629035592.726 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:53:13.150Z,1629035593.150 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135313.83*53

2021-08-15T13:53:13.172Z,1629035593.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.619995 m, bearing: 279.632179 deg, deltaT: 4.351007 s, approachRate: 0.220637 m/s, LOS rate: 1.666494 deg/s, posRepo size: 4
2021-08-15T13:53:15.634Z,1629035595.634 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:53:15.961Z,1629035595.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:53:15.961Z,1629035595.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:53:15.962Z,1629035595.962 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:53:15.962Z,1629035595.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:53:16.409Z,1629035596.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED4,000,005AC,187,80,80,6F,FF
2021-08-15T13:53:16.409Z,1629035596.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:53:16.410Z,1629035596.410 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:53:16.411Z,1629035596.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:53:16.804Z,1629035596.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:53:17.613Z,1629035597.613 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135318.30*50

2021-08-15T13:53:18.425Z,1629035598.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F45,000,0376F,186,80,80,88,FF
2021-08-15T13:53:18.426Z,1629035598.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:53:18.852Z,1629035598.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 813.960022 m, bearing: 273.469901 deg, deltaT: 5.773891 s, approachRate: 132.378677 m/s, LOS rate: -1.067266 deg/s, posRepo size: 4
2021-08-15T13:53:21.284Z,1629035601.284 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:53:21.649Z,1629035601.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:53:21.649Z,1629035601.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:53:21.649Z,1629035601.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:53:21.650Z,1629035601.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:53:22.066Z,1629035602.066 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F45,000,0376F,186,80,80,88,FF
2021-08-15T13:53:22.066Z,1629035602.066 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:53:22.066Z,1629035602.066 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:53:22.067Z,1629035602.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:53:22.456Z,1629035602.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:53:22.869Z,1629035602.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F22,000,005CE,186,80,80,8F,FF
2021-08-15T13:53:22.869Z,1629035602.869 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:53:23.293Z,1629035603.293 [Micromodem](INFO): Nmea in: $SNTTA,0.040225,,,,135323.96*4B

2021-08-15T13:53:23.376Z,1629035603.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.660004 m, bearing: 275.470600 deg, deltaT: 4.412257 s, approachRate: -172.768738 m/s, LOS rate: 0.453441 deg/s, posRepo size: 4
2021-08-15T13:53:25.710Z,1629035605.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:53:26.099Z,1629035606.099 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:53:26.099Z,1629035606.099 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:53:26.099Z,1629035606.099 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:53:26.100Z,1629035606.100 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:53:26.501Z,1629035606.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F22,000,005CE,186,80,80,8F,FF
2021-08-15T13:53:26.501Z,1629035606.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:53:26.501Z,1629035606.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:53:26.503Z,1629035606.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:53:26.911Z,1629035606.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:53:27.314Z,1629035607.314 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1D,000,005E2,186,80,80,7A,FF
2021-08-15T13:53:27.314Z,1629035607.314 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:53:27.741Z,1629035607.741 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135328.40*54

2021-08-15T13:53:27.794Z,1629035607.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.860004 m, bearing: 275.923277 deg, deltaT: 4.444609 s, approachRate: 0.269990 m/s, LOS rate: 0.101849 deg/s, posRepo size: 4
2021-08-15T13:53:30.189Z,1629035610.189 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:53:30.533Z,1629035610.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:53:30.533Z,1629035610.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:53:30.533Z,1629035610.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:53:30.534Z,1629035610.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:53:30.938Z,1629035610.938 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1D,000,005E2,186,80,80,7A,FF
2021-08-15T13:53:30.939Z,1629035610.939 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:53:30.939Z,1629035610.939 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:53:30.942Z,1629035610.942 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:53:31.369Z,1629035611.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:53:31.758Z,1629035611.758 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F83,000,005F4,187,80,80,61,FF
2021-08-15T13:53:31.758Z,1629035611.758 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:53:32.193Z,1629035612.193 [Micromodem](INFO): Nmea in: $SNTTA,0.063113,,,,135332.84*4F

2021-08-15T13:53:32.236Z,1629035612.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.939995 m, bearing: 270.517210 deg, deltaT: 4.436771 s, approachRate: 0.243418 m/s, LOS rate: -1.218469 deg/s, posRepo size: 4
2021-08-15T13:53:32.580Z,1629035612.580 [PowerOnly](INFO): Powering down loadControl
2021-08-15T13:53:34.639Z,1629035614.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:53:34.977Z,1629035614.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:53:34.977Z,1629035614.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:53:34.978Z,1629035614.978 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:53:34.978Z,1629035614.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:53:35.409Z,1629035615.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F83,000,005F4,187,80,80,61,FF
2021-08-15T13:53:35.409Z,1629035615.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:53:35.410Z,1629035615.410 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:53:35.411Z,1629035615.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:53:35.788Z,1629035615.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:53:36.189Z,1629035616.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F86,000,00608,186,80,80,71,FF
2021-08-15T13:53:36.189Z,1629035616.189 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:53:36.623Z,1629035616.623 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135337.31*5C

2021-08-15T13:53:36.722Z,1629035616.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.140003 m, bearing: 270.065762 deg, deltaT: 4.452434 s, approachRate: 0.269517 m/s, LOS rate: -0.101394 deg/s, posRepo size: 4
2021-08-15T13:53:39.031Z,1629035619.031 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:53:39.425Z,1629035619.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:53:39.425Z,1629035619.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:53:39.426Z,1629035619.426 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:53:39.427Z,1629035619.427 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:53:39.841Z,1629035619.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F86,000,00608,186,80,80,71,FF
2021-08-15T13:53:39.841Z,1629035619.841 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:53:39.841Z,1629035619.841 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:53:39.843Z,1629035619.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:53:40.243Z,1629035620.243 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:53:40.659Z,1629035620.659 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F81,000,00618,187,80,80,7A,FF
2021-08-15T13:53:40.663Z,1629035620.663 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:53:41.077Z,1629035621.077 [Micromodem](INFO): Nmea in: $SNTTA,0.058096,,,,135341.73*47

2021-08-15T13:53:41.102Z,1629035621.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.099998 m, bearing: 270.284765 deg, deltaT: 4.534634 s, approachRate: 0.211703 m/s, LOS rate: 0.048296 deg/s, posRepo size: 4
2021-08-15T13:53:43.501Z,1629035623.501 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:53:43.873Z,1629035623.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:53:43.873Z,1629035623.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:53:43.873Z,1629035623.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:53:43.874Z,1629035623.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:53:44.273Z,1629035624.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F81,000,00618,187,80,80,7A,FF
2021-08-15T13:53:44.273Z,1629035624.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:53:44.273Z,1629035624.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:53:44.275Z,1629035624.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:53:44.681Z,1629035624.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:53:45.085Z,1629035625.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1A,000,0062B,186,80,80,4C,FF
2021-08-15T13:53:45.085Z,1629035625.085 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:53:45.517Z,1629035625.517 [Micromodem](INFO): Nmea in: $SNTTA,0.052753,,,,135346.17*46

2021-08-15T13:53:45.567Z,1629035625.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.240005 m, bearing: 276.447781 deg, deltaT: 4.299866 s, approachRate: 0.265126 m/s, LOS rate: 1.433304 deg/s, posRepo size: 4
2021-08-15T13:53:47.927Z,1629035627.927 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:53:48.321Z,1629035628.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:53:48.321Z,1629035628.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:53:48.322Z,1629035628.322 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:53:48.323Z,1629035628.323 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:53:48.717Z,1629035628.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1A,000,0062B,186,80,80,4C,FF
2021-08-15T13:53:48.717Z,1629035628.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:53:48.717Z,1629035628.717 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:53:48.719Z,1629035628.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:53:49.125Z,1629035629.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:53:49.521Z,1629035629.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE4,000,0063C,187,80,80,3F,FF
2021-08-15T13:53:49.521Z,1629035629.521 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:53:49.969Z,1629035629.969 [Micromodem](INFO): Nmea in: $SNTTA,0.060841,,,,135350.61*4D

2021-08-15T13:53:49.993Z,1629035629.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.260006 m, bearing: 279.280206 deg, deltaT: 4.517696 s, approachRate: 0.225779 m/s, LOS rate: 0.626962 deg/s, posRepo size: 4
2021-08-15T13:53:50.533Z,1629035630.533 [CTD_Seabird](ERROR): Failed to parse device response: ,24.2368,4.79079,4012.17
2021-08-15T13:53:52.485Z,1629035632.485 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:53:52.753Z,1629035632.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:53:52.753Z,1629035632.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:53:52.753Z,1629035632.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:53:52.754Z,1629035632.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:53:53.161Z,1629035633.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE4,000,0063C,187,80,80,3F,FF
2021-08-15T13:53:53.161Z,1629035633.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:53:53.161Z,1629035633.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:53:53.163Z,1629035633.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:53:53.579Z,1629035633.579 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:53:53.965Z,1629035633.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F47,000,0064D,186,80,80,3D,FF
2021-08-15T13:53:53.965Z,1629035633.965 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:53:54.421Z,1629035634.421 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135355.05*5F

2021-08-15T13:53:54.491Z,1629035634.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.280003 m, bearing: 273.088448 deg, deltaT: 4.398826 s, approachRate: 0.231879 m/s, LOS rate: -1.407593 deg/s, posRepo size: 4
2021-08-15T13:53:56.823Z,1629035636.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:53:57.197Z,1629035637.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:53:57.197Z,1629035637.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:53:57.197Z,1629035637.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:53:57.198Z,1629035637.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:53:57.609Z,1629035637.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F47,000,0064D,186,80,80,3D,FF
2021-08-15T13:53:57.609Z,1629035637.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:53:57.609Z,1629035637.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:53:57.611Z,1629035637.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:53:58.017Z,1629035638.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:53:58.417Z,1629035638.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA7,000,0065E,185,80,80,2F,FF
2021-08-15T13:53:58.418Z,1629035638.418 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:53:58.843Z,1629035638.843 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135359.54*57

2021-08-15T13:53:58.874Z,1629035638.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.300003 m, bearing: 268.031868 deg, deltaT: 4.482558 s, approachRate: 0.227549 m/s, LOS rate: -1.128057 deg/s, posRepo size: 4
2021-08-15T13:54:01.279Z,1629035641.279 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:54:01.653Z,1629035641.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:54:01.653Z,1629035641.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:54:01.653Z,1629035641.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:54:01.654Z,1629035641.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:54:02.054Z,1629035642.054 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA7,000,0065E,185,80,80,2F,FF
2021-08-15T13:54:02.054Z,1629035642.054 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:54:02.054Z,1629035642.054 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:54:02.055Z,1629035642.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:54:02.456Z,1629035642.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:54:02.865Z,1629035642.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,017,000,0066C,183,80,80,7C,FF
2021-08-15T13:54:02.866Z,1629035642.866 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:54:03.297Z,1629035643.297 [Micromodem](INFO): Nmea in: $SNTTA,0.051215,,,,135403.95*4E

2021-08-15T13:54:03.367Z,1629035643.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.140003 m, bearing: 263.660793 deg, deltaT: 4.426417 s, approachRate: 0.189770 m/s, LOS rate: -0.987497 deg/s, posRepo size: 4
2021-08-15T13:54:05.749Z,1629035645.749 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:54:06.089Z,1629035646.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:54:06.089Z,1629035646.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:54:06.089Z,1629035646.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:54:06.090Z,1629035646.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:54:06.502Z,1629035646.502 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
017,000,0066C,183,80,80,7C,FF
2021-08-15T13:54:06.502Z,1629035646.502 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:54:06.502Z,1629035646.502 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:54:06.504Z,1629035646.504 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:54:06.905Z,1629035646.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:54:07.730Z,1629035647.730 [Micromodem](INFO): Nmea in: $SNTTA,0.050432,,,,135408.40*4F

2021-08-15T13:54:08.513Z,1629035648.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BB,000,037A1,185,80,80,8A,FF
2021-08-15T13:54:08.513Z,1629035648.513 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:54:08.945Z,1629035648.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 816.960022 m, bearing: 242.650694 deg, deltaT: 5.690467 s, approachRate: 132.822144 m/s, LOS rate: -3.692157 deg/s, posRepo size: 4
2021-08-15T13:54:11.401Z,1629035651.401 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:54:11.745Z,1629035651.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:54:11.745Z,1629035651.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:54:11.745Z,1629035651.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:54:11.746Z,1629035651.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:54:12.157Z,1629035652.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BB,000,037A1,185,80,80,8A,FF
2021-08-15T13:54:12.157Z,1629035652.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:54:12.157Z,1629035652.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:54:12.159Z,1629035652.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:54:12.561Z,1629035652.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:54:13.402Z,1629035653.402 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135414.06*5E

2021-08-15T13:54:14.191Z,1629035654.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:54:15.796Z,1629035655.796 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,185,80,80,8A,FF
2021-08-15T13:54:15.797Z,1629035655.797 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,185,80,80,8A,FF
2021-08-15T13:54:15.797Z,1629035655.797 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T13:54:17.037Z,1629035657.037 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:54:17.421Z,1629035657.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:54:17.421Z,1629035657.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:54:17.421Z,1629035657.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:54:17.422Z,1629035657.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:54:17.444Z,1629035657.444 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,185,80,80,8A,FF
2021-08-15T13:54:17.445Z,1629035657.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:54:17.445Z,1629035657.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:54:17.447Z,1629035657.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:54:17.808Z,1629035657.808 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:54:18.229Z,1629035658.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FC,000,006A5,186,80,80,7E,FF
2021-08-15T13:54:18.229Z,1629035658.229 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:54:18.652Z,1629035658.652 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135419.34*52

2021-08-15T13:54:18.733Z,1629035658.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.559998 m, bearing: 240.646962 deg, deltaT: 9.661241 s, approachRate: -77.878197 m/s, LOS rate: -0.207399 deg/s, posRepo size: 4
2021-08-15T13:54:21.067Z,1629035661.067 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:54:21.454Z,1629035661.454 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:54:21.454Z,1629035661.454 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:54:21.454Z,1629035661.454 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:54:21.455Z,1629035661.455 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:54:21.857Z,1629035661.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1FC,000,006A5,186,80,80,7E,FF
2021-08-15T13:54:21.857Z,1629035661.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:54:21.857Z,1629035661.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:54:21.859Z,1629035661.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:54:22.273Z,1629035662.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:54:22.653Z,1629035662.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AB,000,006BD,187,80,80,3A,FF
2021-08-15T13:54:22.653Z,1629035662.653 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:54:23.097Z,1629035663.097 [Micromodem](INFO): Nmea in: $SNTTA,0.070461,,,,135423.75*44

2021-08-15T13:54:23.128Z,1629035663.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.000000 m, bearing: 256.436584 deg, deltaT: 4.464430 s, approachRate: 0.322550 m/s, LOS rate: 3.536761 deg/s, posRepo size: 4
2021-08-15T13:54:25.547Z,1629035665.547 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:54:25.889Z,1629035665.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:54:25.889Z,1629035665.889 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:54:25.890Z,1629035665.890 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:54:25.891Z,1629035665.891 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:54:26.289Z,1629035666.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AB,000,006BD,187,80,80,3A,FF
2021-08-15T13:54:26.290Z,1629035666.290 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:54:26.290Z,1629035666.290 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:54:26.317Z,1629035666.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:54:26.697Z,1629035666.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:54:26.740Z,1629035666.740 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-15T13:54:27.099Z,1629035667.099 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBF,000,006D0,189,80,80,5F,FF
2021-08-15T13:54:27.099Z,1629035667.099 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:54:27.527Z,1629035667.527 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135428.22*57

2021-08-15T13:54:27.577Z,1629035667.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.140007 m, bearing: 292.417119 deg, deltaT: 4.383999 s, approachRate: 0.260038 m/s, LOS rate: 8.207241 deg/s, posRepo size: 4
2021-08-15T13:54:29.943Z,1629035669.943 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:54:30.349Z,1629035670.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:54:30.350Z,1629035670.350 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:54:30.350Z,1629035670.350 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:54:30.373Z,1629035670.373 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:54:30.436Z,1629035670.436 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-08-15T13:54:30.436Z,1629035670.436 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-15T13:54:30.436Z,1629035670.436 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-15T13:54:30.565Z,1629035670.565 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-15T13:54:30.749Z,1629035670.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBF,000,006D0,189,80,80,5F,FF
2021-08-15T13:54:30.749Z,1629035670.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:54:30.749Z,1629035670.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:54:30.751Z,1629035670.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:54:30.845Z,1629035670.845 [RDI_Pathfinder](INFO): Powering down
2021-08-15T13:54:31.149Z,1629035671.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:54:31.541Z,1629035671.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BC,000,006E1,185,80,80,74,FF
2021-08-15T13:54:31.542Z,1629035671.542 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:54:31.680Z,1629035671.680 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-15T13:54:31.681Z,1629035671.681 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-15T13:54:31.981Z,1629035671.981 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135432.64*5E

2021-08-15T13:54:32.008Z,1629035672.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.160004 m, bearing: 241.154937 deg, deltaT: 4.492373 s, approachRate: 0.227051 m/s, LOS rate: -11.410936 deg/s, posRepo size: 4
2021-08-15T13:54:34.457Z,1629035674.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:54:34.788Z,1629035674.788 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:54:34.788Z,1629035674.788 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:54:34.789Z,1629035674.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:54:34.789Z,1629035674.789 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:54:35.177Z,1629035675.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BC,000,006E1,185,80,80,74,FF
2021-08-15T13:54:35.177Z,1629035675.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:54:35.177Z,1629035675.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:54:35.179Z,1629035675.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:54:35.595Z,1629035675.595 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:54:35.989Z,1629035675.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D2C,000,006F6,18A,80,80,53,FF
2021-08-15T13:54:35.990Z,1629035675.990 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:54:36.442Z,1629035676.442 [Micromodem](INFO): Nmea in: $SNTTA,0.052911,,,,135437.07*4E

2021-08-15T13:54:36.472Z,1629035676.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.420006 m, bearing: 300.170504 deg, deltaT: 4.385798 s, approachRate: 0.287291 m/s, LOS rate: 13.456061 deg/s, posRepo size: 4
2021-08-15T13:54:38.830Z,1629035678.830 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:54:39.225Z,1629035679.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:54:39.225Z,1629035679.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:54:39.225Z,1629035679.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:54:39.226Z,1629035679.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:54:39.633Z,1629035679.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D2C,000,006F6,18A,80,80,53,FF
2021-08-15T13:54:39.634Z,1629035679.634 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:54:39.634Z,1629035679.634 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:54:39.635Z,1629035679.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:54:40.036Z,1629035680.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:54:40.437Z,1629035680.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D31,000,00708,188,80,80,77,FF
2021-08-15T13:54:40.438Z,1629035680.438 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:54:40.881Z,1629035680.881 [Micromodem](INFO): Nmea in: $SNTTA,0.058769,,,,135441.53*45

2021-08-15T13:54:40.911Z,1629035680.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.500000 m, bearing: 300.160204 deg, deltaT: 4.458384 s, approachRate: 0.242239 m/s, LOS rate: -0.002310 deg/s, posRepo size: 4
2021-08-15T13:54:43.294Z,1629035683.294 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:54:43.677Z,1629035683.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:54:43.677Z,1629035683.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:54:43.677Z,1629035683.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:54:43.678Z,1629035683.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:54:44.073Z,1629035684.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D31,000,00708,188,80,80,77,FF
2021-08-15T13:54:44.073Z,1629035684.073 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:54:44.073Z,1629035684.073 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:54:44.075Z,1629035684.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:54:44.485Z,1629035684.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:54:44.886Z,1629035684.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA1,000,0071D,189,80,80,78,FF
2021-08-15T13:54:44.886Z,1629035684.886 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:54:45.332Z,1629035685.332 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135445.97*52

2021-08-15T13:54:45.416Z,1629035685.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.760002 m, bearing: 294.685151 deg, deltaT: 4.438259 s, approachRate: 0.283896 m/s, LOS rate: -1.233604 deg/s, posRepo size: 4
2021-08-15T13:54:47.737Z,1629035687.737 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:54:48.137Z,1629035688.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:54:48.137Z,1629035688.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:54:48.137Z,1629035688.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:54:48.138Z,1629035688.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:54:48.514Z,1629035688.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA1,000,0071D,189,80,80,78,FF
2021-08-15T13:54:48.514Z,1629035688.514 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:54:48.514Z,1629035688.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:54:48.515Z,1629035688.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:54:48.929Z,1629035688.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:54:49.334Z,1629035689.334 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D61,000,0072F,189,80,80,5F,FF
2021-08-15T13:54:49.335Z,1629035689.335 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:54:49.769Z,1629035689.769 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135450.41*5D

2021-08-15T13:54:49.810Z,1629035689.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.840004 m, bearing: 297.862856 deg, deltaT: 4.501271 s, approachRate: 0.239933 m/s, LOS rate: 0.705957 deg/s, posRepo size: 4
2021-08-15T13:54:52.201Z,1629035692.201 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:54:52.569Z,1629035692.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:54:52.570Z,1629035692.570 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:54:52.570Z,1629035692.570 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:54:52.571Z,1629035692.571 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:54:52.961Z,1629035692.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D61,000,0072F,189,80,80,5F,FF
2021-08-15T13:54:52.961Z,1629035692.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:54:52.961Z,1629035692.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:54:52.963Z,1629035692.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:54:53.409Z,1629035693.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:54:54.206Z,1629035694.206 [Micromodem](INFO): Nmea in: $SNTTA,0.053238,,,,135454.86*43

2021-08-15T13:54:55.022Z,1629035695.022 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:54:56.601Z,1629035696.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,189,80,80,5F,FF
2021-08-15T13:54:56.601Z,1629035696.601 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,189,80,80,5F,FF
2021-08-15T13:54:56.601Z,1629035696.601 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T13:54:57.835Z,1629035697.835 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:54:58.213Z,1629035698.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:54:58.213Z,1629035698.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:54:58.213Z,1629035698.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:54:58.214Z,1629035698.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:54:58.625Z,1629035698.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,189,80,80,5F,FF
2021-08-15T13:54:58.625Z,1629035698.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:54:58.625Z,1629035698.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:54:58.627Z,1629035698.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:54:59.024Z,1629035699.024 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:54:59.425Z,1629035699.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF5,000,0075F,187,80,80,69,FF
2021-08-15T13:54:59.425Z,1629035699.425 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:54:59.879Z,1629035699.879 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135500.52*5B

2021-08-15T13:54:59.900Z,1629035699.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.720001 m, bearing: 288.921237 deg, deltaT: 10.080911 s, approachRate: 0.285688 m/s, LOS rate: -0.886985 deg/s, posRepo size: 4
2021-08-15T13:55:02.301Z,1629035702.301 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:55:02.665Z,1629035702.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:55:02.665Z,1629035702.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:55:02.665Z,1629035702.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:55:02.666Z,1629035702.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:55:03.065Z,1629035703.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF5,000,0075F,187,80,80,69,FF
2021-08-15T13:55:03.065Z,1629035703.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:55:03.066Z,1629035703.066 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:55:03.067Z,1629035703.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:55:03.469Z,1629035703.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:55:03.877Z,1629035703.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E34,000,00775,187,80,80,77,FF
2021-08-15T13:55:03.877Z,1629035703.877 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:55:04.326Z,1629035704.326 [Micromodem](INFO): Nmea in: $SNTTA,0.057632,,,,135504.96*4C

2021-08-15T13:55:04.406Z,1629035704.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.040009 m, bearing: 286.078075 deg, deltaT: 4.429631 s, approachRate: 0.297995 m/s, LOS rate: -0.641851 deg/s, posRepo size: 4
2021-08-15T13:55:06.726Z,1629035706.726 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:55:07.101Z,1629035707.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:55:07.101Z,1629035707.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:55:07.101Z,1629035707.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:55:07.102Z,1629035707.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:55:07.509Z,1629035707.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E34,000,00775,187,80,80,77,FF
2021-08-15T13:55:07.509Z,1629035707.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:55:07.509Z,1629035707.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:55:07.511Z,1629035707.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:55:07.931Z,1629035707.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:55:08.313Z,1629035708.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4E,000,00786,185,80,80,8B,FF
2021-08-15T13:55:08.314Z,1629035708.314 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:55:08.753Z,1629035708.753 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135509.41*50

2021-08-15T13:55:08.776Z,1629035708.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.060005 m, bearing: 284.479510 deg, deltaT: 4.509258 s, approachRate: 0.226201 m/s, LOS rate: -0.354507 deg/s, posRepo size: 4
2021-08-15T13:55:11.174Z,1629035711.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:55:11.542Z,1629035711.542 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:55:11.542Z,1629035711.542 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:55:11.542Z,1629035711.542 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:55:11.543Z,1629035711.543 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:55:11.961Z,1629035711.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4E,000,00786,185,80,80,8B,FF
2021-08-15T13:55:11.961Z,1629035711.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:55:11.961Z,1629035711.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:55:11.963Z,1629035711.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:55:12.378Z,1629035712.378 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:55:12.773Z,1629035712.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E60,000,0079C,186,80,80,83,FF
2021-08-15T13:55:12.774Z,1629035712.774 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:55:13.197Z,1629035713.197 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135513.86*50

2021-08-15T13:55:13.228Z,1629035713.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.379997 m, bearing: 283.522628 deg, deltaT: 4.394874 s, approachRate: 0.300348 m/s, LOS rate: -0.217727 deg/s, posRepo size: 4
2021-08-15T13:55:15.643Z,1629035715.643 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:55:16.009Z,1629035716.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:55:16.009Z,1629035716.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:55:16.009Z,1629035716.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:55:16.010Z,1629035716.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:55:16.417Z,1629035716.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E60,000,0079C,186,80,80,83,FF
2021-08-15T13:55:16.417Z,1629035716.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:55:16.417Z,1629035716.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:55:16.419Z,1629035716.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:55:16.813Z,1629035716.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:55:17.201Z,1629035717.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E69,000,007B0,186,80,80,90,FF
2021-08-15T13:55:17.202Z,1629035717.202 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:55:17.657Z,1629035717.657 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135518.31*57

2021-08-15T13:55:17.694Z,1629035717.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.580009 m, bearing: 282.795923 deg, deltaT: 4.421400 s, approachRate: 0.271410 m/s, LOS rate: -0.164361 deg/s, posRepo size: 4
2021-08-15T13:55:20.106Z,1629035720.106 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:55:20.432Z,1629035720.432 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:55:20.432Z,1629035720.432 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:55:20.432Z,1629035720.432 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:55:20.433Z,1629035720.433 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:55:20.837Z,1629035720.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E69,000,007B0,186,80,80,90,FF
2021-08-15T13:55:20.838Z,1629035720.838 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:55:20.838Z,1629035720.838 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:55:20.856Z,1629035720.856 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:55:21.249Z,1629035721.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:55:21.655Z,1629035721.655 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5B,000,007C6,186,80,80,9D,FF
2021-08-15T13:55:21.656Z,1629035721.656 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:55:22.101Z,1629035722.101 [Micromodem](INFO): Nmea in: $SNTTA,0.054194,,,,135522.75*4D

2021-08-15T13:55:22.154Z,1629035722.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.900002 m, bearing: 283.957929 deg, deltaT: 4.483795 s, approachRate: 0.294392 m/s, LOS rate: 0.259157 deg/s, posRepo size: 4
2021-08-15T13:55:24.522Z,1629035724.522 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:55:24.877Z,1629035724.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:55:24.877Z,1629035724.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:55:24.877Z,1629035724.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:55:24.878Z,1629035724.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:55:25.289Z,1629035725.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5B,000,007C6,186,80,80,9D,FF
2021-08-15T13:55:25.290Z,1629035725.290 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:55:25.290Z,1629035725.290 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:55:25.291Z,1629035725.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:55:25.730Z,1629035725.730 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:55:26.132Z,1629035726.132 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E70,000,007DB,186,80,80,AB,FF
2021-08-15T13:55:26.133Z,1629035726.133 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:55:26.526Z,1629035726.526 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135527.19*51

2021-08-15T13:55:26.589Z,1629035726.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.160004 m, bearing: 283.235323 deg, deltaT: 4.446013 s, approachRate: 0.283400 m/s, LOS rate: -0.162529 deg/s, posRepo size: 4
2021-08-15T13:55:28.935Z,1629035728.935 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:55:29.317Z,1629035729.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:55:29.317Z,1629035729.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:55:29.317Z,1629035729.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:55:29.318Z,1629035729.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:55:29.733Z,1629035729.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E70,000,007DB,186,80,80,AB,FF
2021-08-15T13:55:29.733Z,1629035729.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:55:29.734Z,1629035729.734 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:55:29.735Z,1629035729.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:55:30.145Z,1629035730.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:55:30.966Z,1629035730.966 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135531.63*5B

2021-08-15T13:55:31.441Z,1629035731.441 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:55:31.749Z,1629035731.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC6,000,03783,186,80,80,8F,FF
2021-08-15T13:55:31.750Z,1629035731.750 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:55:32.217Z,1629035732.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 815.160095 m, bearing: 277.844391 deg, deltaT: 5.617461 s, approachRate: 130.307999 m/s, LOS rate: -0.959674 deg/s, posRepo size: 4
2021-08-15T13:55:34.619Z,1629035734.619 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:55:34.977Z,1629035734.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:55:34.977Z,1629035734.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:55:34.977Z,1629035734.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:55:34.978Z,1629035734.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:55:35.409Z,1629035735.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC6,000,03783,186,80,80,8F,FF
2021-08-15T13:55:35.409Z,1629035735.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:55:35.409Z,1629035735.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:55:35.411Z,1629035735.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:55:35.801Z,1629035735.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:55:36.197Z,1629035736.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC6,000,0080A,186,80,80,9D,FF
2021-08-15T13:55:36.198Z,1629035736.198 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:55:36.607Z,1629035736.607 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135537.31*5A

2021-08-15T13:55:36.649Z,1629035736.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.979996 m, bearing: 277.546431 deg, deltaT: 4.447765 s, approachRate: -163.943039 m/s, LOS rate: -0.066991 deg/s, posRepo size: 4
2021-08-15T13:55:39.044Z,1629035739.044 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:55:39.421Z,1629035739.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:55:39.421Z,1629035739.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:55:39.421Z,1629035739.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:55:39.422Z,1629035739.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:55:39.829Z,1629035739.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC6,000,0080A,186,80,80,9D,FF
2021-08-15T13:55:39.829Z,1629035739.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:55:39.829Z,1629035739.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:55:39.831Z,1629035739.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:55:40.233Z,1629035740.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:55:40.637Z,1629035740.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F69,000,00823,186,80,80,82,FF
2021-08-15T13:55:40.638Z,1629035740.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:55:41.093Z,1629035741.093 [Micromodem](INFO): Nmea in: $SNTTA,0.062687,,,,135541.73*4E

2021-08-15T13:55:41.116Z,1629035741.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.480003 m, bearing: 268.698194 deg, deltaT: 4.430229 s, approachRate: 0.338585 m/s, LOS rate: -1.997241 deg/s, posRepo size: 4
2021-08-15T13:55:43.501Z,1629035743.501 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:55:43.869Z,1629035743.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:55:43.869Z,1629035743.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:55:43.869Z,1629035743.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:55:43.870Z,1629035743.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:55:44.277Z,1629035744.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F69,000,00823,186,80,80,82,FF
2021-08-15T13:55:44.277Z,1629035744.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:55:44.277Z,1629035744.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:55:44.279Z,1629035744.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:55:44.794Z,1629035744.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:55:45.189Z,1629035745.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F73,000,00835,186,80,80,A6,FF
2021-08-15T13:55:45.190Z,1629035745.190 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:55:45.613Z,1629035745.613 [Micromodem](INFO): Nmea in: $SNTTA,0.085370,,,,135546.17*4F

2021-08-15T13:55:45.655Z,1629035745.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.560005 m, bearing: 267.724783 deg, deltaT: 4.542725 s, approachRate: 0.237743 m/s, LOS rate: -0.214279 deg/s, posRepo size: 4
2021-08-15T13:55:48.135Z,1629035748.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:55:48.427Z,1629035748.427 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:55:48.427Z,1629035748.427 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:55:48.427Z,1629035748.427 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:55:48.428Z,1629035748.428 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:55:48.833Z,1629035748.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F73,000,00835,186,80,80,A6,FF
2021-08-15T13:55:48.833Z,1629035748.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:55:48.833Z,1629035748.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:55:48.834Z,1629035748.834 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:55:49.234Z,1629035749.234 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:55:49.639Z,1629035749.639 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F97,000,0084A,187,80,80,B6,FF
2021-08-15T13:55:49.639Z,1629035749.639 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:55:50.109Z,1629035750.109 [Micromodem](INFO): Nmea in: $SNTTA,0.070609,,,,135550.73*4B

2021-08-15T13:55:50.187Z,1629035750.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.820007 m, bearing: 265.897707 deg, deltaT: 4.458797 s, approachRate: 0.282588 m/s, LOS rate: -0.409769 deg/s, posRepo size: 4
2021-08-15T13:55:52.499Z,1629035752.499 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:55:52.865Z,1629035752.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:55:52.865Z,1629035752.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:55:52.865Z,1629035752.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:55:52.866Z,1629035752.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:55:53.265Z,1629035753.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F97,000,0084A,187,80,80,B6,FF
2021-08-15T13:55:53.265Z,1629035753.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:55:53.265Z,1629035753.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:55:53.267Z,1629035753.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:55:53.690Z,1629035753.690 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:55:54.141Z,1629035754.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB9,000,0085F,184,80,80,8C,FF
2021-08-15T13:55:54.141Z,1629035754.141 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:55:54.517Z,1629035754.517 [Micromodem](INFO): Nmea in: $SNTTA,0.072725,,,,135555.16*40

2021-08-15T13:55:54.566Z,1629035754.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.080009 m, bearing: 263.639537 deg, deltaT: 4.575998 s, approachRate: 0.275350 m/s, LOS rate: -0.493481 deg/s, posRepo size: 4
2021-08-15T13:55:56.962Z,1629035756.962 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:55:57.317Z,1629035757.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:55:57.317Z,1629035757.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:55:57.317Z,1629035757.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:55:57.318Z,1629035757.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:55:57.721Z,1629035757.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB9,000,0085F,184,80,80,8C,FF
2021-08-15T13:55:57.721Z,1629035757.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:55:57.722Z,1629035757.722 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:55:57.723Z,1629035757.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:55:58.152Z,1629035758.152 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:55:58.521Z,1629035758.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB2,000,00873,184,80,80,A1,FF
2021-08-15T13:55:58.522Z,1629035758.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:55:58.953Z,1629035758.953 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135559.62*54

2021-08-15T13:55:59.000Z,1629035759.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.280006 m, bearing: 263.860152 deg, deltaT: 4.307553 s, approachRate: 0.278580 m/s, LOS rate: 0.051216 deg/s, posRepo size: 4
2021-08-15T13:56:01.414Z,1629035761.414 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:56:01.749Z,1629035761.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:56:01.749Z,1629035761.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:56:01.749Z,1629035761.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:56:01.750Z,1629035761.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:56:02.174Z,1629035762.174 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB2,000,00873,184,80,80,A1,FF
2021-08-15T13:56:02.174Z,1629035762.174 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:56:02.174Z,1629035762.174 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:56:02.176Z,1629035762.176 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:56:02.591Z,1629035762.591 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:56:02.970Z,1629035762.970 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC3,000,0088B,184,80,80,AA,FF
2021-08-15T13:56:02.970Z,1629035762.970 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:56:03.461Z,1629035763.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.720001 m, bearing: 263.250708 deg, deltaT: 4.439280 s, approachRate: 0.324376 m/s, LOS rate: -0.137284 deg/s, posRepo size: 4
2021-08-15T13:56:05.827Z,1629035765.827 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:56:06.214Z,1629035766.214 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:56:06.215Z,1629035766.215 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:56:06.215Z,1629035766.215 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:56:06.216Z,1629035766.216 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:56:06.609Z,1629035766.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC3,000,0088B,184,80,80,AA,FF
2021-08-15T13:56:06.609Z,1629035766.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:56:06.609Z,1629035766.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:56:06.611Z,1629035766.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:56:07.009Z,1629035767.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:56:07.405Z,1629035767.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD8,000,008A8,185,80,80,B5,FF
2021-08-15T13:56:07.406Z,1629035767.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:56:07.845Z,1629035767.845 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135608.51*53

2021-08-15T13:56:07.868Z,1629035767.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.459999 m, bearing: 262.910674 deg, deltaT: 4.482581 s, approachRate: 0.388169 m/s, LOS rate: -0.075857 deg/s, posRepo size: 4
2021-08-15T13:56:10.316Z,1629035770.316 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:56:10.645Z,1629035770.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:56:10.645Z,1629035770.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:56:10.646Z,1629035770.646 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:56:10.647Z,1629035770.647 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:56:11.041Z,1629035771.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD8,000,008A8,185,80,80,B5,FF
2021-08-15T13:56:11.041Z,1629035771.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:56:11.041Z,1629035771.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:56:11.043Z,1629035771.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:56:11.453Z,1629035771.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:56:11.854Z,1629035771.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC3,000,008B8,184,80,80,B5,FF
2021-08-15T13:56:11.854Z,1629035771.854 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:56:12.297Z,1629035772.297 [Micromodem](INFO): Nmea in: $SNTTA,0.063797,,,,135612.94*43

2021-08-15T13:56:12.401Z,1629035772.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.420006 m, bearing: 264.955196 deg, deltaT: 4.400608 s, approachRate: 0.218153 m/s, LOS rate: 0.464600 deg/s, posRepo size: 4
2021-08-15T13:56:14.387Z,1629035774.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:56:14.681Z,1629035774.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:56:14.681Z,1629035774.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:56:14.681Z,1629035774.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:56:14.682Z,1629035774.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:56:15.085Z,1629035775.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC3,000,008B8,184,80,80,B5,FF
2021-08-15T13:56:15.085Z,1629035775.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:56:15.085Z,1629035775.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:56:15.087Z,1629035775.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:56:15.492Z,1629035775.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:56:15.893Z,1629035775.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8B,000,008CC,187,80,80,48,FF
2021-08-15T13:56:15.894Z,1629035775.894 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:56:16.363Z,1629035776.363 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135616.98*59

2021-08-15T13:56:16.424Z,1629035776.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.620003 m, bearing: 267.679949 deg, deltaT: 4.059892 s, approachRate: 0.295574 m/s, LOS rate: 0.671139 deg/s, posRepo size: 4
2021-08-15T13:56:18.751Z,1629035778.751 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:56:19.125Z,1629035779.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:56:19.125Z,1629035779.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:56:19.125Z,1629035779.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:56:19.126Z,1629035779.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:56:19.537Z,1629035779.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8B,000,008CC,187,80,80,48,FF
2021-08-15T13:56:19.537Z,1629035779.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:56:19.538Z,1629035779.538 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:56:19.539Z,1629035779.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:56:19.933Z,1629035779.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:56:20.369Z,1629035780.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDD,000,008E0,184,80,80,AF,FF
2021-08-15T13:56:20.369Z,1629035780.369 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:56:20.791Z,1629035780.791 [Micromodem](INFO): Nmea in: $SNTTA,0.070948,,,,135621.43*47

2021-08-15T13:56:20.809Z,1629035780.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.820000 m, bearing: 261.982615 deg, deltaT: 4.527385 s, approachRate: 0.265053 m/s, LOS rate: -1.258416 deg/s, posRepo size: 4
2021-08-15T13:56:23.207Z,1629035783.207 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:56:23.578Z,1629035783.578 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:56:23.578Z,1629035783.578 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:56:23.578Z,1629035783.578 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:56:23.580Z,1629035783.580 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:56:23.973Z,1629035783.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDD,000,008E0,184,80,80,AF,FF
2021-08-15T13:56:23.973Z,1629035783.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:56:23.973Z,1629035783.973 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:56:23.975Z,1629035783.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:56:24.428Z,1629035784.428 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:56:25.244Z,1629035785.244 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135625.87*57

2021-08-15T13:56:26.129Z,1629035786.129 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:56:27.254Z,1629035787.254 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,8000,008E0,184,80,80,AF,FF
2021-08-15T13:56:27.254Z,1629035787.254 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,8000,008E0,184,80,80,AF,FF
2021-08-15T13:56:27.254Z,1629035787.254 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T13:56:28.889Z,1629035788.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:56:29.296Z,1629035789.296 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:56:29.296Z,1629035789.296 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:56:29.296Z,1629035789.296 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:56:29.297Z,1629035789.297 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:56:29.669Z,1629035789.669 [DUSBL_Hydroid](INFO): DUSBL response received:,63,E4
!U1,P
,008E0,184,80,80,AF,FF
2021-08-15T13:56:29.669Z,1629035789.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:56:29.670Z,1629035789.670 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:56:29.671Z,1629035789.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:56:30.148Z,1629035790.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:56:30.489Z,1629035790.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFB,000,00911,183,80,80,AD,FF
2021-08-15T13:56:30.489Z,1629035790.489 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:56:30.929Z,1629035790.929 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135631.56*5E

2021-08-15T13:56:30.965Z,1629035790.965 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.760002 m, bearing: 260.635948 deg, deltaT: 10.085594 s, approachRate: 0.291505 m/s, LOS rate: -0.133524 deg/s, posRepo size: 4
2021-08-15T13:56:33.398Z,1629035793.398 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:56:33.709Z,1629035793.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:56:33.709Z,1629035793.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:56:33.709Z,1629035793.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:56:33.710Z,1629035793.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:56:34.137Z,1629035794.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFB,000,00911,183,80,80,AD,FF
2021-08-15T13:56:34.137Z,1629035794.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:56:34.138Z,1629035794.138 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:56:34.139Z,1629035794.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:56:34.526Z,1629035794.526 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:56:34.928Z,1629035794.928 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00E,000,00927,184,80,80,C9,FF
2021-08-15T13:56:34.929Z,1629035794.929 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:56:35.373Z,1629035795.373 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135636.03*59

2021-08-15T13:56:35.416Z,1629035795.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.079994 m, bearing: 259.753132 deg, deltaT: 4.411915 s, approachRate: 0.299188 m/s, LOS rate: -0.200098 deg/s, posRepo size: 4
2021-08-15T13:56:37.773Z,1629035797.773 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:56:38.164Z,1629035798.164 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:56:38.164Z,1629035798.164 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:56:38.164Z,1629035798.164 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:56:38.165Z,1629035798.165 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:56:38.572Z,1629035798.572 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00E,000,00927,184,80,80,C9,FF
2021-08-15T13:56:38.572Z,1629035798.572 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:56:38.572Z,1629035798.572 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:56:38.575Z,1629035798.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:56:38.979Z,1629035798.979 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:56:39.794Z,1629035799.794 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135640.47*58

2021-08-15T13:56:40.637Z,1629035800.637 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:56:42.201Z,1629035802.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,184,80,80,C9,FF
2021-08-15T13:56:42.201Z,1629035802.201 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,184,80,80,C9,FF
2021-08-15T13:56:42.201Z,1629035802.201 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T13:56:43.448Z,1629035803.448 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:56:43.813Z,1629035803.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:56:43.813Z,1629035803.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:56:43.813Z,1629035803.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:56:43.814Z,1629035803.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:56:44.218Z,1629035804.218 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,184,80,80,C9,FF
2021-08-15T13:56:44.218Z,1629035804.218 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:56:44.218Z,1629035804.218 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:56:44.220Z,1629035804.220 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:56:44.632Z,1629035804.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:56:45.025Z,1629035805.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,018,000,00955,183,80,80,AB,FF
2021-08-15T13:56:45.026Z,1629035805.026 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:56:45.471Z,1629035805.471 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135646.11*5D

2021-08-15T13:56:45.533Z,1629035805.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.840004 m, bearing: 259.044896 deg, deltaT: 10.095747 s, approachRate: 0.273383 m/s, LOS rate: -0.070152 deg/s, posRepo size: 4
2021-08-15T13:56:47.867Z,1629035807.867 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:56:48.253Z,1629035808.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:56:48.253Z,1629035808.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:56:48.253Z,1629035808.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:56:48.254Z,1629035808.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:56:48.662Z,1629035808.662 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
018,000,00955,183,80,80,AB,FF
2021-08-15T13:56:48.662Z,1629035808.662 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:56:48.662Z,1629035808.662 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:56:48.664Z,1629035808.664 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:56:49.068Z,1629035809.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:56:49.466Z,1629035809.466 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,024,000,00968,184,80,80,BF,FF
2021-08-15T13:56:49.466Z,1629035809.466 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:56:49.905Z,1629035809.905 [Micromodem](INFO): Nmea in: $SNTTA,0.084432,,,,135650.56*4E

2021-08-15T13:56:49.952Z,1629035809.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.980003 m, bearing: 258.639320 deg, deltaT: 4.442359 s, approachRate: 0.256620 m/s, LOS rate: -0.091298 deg/s, posRepo size: 4
2021-08-15T13:56:52.434Z,1629035812.434 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:56:52.697Z,1629035812.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:56:52.697Z,1629035812.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:56:52.697Z,1629035812.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:56:52.698Z,1629035812.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:56:53.101Z,1629035813.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
024,000,00968,184,80,80,BF,FF
2021-08-15T13:56:53.101Z,1629035813.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:56:53.101Z,1629035813.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:56:53.103Z,1629035813.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:56:53.509Z,1629035813.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:56:53.914Z,1629035813.914 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,046,000,0097C,185,80,80,35,FF
2021-08-15T13:56:53.914Z,1629035813.914 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:56:54.369Z,1629035814.369 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135655.00*5F

2021-08-15T13:56:54.475Z,1629035814.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.180008 m, bearing: 257.321503 deg, deltaT: 4.445675 s, approachRate: 0.269926 m/s, LOS rate: -0.296427 deg/s, posRepo size: 4
2021-08-15T13:56:56.446Z,1629035816.446 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:56:56.741Z,1629035816.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:56:56.741Z,1629035816.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:56:56.741Z,1629035816.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:56:56.742Z,1629035816.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:56:57.137Z,1629035817.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
046,000,0097C,185,80,80,35,FF
2021-08-15T13:56:57.137Z,1629035817.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:56:57.137Z,1629035817.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:56:57.139Z,1629035817.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:56:57.544Z,1629035817.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:56:57.950Z,1629035817.950 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,034,000,00994,184,80,80,54,FF
2021-08-15T13:56:57.950Z,1629035817.950 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:56:58.417Z,1629035818.417 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135659.03*50

2021-08-15T13:56:58.475Z,1629035818.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.620003 m, bearing: 259.432031 deg, deltaT: 4.031603 s, approachRate: 0.357177 m/s, LOS rate: 0.523496 deg/s, posRepo size: 4
2021-08-15T13:57:00.498Z,1629035820.498 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:57:00.781Z,1629035820.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:57:00.781Z,1629035820.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:57:00.781Z,1629035820.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:57:00.782Z,1629035820.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:57:01.185Z,1629035821.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
034,000,00994,184,80,80,54,FF
2021-08-15T13:57:01.185Z,1629035821.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:57:01.186Z,1629035821.186 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:57:01.187Z,1629035821.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:57:01.604Z,1629035821.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:57:01.986Z,1629035821.986 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF9,000,009A5,183,80,80,A4,FF
2021-08-15T13:57:01.986Z,1629035821.986 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:57:02.457Z,1629035822.457 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135703.08*55

2021-08-15T13:57:02.519Z,1629035822.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.640007 m, bearing: 262.270166 deg, deltaT: 4.125391 s, approachRate: 0.247250 m/s, LOS rate: 0.687967 deg/s, posRepo size: 4
2021-08-15T13:57:04.847Z,1629035824.847 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:57:05.225Z,1629035825.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:57:05.225Z,1629035825.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:57:05.225Z,1629035825.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:57:05.226Z,1629035825.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:57:05.633Z,1629035825.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF9,000,009A5,183,80,80,A4,FF
2021-08-15T13:57:05.633Z,1629035825.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:57:05.633Z,1629035825.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:57:05.635Z,1629035825.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:57:06.079Z,1629035826.079 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:57:06.435Z,1629035826.435 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,032,000,009BC,184,80,80,99,FF
2021-08-15T13:57:06.435Z,1629035826.435 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:57:06.869Z,1629035826.869 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135707.53*5F

2021-08-15T13:57:06.905Z,1629035826.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.020004 m, bearing: 258.045312 deg, deltaT: 4.384064 s, approachRate: 0.314776 m/s, LOS rate: -0.963685 deg/s, posRepo size: 4
2021-08-15T13:57:09.274Z,1629035829.274 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:57:09.661Z,1629035829.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:57:09.661Z,1629035829.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:57:09.661Z,1629035829.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:57:09.662Z,1629035829.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:57:10.105Z,1629035830.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
032,000,009BC,184,80,80,99,FF
2021-08-15T13:57:10.105Z,1629035830.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:57:10.105Z,1629035830.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:57:10.107Z,1629035830.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:57:10.480Z,1629035830.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:57:11.287Z,1629035831.287 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135712.00*5D

2021-08-15T13:57:12.179Z,1629035832.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:57:13.713Z,1629035833.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,184,80,80,99,FF
2021-08-15T13:57:13.714Z,1629035833.714 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,184,80,80,99,FF
2021-08-15T13:57:13.714Z,1629035833.714 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T13:57:14.934Z,1629035834.934 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:57:15.337Z,1629035835.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:57:15.337Z,1629035835.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:57:15.338Z,1629035835.338 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:57:15.338Z,1629035835.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:57:15.725Z,1629035835.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,184,80,80,99,FF
2021-08-15T13:57:15.725Z,1629035835.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:57:15.725Z,1629035835.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:57:15.727Z,1629035835.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:57:16.144Z,1629035836.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:57:16.966Z,1629035836.966 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135717.62*5C

2021-08-15T13:57:17.457Z,1629035837.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:57:19.393Z,1629035839.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,184,80,80,99,FF
2021-08-15T13:57:19.393Z,1629035839.393 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,184,80,80,99,FF
2021-08-15T13:57:19.394Z,1629035839.394 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T13:57:20.225Z,1629035840.225 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:57:20.578Z,1629035840.578 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:57:20.578Z,1629035840.578 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:57:20.578Z,1629035840.578 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:57:20.579Z,1629035840.579 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:57:20.977Z,1629035840.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,184,80,80,99,FF
2021-08-15T13:57:20.977Z,1629035840.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:57:20.977Z,1629035840.977 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:57:20.982Z,1629035840.982 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:57:21.404Z,1629035841.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:57:21.789Z,1629035841.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04C,000,00A0D,184,80,80,69,FF
2021-08-15T13:57:21.789Z,1629035841.789 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:57:22.234Z,1629035842.234 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135722.88*5E

2021-08-15T13:57:22.235Z,1629035842.235 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,135723330*7A
 expected 5E
2021-08-15T13:57:22.269Z,1629035842.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.880005 m, bearing: 257.252218 deg, deltaT: 15.396824 s, approachRate: 0.315650 m/s, LOS rate: -0.051510 deg/s, posRepo size: 4
2021-08-15T13:57:24.661Z,1629035844.661 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:57:25.017Z,1629035845.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:57:25.017Z,1629035845.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:57:25.017Z,1629035845.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:57:25.018Z,1629035845.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:57:25.429Z,1629035845.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04C,000,00A0D,184,80,80,69,FF
2021-08-15T13:57:25.429Z,1629035845.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:57:25.429Z,1629035845.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:57:25.431Z,1629035845.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:57:25.837Z,1629035845.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:57:26.247Z,1629035846.247 [Micromodem](INFO): Nmea in: $SNTTA,0.247659,0.247403,,,135727.33*56

2021-08-15T13:57:27.061Z,1629035847.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,058,000,03195,184,80,80,75,FF
2021-08-15T13:57:27.061Z,1629035847.061 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:57:27.501Z,1629035847.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 724.079956 m, bearing: 255.920768 deg, deltaT: 5.198532 s, approachRate: 116.802193 m/s, LOS rate: -0.256120 deg/s, posRepo size: 4
2021-08-15T13:57:29.903Z,1629035849.903 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:57:30.277Z,1629035850.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:57:30.278Z,1629035850.278 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:57:30.278Z,1629035850.278 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:57:30.279Z,1629035850.279 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:57:30.682Z,1629035850.682 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
058,000,03195,184,80,80,75,FF
2021-08-15T13:57:30.682Z,1629035850.682 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:57:30.682Z,1629035850.682 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:57:30.684Z,1629035850.684 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:57:31.092Z,1629035851.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:57:31.909Z,1629035851.909 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135732.58*52

2021-08-15T13:57:32.699Z,1629035852.699 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,039,000,03804,184,80,80,6F,FF
2021-08-15T13:57:32.699Z,1629035852.699 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:57:33.128Z,1629035853.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 822.900024 m, bearing: 257.622031 deg, deltaT: 5.681290 s, approachRate: 17.393950 m/s, LOS rate: 0.299450 deg/s, posRepo size: 4
2021-08-15T13:57:35.576Z,1629035855.576 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:57:35.925Z,1629035855.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:57:35.925Z,1629035855.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:57:35.925Z,1629035855.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:57:35.926Z,1629035855.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:57:36.360Z,1629035856.360 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
039,000,03804,184,80,80,6F,FF
2021-08-15T13:57:36.360Z,1629035856.360 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:57:36.360Z,1629035856.360 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:57:36.362Z,1629035856.362 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:57:36.741Z,1629035856.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:57:37.137Z,1629035857.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01F,000,003D5,185,80,80,9C,FF
2021-08-15T13:57:37.138Z,1629035857.138 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:57:37.590Z,1629035857.590 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135738.26*51

2021-08-15T13:57:37.642Z,1629035857.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.359999 m, bearing: 260.410388 deg, deltaT: 4.427491 s, approachRate: -181.037079 m/s, LOS rate: 0.629783 deg/s, posRepo size: 4
2021-08-15T13:57:37.991Z,1629035857.991 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T13:57:37.991Z,1629035857.991 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T13:57:37.991Z,1629035857.991 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T13:57:37.992Z,1629035857.992 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T13:57:37.992Z,1629035857.992 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T13:57:37.992Z,1629035857.992 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T13:57:38.475Z,1629035858.475 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T13:57:38.475Z,1629035858.475 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T13:57:38.475Z,1629035858.475 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T13:57:38.475Z,1629035858.475 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T13:57:39.990Z,1629035859.990 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:57:40.409Z,1629035860.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:57:40.409Z,1629035860.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:57:40.409Z,1629035860.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:57:40.410Z,1629035860.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:57:40.781Z,1629035860.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01F,000,003D5,185,80,80,9C,FF
2021-08-15T13:57:40.781Z,1629035860.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:57:40.781Z,1629035860.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:57:40.783Z,1629035860.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:57:41.193Z,1629035861.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:57:41.605Z,1629035861.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,058,000,00A73,184,80,80,98,FF
2021-08-15T13:57:41.605Z,1629035861.605 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:57:41.689Z,1629035861.689 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T13:57:42.029Z,1629035862.029 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135742.68*56

2021-08-15T13:57:42.103Z,1629035862.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.000000 m, bearing: 256.863771 deg, deltaT: 4.499897 s, approachRate: 22.587183 m/s, LOS rate: -0.788155 deg/s, posRepo size: 4
2021-08-15T13:57:42.495Z,1629035862.495 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T13:57:42.495Z,1629035862.495 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T13:57:42.495Z,1629035862.495 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T13:57:42.496Z,1629035862.496 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T13:57:42.497Z,1629035862.497 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T13:57:42.497Z,1629035862.497 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T13:57:42.835Z,1629035862.835 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T13:57:42.836Z,1629035862.836 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T13:57:42.836Z,1629035862.836 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T13:57:42.836Z,1629035862.836 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T13:57:44.481Z,1629035864.481 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:57:44.813Z,1629035864.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:57:44.813Z,1629035864.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:57:44.813Z,1629035864.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:57:44.814Z,1629035864.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:57:45.217Z,1629035865.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
058,000,00A73,184,80,80,98,FF
2021-08-15T13:57:45.217Z,1629035865.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:57:45.217Z,1629035865.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:57:45.219Z,1629035865.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:57:45.632Z,1629035865.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:57:46.049Z,1629035866.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,062,000,00A8B,186,80,80,80,FF
2021-08-15T13:57:46.050Z,1629035866.050 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:57:46.469Z,1629035866.469 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135747.11*5D

2021-08-15T13:57:46.495Z,1629035866.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.440002 m, bearing: 256.377380 deg, deltaT: 4.465041 s, approachRate: 0.322506 m/s, LOS rate: -0.108933 deg/s, posRepo size: 4
2021-08-15T13:57:48.871Z,1629035868.871 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:57:49.265Z,1629035869.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:57:49.265Z,1629035869.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:57:49.266Z,1629035869.266 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:57:49.267Z,1629035869.267 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:57:49.661Z,1629035869.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
062,000,00A8B,186,80,80,80,FF
2021-08-15T13:57:49.661Z,1629035869.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:57:49.661Z,1629035869.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:57:49.663Z,1629035869.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:57:50.125Z,1629035870.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:57:50.517Z,1629035870.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01F,000,00AA2,184,80,80,96,FF
2021-08-15T13:57:50.517Z,1629035870.517 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:57:50.937Z,1629035870.937 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135751.56*59

2021-08-15T13:57:50.953Z,1629035870.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.820000 m, bearing: 260.584257 deg, deltaT: 4.392434 s, approachRate: 0.314176 m/s, LOS rate: 0.957755 deg/s, posRepo size: 4
2021-08-15T13:57:53.410Z,1629035873.410 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:57:53.741Z,1629035873.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:57:53.741Z,1629035873.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:57:53.741Z,1629035873.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:57:53.742Z,1629035873.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:57:54.141Z,1629035874.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01F,000,00AA2,184,80,80,96,FF
2021-08-15T13:57:54.141Z,1629035874.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:57:54.141Z,1629035874.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:57:54.143Z,1629035874.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:57:54.557Z,1629035874.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:57:55.394Z,1629035875.394 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135756.04*59

2021-08-15T13:57:56.165Z,1629035876.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,006,000,0384A,183,80,80,8D,FF
2021-08-15T13:57:56.165Z,1629035876.165 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:57:56.648Z,1629035876.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 827.100037 m, bearing: 262.012832 deg, deltaT: 5.681986 s, approachRate: 123.421638 m/s, LOS rate: 0.251422 deg/s, posRepo size: 4
2021-08-15T13:57:59.006Z,1629035879.006 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:57:59.405Z,1629035879.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:57:59.405Z,1629035879.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:57:59.405Z,1629035879.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:57:59.406Z,1629035879.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:57:59.798Z,1629035879.798 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
006,000,0384A,183,80,80,8D,FF
2021-08-15T13:57:59.798Z,1629035879.798 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:57:59.798Z,1629035879.798 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:57:59.800Z,1629035879.800 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:58:00.201Z,1629035880.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:58:00.621Z,1629035880.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA2,000,00ADA,186,80,80,4A,FF
2021-08-15T13:58:00.622Z,1629035880.622 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:58:01.037Z,1629035881.037 [Micromodem](INFO): Nmea in: $SNTTA,0.090455,,,,135801.69*4C

2021-08-15T13:58:01.077Z,1629035881.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.180008 m, bearing: 267.848163 deg, deltaT: 4.481648 s, approachRate: -155.728439 m/s, LOS rate: 1.302050 deg/s, posRepo size: 4
2021-08-15T13:58:03.489Z,1629035883.489 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:58:03.833Z,1629035883.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:58:03.833Z,1629035883.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:58:03.833Z,1629035883.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:58:03.834Z,1629035883.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:58:04.237Z,1629035884.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA2,000,00ADA,186,80,80,4A,FF
2021-08-15T13:58:04.237Z,1629035884.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:58:04.237Z,1629035884.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:58:04.239Z,1629035884.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:58:04.656Z,1629035884.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:58:05.470Z,1629035885.470 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135806.13*55

2021-08-15T13:58:06.258Z,1629035886.258 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,053,000,04ADA,186,80,80,4A,FF
2021-08-15T13:58:06.258Z,1629035886.258 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:58:06.716Z,1629035886.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1112.220093 m, bearing: 257.907670 deg, deltaT: 5.699611 s, approachRate: 172.474945 m/s, LOS rate: -1.744065 deg/s, posRepo size: 4
2021-08-15T13:58:09.120Z,1629035889.120 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:58:09.489Z,1629035889.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:58:09.489Z,1629035889.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:58:09.489Z,1629035889.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:58:09.490Z,1629035889.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:58:09.893Z,1629035889.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
053,000,04ADA,186,80,80,4A,FF
2021-08-15T13:58:09.893Z,1629035889.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:58:09.893Z,1629035889.893 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:58:09.895Z,1629035889.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:58:10.305Z,1629035890.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:58:10.725Z,1629035890.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B1,000,00B0B,187,80,80,5F,FF
2021-08-15T13:58:10.726Z,1629035890.726 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:58:11.145Z,1629035891.145 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135811.79*5F

2021-08-15T13:58:11.168Z,1629035891.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.120010 m, bearing: 252.740277 deg, deltaT: 4.335863 s, approachRate: -226.044983 m/s, LOS rate: -1.191780 deg/s, posRepo size: 4
2021-08-15T13:58:13.577Z,1629035893.577 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:58:13.933Z,1629035893.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:58:13.933Z,1629035893.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:58:13.933Z,1629035893.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:58:13.934Z,1629035893.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:58:14.372Z,1629035894.372 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B1,000,00B0B,187,80,80,5F,FF
2021-08-15T13:58:14.373Z,1629035894.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:58:14.373Z,1629035894.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:58:14.374Z,1629035894.374 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:58:14.769Z,1629035894.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:58:15.590Z,1629035895.590 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06F,000,00EAE,186,80,80,51,FF
2021-08-15T13:58:15.590Z,1629035895.590 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:58:15.595Z,1629035895.595 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135816.27*53

2021-08-15T13:58:16.014Z,1629035896.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 187.979980 m, bearing: 256.368364 deg, deltaT: 4.912256 s, approachRate: 11.371552 m/s, LOS rate: 0.738579 deg/s, posRepo size: 4
2021-08-15T13:58:18.496Z,1629035898.496 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:58:18.801Z,1629035898.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:58:18.801Z,1629035898.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:58:18.801Z,1629035898.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:58:18.802Z,1629035898.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:58:19.205Z,1629035899.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06F,000,00EAE,186,80,80,51,FF
2021-08-15T13:58:19.205Z,1629035899.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:58:19.205Z,1629035899.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:58:19.207Z,1629035899.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:58:19.629Z,1629035899.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:58:20.446Z,1629035900.446 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135821.10*53

2021-08-15T13:58:21.225Z,1629035901.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14C,000,03868,186,80,80,7A,FF
2021-08-15T13:58:21.226Z,1629035901.226 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:58:21.686Z,1629035901.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 828.900024 m, bearing: 244.671583 deg, deltaT: 5.623881 s, approachRate: 113.964012 m/s, LOS rate: -2.079841 deg/s, posRepo size: 4
2021-08-15T13:58:24.158Z,1629035904.158 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:58:24.453Z,1629035904.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:58:24.453Z,1629035904.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:58:24.453Z,1629035904.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:58:24.454Z,1629035904.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:58:24.869Z,1629035904.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14C,000,03868,186,80,80,7A,FF
2021-08-15T13:58:24.869Z,1629035904.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:58:24.869Z,1629035904.869 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:58:24.871Z,1629035904.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:58:25.265Z,1629035905.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:58:25.681Z,1629035905.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,120,000,00B5A,186,80,80,82,FF
2021-08-15T13:58:25.682Z,1629035905.682 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:58:26.130Z,1629035906.130 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135826.77*55

2021-08-15T13:58:26.169Z,1629035906.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.860001 m, bearing: 246.743862 deg, deltaT: 4.464607 s, approachRate: -155.005814 m/s, LOS rate: 0.464157 deg/s, posRepo size: 4
2021-08-15T13:58:28.548Z,1629035908.548 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:58:28.913Z,1629035908.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:58:28.913Z,1629035908.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:58:28.913Z,1629035908.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:58:28.914Z,1629035908.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:58:29.319Z,1629035909.319 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
120,000,00B5A,186,80,80,82,FF
2021-08-15T13:58:29.320Z,1629035909.320 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:58:29.321Z,1629035909.321 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:58:29.327Z,1629035909.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:58:29.725Z,1629035909.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:58:30.129Z,1629035910.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,192,000,00B74,186,80,80,A0,FF
2021-08-15T13:58:30.130Z,1629035910.129 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:58:30.562Z,1629035910.562 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135831.22*53

2021-08-15T13:58:30.611Z,1629035910.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.419998 m, bearing: 240.481999 deg, deltaT: 4.442609 s, approachRate: 0.351144 m/s, LOS rate: -1.409501 deg/s, posRepo size: 4
2021-08-15T13:58:32.987Z,1629035912.987 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:58:33.365Z,1629035913.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:58:33.366Z,1629035913.366 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:58:33.366Z,1629035913.366 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:58:33.367Z,1629035913.367 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:58:33.766Z,1629035913.766 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
192,000,00B74,186,80,80,A0,FF
2021-08-15T13:58:33.766Z,1629035913.766 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:58:33.767Z,1629035913.767 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:58:33.769Z,1629035913.769 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:58:34.164Z,1629035914.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:58:34.982Z,1629035914.982 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135835.70*50

2021-08-15T13:58:35.818Z,1629035915.818 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:58:37.389Z,1629035917.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,186,80,80,A0,FF
2021-08-15T13:58:37.389Z,1629035917.389 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,186,80,80,A0,FF
2021-08-15T13:58:37.390Z,1629035917.390 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T13:58:38.660Z,1629035918.660 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:58:39.005Z,1629035919.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:58:39.005Z,1629035919.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:58:39.005Z,1629035919.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:58:39.006Z,1629035919.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:58:39.423Z,1629035919.423 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,186,80,80,A0,FF
2021-08-15T13:58:39.423Z,1629035919.423 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:58:39.423Z,1629035919.423 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:58:39.426Z,1629035919.426 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:58:39.820Z,1629035919.820 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:58:40.642Z,1629035920.642 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135841.32*55

2021-08-15T13:58:41.449Z,1629035921.449 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:58:43.041Z,1629035923.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,186,80,80,A0,FF
2021-08-15T13:58:43.041Z,1629035923.041 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,186,80,80,A0,FF
2021-08-15T13:58:43.042Z,1629035923.042 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T13:58:44.309Z,1629035924.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:58:44.657Z,1629035924.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:58:44.657Z,1629035924.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:58:44.657Z,1629035924.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:58:44.658Z,1629035924.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:58:45.067Z,1629035925.067 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,186,80,80,A0,FF
2021-08-15T13:58:45.067Z,1629035925.067 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:58:45.068Z,1629035925.068 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:58:45.073Z,1629035925.073 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:58:45.475Z,1629035925.475 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:58:45.886Z,1629035925.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15B,000,00BC7,185,80,80,8B,FF
2021-08-15T13:58:45.891Z,1629035925.891 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:58:46.322Z,1629035926.322 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135846.97*5D

2021-08-15T13:58:46.409Z,1629035926.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.400009 m, bearing: 244.767042 deg, deltaT: 15.772545 s, approachRate: 0.315739 m/s, LOS rate: 0.271677 deg/s, posRepo size: 4
2021-08-15T13:58:48.739Z,1629035928.739 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:58:49.105Z,1629035929.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:58:49.105Z,1629035929.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:58:49.105Z,1629035929.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:58:49.106Z,1629035929.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:58:49.517Z,1629035929.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15B,000,00BC7,185,80,80,8B,FF
2021-08-15T13:58:49.517Z,1629035929.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:58:49.517Z,1629035929.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:58:49.519Z,1629035929.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:58:49.917Z,1629035929.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:58:50.322Z,1629035930.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17A,000,00BDF,185,80,80,7A,FF
2021-08-15T13:58:50.322Z,1629035930.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:58:50.757Z,1629035930.757 [Micromodem](INFO): Nmea in: $SNTTA,0.096028,,,,135851.42*48

2021-08-15T13:58:50.787Z,1629035930.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.839996 m, bearing: 242.935321 deg, deltaT: 4.466252 s, approachRate: 0.322415 m/s, LOS rate: -0.410125 deg/s, posRepo size: 4
2021-08-15T13:58:53.175Z,1629035933.175 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:58:53.545Z,1629035933.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:58:53.545Z,1629035933.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:58:53.545Z,1629035933.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:58:53.546Z,1629035933.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:58:53.954Z,1629035933.954 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
17A,000,00BDF,185,80,80,7A,FF
2021-08-15T13:58:53.954Z,1629035933.954 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:58:53.954Z,1629035933.954 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:58:53.956Z,1629035933.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:58:54.405Z,1629035934.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:58:55.202Z,1629035935.202 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135855.85*5C

2021-08-15T13:58:56.066Z,1629035936.066 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:58:57.621Z,1629035937.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,185,80,80,7A,FF
2021-08-15T13:58:57.621Z,1629035937.621 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,185,80,80,7A,FF
2021-08-15T13:58:57.622Z,1629035937.622 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T13:58:58.870Z,1629035938.870 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:58:59.233Z,1629035939.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:58:59.233Z,1629035939.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:58:59.233Z,1629035939.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:58:59.234Z,1629035939.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:58:59.637Z,1629035939.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,185,80,80,7A,FF
2021-08-15T13:58:59.637Z,1629035939.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:58:59.637Z,1629035939.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:58:59.639Z,1629035939.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:59:00.083Z,1629035940.083 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:59:00.445Z,1629035940.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4A,000,00C27,186,80,80,2E,FF
2021-08-15T13:59:00.446Z,1629035940.446 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:59:00.911Z,1629035940.911 [Micromodem](INFO): Nmea in: $SNTTA,0.098736,,,,135901.53*4A

2021-08-15T13:59:00.932Z,1629035940.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.160004 m, bearing: 271.419642 deg, deltaT: 10.049314 s, approachRate: 0.429881 m/s, LOS rate: 2.834454 deg/s, posRepo size: 4
2021-08-15T13:59:03.287Z,1629035943.287 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:59:03.677Z,1629035943.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:59:03.677Z,1629035943.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:59:03.677Z,1629035943.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:59:03.678Z,1629035943.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:59:04.117Z,1629035944.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4A,000,00C27,186,80,80,2E,FF
2021-08-15T13:59:04.118Z,1629035944.118 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:59:04.118Z,1629035944.118 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:59:04.119Z,1629035944.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:59:04.516Z,1629035944.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:59:04.910Z,1629035944.910 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F69,000,00C2B,187,80,80,2E,FF
2021-08-15T13:59:04.910Z,1629035944.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:59:05.357Z,1629035945.357 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135906.01*57

2021-08-15T13:59:05.394Z,1629035945.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.400009 m, bearing: 270.418090 deg, deltaT: 4.458384 s, approachRate: 0.053832 m/s, LOS rate: -0.224645 deg/s, posRepo size: 4
2021-08-15T13:59:07.755Z,1629035947.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:59:08.137Z,1629035948.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:59:08.137Z,1629035948.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:59:08.137Z,1629035948.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:59:08.138Z,1629035948.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:59:08.550Z,1629035948.550 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F69,000,00C2B,187,80,80,2E,FF
2021-08-15T13:59:08.550Z,1629035948.550 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:59:08.550Z,1629035948.550 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:59:08.552Z,1629035948.552 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:59:08.953Z,1629035948.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:59:09.388Z,1629035949.388 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F86,000,00C44,186,80,80,67,FF
2021-08-15T13:59:09.389Z,1629035949.389 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:59:09.789Z,1629035949.789 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135910.45*50

2021-08-15T13:59:09.827Z,1629035949.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 150.899994 m, bearing: 268.517494 deg, deltaT: 4.485340 s, approachRate: 0.334419 m/s, LOS rate: -0.423735 deg/s, posRepo size: 4
2021-08-15T13:59:12.230Z,1629035952.230 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:59:12.590Z,1629035952.590 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:59:12.590Z,1629035952.590 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:59:12.590Z,1629035952.590 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:59:12.591Z,1629035952.591 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:59:12.990Z,1629035952.990 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F86,000,00C44,186,80,80,67,FF
2021-08-15T13:59:12.990Z,1629035952.990 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:59:12.990Z,1629035952.990 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:59:12.991Z,1629035952.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:59:13.405Z,1629035953.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:59:13.802Z,1629035953.802 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA4,000,00C5A,187,80,80,67,FF
2021-08-15T13:59:13.802Z,1629035953.802 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:59:14.241Z,1629035954.241 [Micromodem](INFO): Nmea in: $SNTTA,0.103699,,,,135914.89*4E

2021-08-15T13:59:14.310Z,1629035954.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.220001 m, bearing: 268.792751 deg, deltaT: 4.439317 s, approachRate: 0.297345 m/s, LOS rate: 0.062004 deg/s, posRepo size: 4
2021-08-15T13:59:16.669Z,1629035956.669 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:59:17.033Z,1629035957.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:59:17.033Z,1629035957.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:59:17.033Z,1629035957.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:59:17.034Z,1629035957.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:59:17.433Z,1629035957.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA4,000,00C5A,187,80,80,67,FF
2021-08-15T13:59:17.433Z,1629035957.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:59:17.434Z,1629035957.434 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:59:17.435Z,1629035957.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:59:17.849Z,1629035957.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:59:18.246Z,1629035958.246 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F81,000,00C72,186,80,80,67,FF
2021-08-15T13:59:18.246Z,1629035958.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:59:18.689Z,1629035958.689 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135919.33*58

2021-08-15T13:59:18.718Z,1629035958.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 153.660004 m, bearing: 270.697062 deg, deltaT: 4.514301 s, approachRate: 0.318987 m/s, LOS rate: 0.421840 deg/s, posRepo size: 4
2021-08-15T13:59:21.096Z,1629035961.096 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:59:21.473Z,1629035961.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:59:21.473Z,1629035961.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:59:21.474Z,1629035961.474 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:59:21.475Z,1629035961.475 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:59:21.877Z,1629035961.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F81,000,00C72,186,80,80,67,FF
2021-08-15T13:59:21.877Z,1629035961.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:59:21.877Z,1629035961.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:59:21.879Z,1629035961.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:59:22.306Z,1629035962.306 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:59:22.698Z,1629035962.698 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5C,000,00C89,187,80,80,7F,FF
2021-08-15T13:59:22.698Z,1629035962.698 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:59:23.126Z,1629035963.126 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135923.77*51

2021-08-15T13:59:23.148Z,1629035963.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.040009 m, bearing: 272.089164 deg, deltaT: 4.375708 s, approachRate: 0.315379 m/s, LOS rate: 0.318143 deg/s, posRepo size: 4
2021-08-15T13:59:25.551Z,1629035965.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:59:25.940Z,1629035965.940 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:59:25.940Z,1629035965.940 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:59:25.943Z,1629035965.943 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:59:25.945Z,1629035965.945 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:59:26.340Z,1629035966.340 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5C,000,00C89,187,80,80,7F,FF
2021-08-15T13:59:26.341Z,1629035966.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:59:26.341Z,1629035966.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:59:26.347Z,1629035966.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:59:26.741Z,1629035966.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:59:27.134Z,1629035967.134 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5C,000,00C89,187,80,80,7F,FF
2021-08-15T13:59:27.134Z,1629035967.134 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:59:27.559Z,1629035967.559 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135928.26*5E

2021-08-15T13:59:27.610Z,1629035967.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.040009 m, bearing: 271.082777 deg, deltaT: 4.436313 s, approachRate: 0.000000 m/s, LOS rate: -0.226852 deg/s, posRepo size: 4
2021-08-15T13:59:30.010Z,1629035970.010 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:59:30.401Z,1629035970.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:59:30.401Z,1629035970.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:59:30.401Z,1629035970.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:59:30.402Z,1629035970.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:59:30.781Z,1629035970.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5C,000,00C89,187,80,80,7F,FF
2021-08-15T13:59:30.781Z,1629035970.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:59:30.781Z,1629035970.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:59:30.783Z,1629035970.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:59:31.180Z,1629035971.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:59:32.008Z,1629035972.008 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135932.68*5F

2021-08-15T13:59:32.789Z,1629035972.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F55,000,038C4,187,80,80,82,FF
2021-08-15T13:59:32.789Z,1629035972.789 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:59:33.232Z,1629035973.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 834.420044 m, bearing: 271.513680 deg, deltaT: 5.679861 s, approachRate: 119.612083 m/s, LOS rate: 0.075865 deg/s, posRepo size: 4
2021-08-15T13:59:35.669Z,1629035975.669 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:59:36.036Z,1629035976.036 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:59:36.037Z,1629035976.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:59:36.037Z,1629035976.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:59:36.039Z,1629035976.039 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:59:36.437Z,1629035976.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F55,000,038C4,187,80,80,82,FF
2021-08-15T13:59:36.438Z,1629035976.438 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:59:36.438Z,1629035976.438 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:59:36.465Z,1629035976.465 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:59:36.837Z,1629035976.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:59:37.242Z,1629035977.242 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F55,000,038C4,187,80,80,82,FF
2021-08-15T13:59:37.242Z,1629035977.242 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:59:37.659Z,1629035977.659 [Micromodem](INFO): Nmea in: $SNTTA,0.108094,,,,135938.36*44

2021-08-15T13:59:37.699Z,1629035977.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 834.420044 m, bearing: 272.056707 deg, deltaT: 4.445983 s, approachRate: 0.000000 m/s, LOS rate: 0.122139 deg/s, posRepo size: 4
2021-08-15T13:59:40.147Z,1629035980.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:59:40.462Z,1629035980.462 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:59:40.462Z,1629035980.462 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:59:40.462Z,1629035980.462 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:59:40.463Z,1629035980.463 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:59:40.865Z,1629035980.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F55,000,038C4,187,80,80,82,FF
2021-08-15T13:59:40.866Z,1629035980.866 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:59:40.866Z,1629035980.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:59:40.868Z,1629035980.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:59:41.280Z,1629035981.280 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:59:41.682Z,1629035981.682 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2F,000,00CEB,187,80,80,82,FF
2021-08-15T13:59:41.682Z,1629035981.682 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:59:42.161Z,1629035982.161 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135942.76*57

2021-08-15T13:59:42.233Z,1629035982.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 160.920013 m, bearing: 274.691029 deg, deltaT: 4.428192 s, approachRate: -152.093674 m/s, LOS rate: 0.594898 deg/s, posRepo size: 4
2021-08-15T13:59:44.559Z,1629035984.559 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:59:44.909Z,1629035984.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:59:44.909Z,1629035984.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:59:44.909Z,1629035984.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:59:44.910Z,1629035984.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:59:45.328Z,1629035985.328 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2F,000,00CEB,187,80,80,82,FF
2021-08-15T13:59:45.329Z,1629035985.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:59:45.330Z,1629035985.330 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:59:45.337Z,1629035985.337 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:59:45.729Z,1629035985.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:59:46.130Z,1629035986.130 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3D,000,00CEB,187,80,80,82,FF
2021-08-15T13:59:46.130Z,1629035986.130 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T13:59:46.557Z,1629035986.557 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135947.23*52

2021-08-15T13:59:46.618Z,1629035986.618 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 160.920013 m, bearing: 274.894323 deg, deltaT: 4.497210 s, approachRate: 0.000000 m/s, LOS rate: 0.045204 deg/s, posRepo size: 4
2021-08-15T13:59:48.967Z,1629035988.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:59:49.377Z,1629035989.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:59:49.377Z,1629035989.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:59:49.377Z,1629035989.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:59:49.378Z,1629035989.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:59:49.761Z,1629035989.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3D,000,00CEB,187,80,80,82,FF
2021-08-15T13:59:49.762Z,1629035989.762 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:59:49.762Z,1629035989.762 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:59:49.763Z,1629035989.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:59:50.182Z,1629035990.182 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:59:51.022Z,1629035991.022 [Micromodem](INFO): Nmea in: $SNTTA,,,,,135951.66*54

2021-08-15T13:59:51.814Z,1629035991.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:59:53.401Z,1629035993.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,187,80,80,82,FF
2021-08-15T13:59:53.401Z,1629035993.401 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,187,80,80,82,FF
2021-08-15T13:59:53.401Z,1629035993.401 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T13:59:54.657Z,1629035994.657 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:59:55.009Z,1629035995.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T13:59:55.009Z,1629035995.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T13:59:55.009Z,1629035995.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T13:59:55.010Z,1629035995.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T13:59:55.418Z,1629035995.418 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,187,80,80,82,FF
2021-08-15T13:59:55.418Z,1629035995.418 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T13:59:55.418Z,1629035995.418 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T13:59:55.420Z,1629035995.420 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T13:59:55.828Z,1629035995.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T13:59:56.651Z,1629035996.651 [Micromodem](INFO): Nmea in: $SNTTA,,0.213620,,,135957.32*49

2021-08-15T13:59:57.166Z,1629035997.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T13:59:59.049Z,1629035999.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,187,80,80,82,FF
2021-08-15T13:59:59.050Z,1629035999.050 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,187,80,80,82,FF
2021-08-15T13:59:59.050Z,1629035999.050 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T13:59:59.887Z,1629035999.887 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:00:00.261Z,1629036000.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:00:00.261Z,1629036000.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:00:00.261Z,1629036000.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:00:00.262Z,1629036000.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:00:00.665Z,1629036000.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,187,80,80,82,FF
2021-08-15T14:00:00.665Z,1629036000.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:00:00.665Z,1629036000.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:00:00.667Z,1629036000.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:00:01.083Z,1629036001.083 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:00:01.474Z,1629036001.474 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAE,000,00D5B,187,80,80,82,FF
2021-08-15T14:00:01.474Z,1629036001.474 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:00:01.913Z,1629036001.913 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140002.56*5A

2021-08-15T14:00:01.930Z,1629036001.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.639999 m, bearing: 273.129074 deg, deltaT: 15.305254 s, approachRate: 0.439064 m/s, LOS rate: -0.115336 deg/s, posRepo size: 4
2021-08-15T14:00:04.393Z,1629036004.393 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:00:04.705Z,1629036004.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:00:04.705Z,1629036004.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:00:04.705Z,1629036004.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:00:04.706Z,1629036004.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:00:05.109Z,1629036005.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAE,000,00D5B,187,80,80,82,FF
2021-08-15T14:00:05.109Z,1629036005.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:00:05.109Z,1629036005.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:00:05.111Z,1629036005.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:00:05.527Z,1629036005.527 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:00:05.918Z,1629036005.918 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA6,000,00D5B,187,80,80,82,FF
2021-08-15T14:00:05.918Z,1629036005.918 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:00:06.381Z,1629036006.381 [Micromodem](INFO): Nmea in: $SNTTA,0.114262,,,,140007.01*41

2021-08-15T14:00:06.449Z,1629036006.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.639999 m, bearing: 271.052287 deg, deltaT: 4.441708 s, approachRate: 0.000000 m/s, LOS rate: -0.467565 deg/s, posRepo size: 4
2021-08-15T14:00:08.779Z,1629036008.779 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:00:09.157Z,1629036009.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:00:09.157Z,1629036009.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:00:09.157Z,1629036009.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:00:09.158Z,1629036009.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:00:09.562Z,1629036009.562 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA6,000,00D5B,187,80,80,82,FF
2021-08-15T14:00:09.562Z,1629036009.562 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:00:09.562Z,1629036009.562 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:00:09.565Z,1629036009.565 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:00:09.961Z,1629036009.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:00:10.402Z,1629036010.402 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA2,000,00D72,187,80,80,3A,FF
2021-08-15T14:00:10.402Z,1629036010.402 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:00:10.801Z,1629036010.801 [Micromodem](INFO): Nmea in: $SNTTA,0.117443,,,,140011.46*43

2021-08-15T14:00:10.837Z,1629036010.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 169.019989 m, bearing: 269.808892 deg, deltaT: 4.492250 s, approachRate: 0.307193 m/s, LOS rate: -0.276787 deg/s, posRepo size: 4
2021-08-15T14:00:13.226Z,1629036013.226 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:00:13.594Z,1629036013.594 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:00:13.594Z,1629036013.594 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:00:13.594Z,1629036013.594 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:00:13.595Z,1629036013.595 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:00:14.009Z,1629036014.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA2,000,00D72,187,80,80,3A,FF
2021-08-15T14:00:14.009Z,1629036014.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:00:14.009Z,1629036014.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:00:14.011Z,1629036014.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:00:14.413Z,1629036014.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:00:14.806Z,1629036014.806 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD5,000,00D72,187,80,80,3A,FF
2021-08-15T14:00:14.806Z,1629036014.806 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:00:15.249Z,1629036015.249 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140015.91*57

2021-08-15T14:00:15.283Z,1629036015.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 169.019989 m, bearing: 266.171434 deg, deltaT: 4.356402 s, approachRate: 0.000000 m/s, LOS rate: -0.834968 deg/s, posRepo size: 4
2021-08-15T14:00:17.670Z,1629036017.670 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:00:18.047Z,1629036018.047 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:00:18.064Z,1629036018.064 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:00:18.065Z,1629036018.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:00:18.066Z,1629036018.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:00:18.445Z,1629036018.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD5,000,00D72,187,80,80,3A,FF
2021-08-15T14:00:18.445Z,1629036018.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:00:18.445Z,1629036018.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:00:18.447Z,1629036018.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:00:18.845Z,1629036018.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:00:19.254Z,1629036019.254 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFC,000,00D72,187,80,80,3A,FF
2021-08-15T14:00:19.254Z,1629036019.254 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:00:19.689Z,1629036019.689 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140020.34*5E

2021-08-15T14:00:19.727Z,1629036019.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 169.019989 m, bearing: 263.353844 deg, deltaT: 4.466153 s, approachRate: 0.000000 m/s, LOS rate: -0.630876 deg/s, posRepo size: 4
2021-08-15T14:00:22.178Z,1629036022.178 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:00:22.481Z,1629036022.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:00:22.481Z,1629036022.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:00:22.481Z,1629036022.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:00:22.482Z,1629036022.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:00:22.893Z,1629036022.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFC,000,00D72,187,80,80,3A,FF
2021-08-15T14:00:22.893Z,1629036022.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:00:22.894Z,1629036022.894 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:00:22.895Z,1629036022.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:00:23.293Z,1629036023.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:00:23.697Z,1629036023.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05B,000,00D72,187,80,80,3A,FF
2021-08-15T14:00:23.698Z,1629036023.698 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:00:24.159Z,1629036024.159 [Micromodem](INFO): Nmea in: $SNTTA,0.117231,,,,140024.79*4A

2021-08-15T14:00:24.195Z,1629036024.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 169.019989 m, bearing: 257.996408 deg, deltaT: 4.468515 s, approachRate: 0.000000 m/s, LOS rate: -1.198930 deg/s, posRepo size: 4
2021-08-15T14:00:26.573Z,1629036026.573 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:00:26.937Z,1629036026.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:00:26.937Z,1629036026.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:00:26.937Z,1629036026.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:00:26.938Z,1629036026.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:00:27.333Z,1629036027.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05B,000,00D72,187,80,80,3A,FF
2021-08-15T14:00:27.333Z,1629036027.333 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:00:27.334Z,1629036027.334 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:00:27.362Z,1629036027.362 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:00:27.749Z,1629036027.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:00:28.559Z,1629036028.559 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05E,000,00DCB,186,80,80,86,FF
2021-08-15T14:00:28.576Z,1629036028.576 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:00:28.589Z,1629036028.589 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140029.26*54

2021-08-15T14:00:28.980Z,1629036028.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 174.360001 m, bearing: 257.405897 deg, deltaT: 4.888075 s, approachRate: 1.092457 m/s, LOS rate: -0.120806 deg/s, posRepo size: 4
2021-08-15T14:00:31.465Z,1629036031.465 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:00:31.786Z,1629036031.786 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:00:31.786Z,1629036031.786 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:00:31.786Z,1629036031.786 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:00:31.787Z,1629036031.787 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:00:32.181Z,1629036032.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05E,000,00DCB,186,80,80,86,FF
2021-08-15T14:00:32.181Z,1629036032.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:00:32.181Z,1629036032.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:00:32.183Z,1629036032.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:00:32.612Z,1629036032.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:00:32.990Z,1629036032.990 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BFE,000,00DCB,186,80,80,86,FF
2021-08-15T14:00:32.990Z,1629036032.990 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:00:33.441Z,1629036033.441 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140034.08*54

2021-08-15T14:00:33.467Z,1629036033.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 174.360001 m, bearing: 313.142481 deg, deltaT: 4.382895 s, approachRate: 0.000000 m/s, LOS rate: 12.716842 deg/s, posRepo size: 4
2021-08-15T14:00:35.876Z,1629036035.876 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:00:36.221Z,1629036036.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:00:36.221Z,1629036036.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:00:36.221Z,1629036036.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:00:36.222Z,1629036036.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:00:36.638Z,1629036036.638 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BFE,000,00DCB,186,80,80,86,FF
2021-08-15T14:00:36.638Z,1629036036.638 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:00:36.638Z,1629036036.638 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:00:36.641Z,1629036036.641 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:00:37.085Z,1629036037.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:00:37.853Z,1629036037.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C0C,000,00DFB,189,80,80,4B,FF
2021-08-15T14:00:37.853Z,1629036037.853 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:00:37.857Z,1629036037.857 [Micromodem](INFO): Nmea in: $SNTTA,0.120372,,,,140038.54*4A

2021-08-15T14:00:38.377Z,1629036038.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 177.240005 m, bearing: 311.481597 deg, deltaT: 4.836555 s, approachRate: 0.595466 m/s, LOS rate: -0.343402 deg/s, posRepo size: 4
2021-08-15T14:00:40.701Z,1629036040.701 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:00:41.069Z,1629036041.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:00:41.069Z,1629036041.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:00:41.069Z,1629036041.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:00:41.070Z,1629036041.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:00:41.469Z,1629036041.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C0C,000,00DFB,189,80,80,4B,FF
2021-08-15T14:00:41.469Z,1629036041.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:00:41.469Z,1629036041.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:00:41.471Z,1629036041.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:00:41.884Z,1629036041.884 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:00:42.706Z,1629036042.706 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140043.37*58

2021-08-15T14:00:43.489Z,1629036043.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BD5,000,0395C,189,80,80,58,FF
2021-08-15T14:00:43.490Z,1629036043.490 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:00:43.930Z,1629036043.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 843.540100 m, bearing: 315.485181 deg, deltaT: 5.677484 s, approachRate: 117.358345 m/s, LOS rate: 0.705169 deg/s, posRepo size: 4
2021-08-15T14:00:46.472Z,1629036046.472 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:00:46.721Z,1629036046.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:00:46.721Z,1629036046.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:00:46.721Z,1629036046.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:00:46.722Z,1629036046.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:00:47.129Z,1629036047.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BD5,000,0395C,189,80,80,58,FF
2021-08-15T14:00:47.129Z,1629036047.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:00:47.129Z,1629036047.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:00:47.131Z,1629036047.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:00:47.542Z,1629036047.542 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:00:48.394Z,1629036048.394 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140049.03*55

2021-08-15T14:00:49.175Z,1629036049.175 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:00:50.765Z,1629036050.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,189,80,80,58,FF
2021-08-15T14:00:50.765Z,1629036050.765 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,189,80,80,58,FF
2021-08-15T14:00:50.765Z,1629036050.765 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:00:52.009Z,1629036052.009 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:00:52.421Z,1629036052.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:00:52.421Z,1629036052.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:00:52.421Z,1629036052.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:00:52.422Z,1629036052.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:00:52.793Z,1629036052.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,189,80,80,58,FF
2021-08-15T14:00:52.793Z,1629036052.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:00:52.793Z,1629036052.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:00:52.795Z,1629036052.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:00:53.210Z,1629036053.210 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:00:53.609Z,1629036053.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F17,0,63,E4
C,189,80,80,58,FF
2021-08-15T14:00:53.610Z,1629036053.610 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,F17,0,63,E4
C,189,80,80,58,FF
2021-08-15T14:00:54.059Z,1629036054.059 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140054.69*55

2021-08-15T14:00:54.855Z,1629036054.855 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:00:57.694Z,1629036057.694 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:00:58.460Z,1629036058.460 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.038002
2021-08-15T14:01:00.513Z,1629036060.513 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:01:00.869Z,1629036060.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:01:00.869Z,1629036060.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:01:00.869Z,1629036060.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:01:00.870Z,1629036060.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:01:01.282Z,1629036061.282 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F17,0,63,E4
C,189,80,80,58,FF
2021-08-15T14:01:01.282Z,1629036061.282 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:01:01.282Z,1629036061.282 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:01:01.284Z,1629036061.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:01:01.697Z,1629036061.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:01:02.120Z,1629036062.120 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E28,000,00E7B,189,80,80,58,FF
2021-08-15T14:01:02.121Z,1629036062.121 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:01:02.530Z,1629036062.530 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140103.18*50

2021-08-15T14:01:02.558Z,1629036062.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 184.919998 m, bearing: 280.893852 deg, deltaT: 18.637103 s, approachRate: -35.339191 m/s, LOS rate: -1.856046 deg/s, posRepo size: 4
2021-08-15T14:01:04.946Z,1629036064.946 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:01:05.321Z,1629036065.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:01:05.321Z,1629036065.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:01:05.321Z,1629036065.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:01:05.322Z,1629036065.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:01:05.721Z,1629036065.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E28,000,00E7B,189,80,80,58,FF
2021-08-15T14:01:05.721Z,1629036065.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:01:05.721Z,1629036065.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:01:05.723Z,1629036065.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:01:06.141Z,1629036066.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:01:06.961Z,1629036066.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F0,000,00E8F,189,80,80,5F,FF
2021-08-15T14:01:06.961Z,1629036066.961 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:01:06.984Z,1629036066.984 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140107.62*59

2021-08-15T14:01:07.410Z,1629036067.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 186.119995 m, bearing: 220.326808 deg, deltaT: 4.837604 s, approachRate: 0.248056 m/s, LOS rate: -12.520050 deg/s, posRepo size: 4
2021-08-15T14:01:08.172Z,1629036068.172 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T14:01:09.779Z,1629036069.779 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:01:10.165Z,1629036070.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:01:10.165Z,1629036070.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:01:10.165Z,1629036070.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:01:10.166Z,1629036070.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:01:10.566Z,1629036070.566 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F0,000,00E8F,189,80,80,5F,FF
2021-08-15T14:01:10.566Z,1629036070.566 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:01:10.567Z,1629036070.567 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:01:10.586Z,1629036070.586 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:01:11.041Z,1629036071.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:01:11.421Z,1629036071.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E5,000,00E8F,189,80,80,5F,FF
2021-08-15T14:01:11.422Z,1629036071.422 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:01:11.850Z,1629036071.850 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140112.48*55

2021-08-15T14:01:11.872Z,1629036071.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 186.119995 m, bearing: 222.454139 deg, deltaT: 4.485953 s, approachRate: 0.000000 m/s, LOS rate: 0.474220 deg/s, posRepo size: 4
2021-08-15T14:01:14.291Z,1629036074.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:01:14.649Z,1629036074.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:01:14.649Z,1629036074.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:01:14.649Z,1629036074.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:01:14.650Z,1629036074.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:01:15.053Z,1629036075.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E5,000,00E8F,189,80,80,5F,FF
2021-08-15T14:01:15.053Z,1629036075.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:01:15.053Z,1629036075.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:01:15.055Z,1629036075.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:01:15.465Z,1629036075.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:01:16.287Z,1629036076.287 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140116.95*51

2021-08-15T14:01:16.673Z,1629036076.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,194,000,0297C,186,80,80,2E,FF
2021-08-15T14:01:16.673Z,1629036076.673 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:01:17.112Z,1629036077.112 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 599.700012 m, bearing: 241.528057 deg, deltaT: 5.224175 s, approachRate: 79.166573 m/s, LOS rate: 3.651087 deg/s, posRepo size: 4
2021-08-15T14:01:19.553Z,1629036079.553 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:01:19.901Z,1629036079.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:01:19.901Z,1629036079.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:01:19.901Z,1629036079.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:01:19.902Z,1629036079.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:01:20.305Z,1629036080.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
194,000,0297C,186,80,80,2E,FF
2021-08-15T14:01:20.305Z,1629036080.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:01:20.305Z,1629036080.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:01:20.307Z,1629036080.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:01:20.818Z,1629036080.818 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:01:21.635Z,1629036081.635 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140122.20*58

2021-08-15T14:01:22.121Z,1629036082.121 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:01:23.634Z,1629036083.634 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,2E,FF
2021-08-15T14:01:23.635Z,1629036083.635 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,2E,FF
2021-08-15T14:01:23.635Z,1629036083.635 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:01:24.892Z,1629036084.892 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:01:25.253Z,1629036085.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:01:25.254Z,1629036085.254 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:01:25.254Z,1629036085.254 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:01:25.255Z,1629036085.255 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:01:25.666Z,1629036085.666 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,2E,FF
2021-08-15T14:01:25.666Z,1629036085.666 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:01:25.666Z,1629036085.666 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:01:25.668Z,1629036085.668 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:01:26.148Z,1629036086.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:01:26.167Z,1629036086.167 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T14:01:26.549Z,1629036086.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B8,000,00EF6,186,80,80,75,FF
2021-08-15T14:01:26.549Z,1629036086.549 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:01:26.958Z,1629036086.958 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140127.57*5D

2021-08-15T14:01:26.980Z,1629036086.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 192.299988 m, bearing: 241.063057 deg, deltaT: 9.885949 s, approachRate: -41.210007 m/s, LOS rate: -0.047036 deg/s, posRepo size: 4
2021-08-15T14:01:29.473Z,1629036089.473 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:01:29.845Z,1629036089.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:01:29.845Z,1629036089.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:01:29.845Z,1629036089.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:01:29.846Z,1629036089.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:01:30.237Z,1629036090.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B8,000,00EF6,186,80,80,75,FF
2021-08-15T14:01:30.237Z,1629036090.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:01:30.238Z,1629036090.238 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:01:30.239Z,1629036090.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:01:30.720Z,1629036090.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:01:31.133Z,1629036091.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BC,000,00F0C,185,80,80,81,FF
2021-08-15T14:01:31.133Z,1629036091.133 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:01:31.553Z,1629036091.553 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140132.14*5E

2021-08-15T14:01:31.606Z,1629036091.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 193.619995 m, bearing: 239.249533 deg, deltaT: 4.529872 s, approachRate: 0.291401 m/s, LOS rate: -0.400348 deg/s, posRepo size: 4
2021-08-15T14:01:33.971Z,1629036093.971 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:01:34.373Z,1629036094.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:01:34.373Z,1629036094.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:01:34.373Z,1629036094.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:01:34.374Z,1629036094.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:01:34.769Z,1629036094.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BC,000,00F0C,185,80,80,81,FF
2021-08-15T14:01:34.770Z,1629036094.770 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:01:34.770Z,1629036094.770 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:01:34.771Z,1629036094.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:01:35.165Z,1629036095.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:01:35.996Z,1629036095.996 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F4,000,00F20,187,80,80,4E,FF
2021-08-15T14:01:35.996Z,1629036095.996 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:01:35.999Z,1629036095.999 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140136.67*5E

2021-08-15T14:01:36.468Z,1629036096.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 194.819992 m, bearing: 234.721145 deg, deltaT: 4.959992 s, approachRate: 0.241935 m/s, LOS rate: -0.912983 deg/s, posRepo size: 4
2021-08-15T14:01:38.826Z,1629036098.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:01:39.201Z,1629036099.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:01:39.201Z,1629036099.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:01:39.201Z,1629036099.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:01:39.202Z,1629036099.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:01:39.621Z,1629036099.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F4,000,00F20,187,80,80,4E,FF
2021-08-15T14:01:39.621Z,1629036099.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:01:39.621Z,1629036099.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:01:39.623Z,1629036099.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:01:40.058Z,1629036100.058 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:01:40.833Z,1629036100.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,223,000,00F3A,188,80,80,6C,FF
2021-08-15T14:01:40.834Z,1629036100.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:01:40.836Z,1629036100.836 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140141.52*58

2021-08-15T14:01:41.246Z,1629036101.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 196.379990 m, bearing: 231.625293 deg, deltaT: 4.760998 s, approachRate: 0.327662 m/s, LOS rate: -0.650253 deg/s, posRepo size: 4
2021-08-15T14:01:43.694Z,1629036103.694 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:01:44.091Z,1629036104.091 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:01:44.091Z,1629036104.091 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:01:44.092Z,1629036104.092 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:01:44.093Z,1629036104.093 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:01:44.462Z,1629036104.462 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
223,000,00F3A,188,80,80,6C,FF
2021-08-15T14:01:44.462Z,1629036104.462 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:01:44.462Z,1629036104.462 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:01:44.464Z,1629036104.464 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:01:44.860Z,1629036104.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:01:45.693Z,1629036105.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,29E,000,00F4C,189,80,80,3A,FF
2021-08-15T14:01:45.693Z,1629036105.693 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:01:45.696Z,1629036105.696 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140146.36*5D

2021-08-15T14:01:46.163Z,1629036106.163 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-15T14:01:46.177Z,1629036106.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 197.459976 m, bearing: 225.174507 deg, deltaT: 4.894294 s, approachRate: 0.220662 m/s, LOS rate: -1.318022 deg/s, posRepo size: 4
2021-08-15T14:01:48.525Z,1629036108.525 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:01:48.897Z,1629036108.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:01:48.897Z,1629036108.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:01:48.897Z,1629036108.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:01:48.898Z,1629036108.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:01:49.301Z,1629036109.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
29E,000,00F4C,189,80,80,3A,FF
2021-08-15T14:01:49.301Z,1629036109.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:01:49.301Z,1629036109.301 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:01:49.303Z,1629036109.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:01:49.717Z,1629036109.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:01:50.533Z,1629036110.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,268,000,00F64,189,80,80,5F,FF
2021-08-15T14:01:50.533Z,1629036110.533 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:01:50.561Z,1629036110.561 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140151.20*5C

2021-08-15T14:01:50.948Z,1629036110.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 198.899994 m, bearing: 228.284047 deg, deltaT: 4.846903 s, approachRate: 0.297101 m/s, LOS rate: 0.641552 deg/s, posRepo size: 4
2021-08-15T14:01:53.411Z,1629036113.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:01:53.745Z,1629036113.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:01:53.745Z,1629036113.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:01:53.745Z,1629036113.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:01:53.746Z,1629036113.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:01:54.157Z,1629036114.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
268,000,00F64,189,80,80,5F,FF
2021-08-15T14:01:54.157Z,1629036114.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:01:54.157Z,1629036114.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:01:54.159Z,1629036114.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:01:54.578Z,1629036114.578 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:01:55.405Z,1629036115.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,227,000,00F7C,188,80,80,5C,FF
2021-08-15T14:01:55.406Z,1629036115.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:01:55.408Z,1629036115.408 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140156.06*5F

2021-08-15T14:01:55.796Z,1629036115.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 200.339981 m, bearing: 232.066223 deg, deltaT: 4.821043 s, approachRate: 0.298688 m/s, LOS rate: 0.784514 deg/s, posRepo size: 4
2021-08-15T14:01:58.245Z,1629036118.245 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:01:58.606Z,1629036118.606 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:01:58.606Z,1629036118.606 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:01:58.606Z,1629036118.606 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:01:58.607Z,1629036118.607 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:01:58.997Z,1629036118.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
227,000,00F7C,188,80,80,5C,FF
2021-08-15T14:01:58.997Z,1629036118.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:01:58.997Z,1629036118.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:01:58.999Z,1629036118.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:01:59.417Z,1629036119.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:02:00.238Z,1629036120.238 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140200.90*50

2021-08-15T14:02:01.033Z,1629036121.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27C,000,039E3,189,80,80,51,FF
2021-08-15T14:02:01.033Z,1629036121.033 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:02:01.473Z,1629036121.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 851.640076 m, bearing: 228.594807 deg, deltaT: 5.669600 s, approachRate: 114.875847 m/s, LOS rate: -0.612286 deg/s, posRepo size: 4
2021-08-15T14:02:03.875Z,1629036123.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:02:04.261Z,1629036124.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:02:04.261Z,1629036124.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:02:04.261Z,1629036124.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:02:04.262Z,1629036124.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:02:04.678Z,1629036124.678 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27C,000,039E3,189,80,80,51,FF
2021-08-15T14:02:04.678Z,1629036124.678 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:02:04.679Z,1629036124.679 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:02:04.680Z,1629036124.680 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:02:05.077Z,1629036125.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:02:05.901Z,1629036125.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24D,000,00FB1,189,80,80,70,FF
2021-08-15T14:02:05.902Z,1629036125.902 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:02:05.905Z,1629036125.905 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140206.58*52

2021-08-15T14:02:06.378Z,1629036126.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 203.519989 m, bearing: 231.342441 deg, deltaT: 4.852068 s, approachRate: -133.576065 m/s, LOS rate: 0.566281 deg/s, posRepo size: 4
2021-08-15T14:02:08.735Z,1629036128.735 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:02:09.105Z,1629036129.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:02:09.105Z,1629036129.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:02:09.105Z,1629036129.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:02:09.106Z,1629036129.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:02:09.521Z,1629036129.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24D,000,00FB1,189,80,80,70,FF
2021-08-15T14:02:09.521Z,1629036129.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:02:09.521Z,1629036129.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:02:09.523Z,1629036129.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:02:09.921Z,1629036129.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:02:10.761Z,1629036130.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,290,000,00FC2,189,80,80,5C,FF
2021-08-15T14:02:10.761Z,1629036130.761 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:02:10.764Z,1629036130.764 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140211.42*5F

2021-08-15T14:02:11.184Z,1629036131.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 204.539978 m, bearing: 227.091250 deg, deltaT: 4.824361 s, approachRate: 0.211425 m/s, LOS rate: -0.881193 deg/s, posRepo size: 4
2021-08-15T14:02:13.633Z,1629036133.633 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:02:13.953Z,1629036133.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:02:13.953Z,1629036133.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:02:13.953Z,1629036133.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:02:13.954Z,1629036133.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:02:14.405Z,1629036134.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
290,000,00FC2,189,80,80,5C,FF
2021-08-15T14:02:14.405Z,1629036134.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:02:14.405Z,1629036134.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:02:14.407Z,1629036134.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:02:14.857Z,1629036134.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:02:15.262Z,1629036135.262 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AF,000,00FC2,189,80,80,5C,FF
2021-08-15T14:02:15.262Z,1629036135.262 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:02:15.682Z,1629036135.682 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140216.31*5C

2021-08-15T14:02:15.711Z,1629036135.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 204.539978 m, bearing: 224.541021 deg, deltaT: 4.505381 s, approachRate: 0.000000 m/s, LOS rate: -0.566041 deg/s, posRepo size: 4
2021-08-15T14:02:16.147Z,1629036136.147 [RDI_Pathfinder](ERROR): only read -1 of 1 data item for water mass range.
2021-08-15T14:02:18.158Z,1629036138.158 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:02:18.489Z,1629036138.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:02:18.490Z,1629036138.490 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:02:18.490Z,1629036138.490 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:02:18.491Z,1629036138.491 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:02:18.885Z,1629036138.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AF,000,00FC2,189,80,80,5C,FF
2021-08-15T14:02:18.885Z,1629036138.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:02:18.885Z,1629036138.885 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:02:18.887Z,1629036138.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:02:19.301Z,1629036139.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:02:20.129Z,1629036140.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,289,000,00FEE,18A,80,80,6A,FF
2021-08-15T14:02:20.129Z,1629036140.129 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:02:20.132Z,1629036140.132 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140220.79*55

2021-08-15T14:02:20.547Z,1629036140.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 207.179993 m, bearing: 226.100558 deg, deltaT: 4.940141 s, approachRate: 0.534401 m/s, LOS rate: 0.315687 deg/s, posRepo size: 4
2021-08-15T14:02:22.943Z,1629036142.943 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:02:23.364Z,1629036143.364 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:02:23.364Z,1629036143.364 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:02:23.364Z,1629036143.364 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:02:23.365Z,1629036143.365 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:02:23.733Z,1629036143.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
289,000,00FEE,18A,80,80,6A,FF
2021-08-15T14:02:23.733Z,1629036143.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:02:23.733Z,1629036143.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:02:23.735Z,1629036143.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:02:24.149Z,1629036144.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:02:24.973Z,1629036144.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A0,000,01005,189,80,80,75,FF
2021-08-15T14:02:24.974Z,1629036144.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:02:24.977Z,1629036144.977 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140225.63*5B

2021-08-15T14:02:25.402Z,1629036145.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 208.559998 m, bearing: 224.896601 deg, deltaT: 4.766428 s, approachRate: 0.289526 m/s, LOS rate: -0.252591 deg/s, posRepo size: 4
2021-08-15T14:02:27.814Z,1629036147.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:02:28.185Z,1629036148.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:02:28.185Z,1629036148.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:02:28.186Z,1629036148.186 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:02:28.187Z,1629036148.187 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:02:28.578Z,1629036148.578 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A0,000,01005,189,80,80,75,FF
2021-08-15T14:02:28.578Z,1629036148.578 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:02:28.578Z,1629036148.578 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:02:28.586Z,1629036148.586 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:02:28.999Z,1629036148.999 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:02:29.841Z,1629036149.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BF,000,01021,189,80,80,6D,FF
2021-08-15T14:02:29.841Z,1629036149.841 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:02:29.844Z,1629036149.844 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140230.48*56

2021-08-15T14:02:30.265Z,1629036150.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 210.239990 m, bearing: 223.517435 deg, deltaT: 4.868042 s, approachRate: 0.345106 m/s, LOS rate: -0.283310 deg/s, posRepo size: 4
2021-08-15T14:02:30.266Z,1629036150.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 210.24 m. Resuming terminal guidance.
2021-08-15T14:02:30.266Z,1629036150.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-15T14:02:32.658Z,1629036152.658 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:02:33.045Z,1629036153.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:02:33.045Z,1629036153.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:02:33.046Z,1629036153.046 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:02:33.047Z,1629036153.047 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:02:33.441Z,1629036153.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BF,000,01021,189,80,80,6D,FF
2021-08-15T14:02:33.441Z,1629036153.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:02:33.442Z,1629036153.442 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:02:33.443Z,1629036153.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:02:33.851Z,1629036153.851 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:02:34.247Z,1629036154.247 [Micromodem](INFO): Nmea in: $SNTTA,0.239921,0.239833,,,140235.34*5A

2021-08-15T14:02:34.645Z,1629036154.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,293,000,01037,18A,80,80,7A,FF
2021-08-15T14:02:34.646Z,1629036154.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:02:35.091Z,1629036155.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 211.559998 m, bearing: 226.743388 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-15T14:02:35.092Z,1629036155.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 226.743388deg and heading rate command to 0 deg/s.
2021-08-15T14:02:37.505Z,1629036157.505 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:02:37.881Z,1629036157.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:02:37.881Z,1629036157.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:02:37.881Z,1629036157.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:02:37.882Z,1629036157.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:02:38.293Z,1629036158.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
293,000,01037,18A,80,80,7A,FF
2021-08-15T14:02:38.293Z,1629036158.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:02:38.293Z,1629036158.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:02:38.295Z,1629036158.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:02:38.692Z,1629036158.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:02:39.525Z,1629036159.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE1,000,01052,186,80,80,71,FF
2021-08-15T14:02:39.525Z,1629036159.525 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:02:39.553Z,1629036159.553 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140240.20*5F

2021-08-15T14:02:39.940Z,1629036159.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 213.179977 m, bearing: 272.841332 deg, deltaT: 4.896443 s, approachRate: 0.330848 m/s, LOS rate: 9.414578 deg/s, posRepo size: 2
2021-08-15T14:02:39.942Z,1629036159.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 213.179977 m,
      bearing: 272.841332 deg,
      approachRate: 0.330848 m/s,
      LOS rate: 9.414578 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 226.743388 deg,
      new cmd heading: 226.743388 deg.

2021-08-15T14:02:42.442Z,1629036162.442 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:02:42.749Z,1629036162.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:02:42.749Z,1629036162.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:02:42.749Z,1629036162.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:02:42.750Z,1629036162.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:02:43.157Z,1629036163.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE1,000,01052,186,80,80,71,FF
2021-08-15T14:02:43.157Z,1629036163.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:02:43.157Z,1629036163.158 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:02:43.159Z,1629036163.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:02:43.564Z,1629036163.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:02:44.409Z,1629036164.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F44,000,0107B,187,80,80,AA,FF
2021-08-15T14:02:44.409Z,1629036164.409 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:02:44.413Z,1629036164.413 [Micromodem](INFO): Nmea in: $SNTTA,0.380227,0.379758,,,140245.06*55

2021-08-15T14:02:44.813Z,1629036164.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 215.639999 m, bearing: 248.740354 deg, deltaT: 4.908322 s, approachRate: 0.501194 m/s, LOS rate: -4.910228 deg/s, posRepo size: 3
2021-08-15T14:02:44.815Z,1629036164.815 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 215.639999 m,
      bearing: 248.740354 deg,
      approachRate: 0.501194 m/s,
      LOS rate: -4.910228 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 285.643302 deg,
      new cmd heading: 288.971070 deg.

2021-08-15T14:02:47.223Z,1629036167.223 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:02:47.605Z,1629036167.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:02:47.605Z,1629036167.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:02:47.605Z,1629036167.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:02:47.606Z,1629036167.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:02:48.009Z,1629036168.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F44,000,0107B,187,80,80,AA,FF
2021-08-15T14:02:48.009Z,1629036168.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:02:48.009Z,1629036168.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:02:48.014Z,1629036168.014 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:02:48.429Z,1629036168.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:02:49.252Z,1629036169.252 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,133,000,010A1,186,80,80,96,FF
2021-08-15T14:02:49.253Z,1629036169.253 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:02:49.256Z,1629036169.256 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140249.92*5F

2021-08-15T14:02:49.670Z,1629036169.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 217.919983 m, bearing: 228.116311 deg, deltaT: 4.735638 s, approachRate: 0.481452 m/s, LOS rate: -4.355072 deg/s, posRepo size: 4
2021-08-15T14:02:49.689Z,1629036169.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 217.919983 m,
      bearing: 228.116311 deg,
      approachRate: 0.481452 m/s,
      LOS rate: -4.355072 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 228.767357 deg,
      new cmd heading: 224.031557 deg.

2021-08-15T14:02:52.121Z,1629036172.121 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:02:52.461Z,1629036172.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:02:52.461Z,1629036172.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:02:52.461Z,1629036172.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:02:52.462Z,1629036172.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:02:52.885Z,1629036172.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
133,000,010A1,186,80,80,96,FF
2021-08-15T14:02:52.885Z,1629036172.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:02:52.885Z,1629036172.885 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:02:52.887Z,1629036172.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:02:53.313Z,1629036173.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:02:54.129Z,1629036174.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B5,000,010D1,189,80,80,81,FF
2021-08-15T14:02:54.129Z,1629036174.129 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:02:54.133Z,1629036174.133 [Micromodem](INFO): Nmea in: $SNTTA,0.475906,,,,140254.79*41

2021-08-15T14:02:54.550Z,1629036174.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 220.799988 m, bearing: 220.237182 deg, deltaT: 4.942525 s, approachRate: 0.582699 m/s, LOS rate: -1.594150 deg/s, posRepo size: 4
2021-08-15T14:02:54.569Z,1629036174.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 220.799988 m,
      bearing: 220.237182 deg,
      approachRate: 0.582699 m/s,
      LOS rate: -1.594150 deg/s,
      cmd update: -6.376602 deg/s,
      cmd heading: 169.490043 deg,
      new cmd heading: 165.472550 deg.

2021-08-15T14:02:56.982Z,1629036176.982 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:02:57.361Z,1629036177.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:02:57.361Z,1629036177.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:02:57.361Z,1629036177.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:02:57.362Z,1629036177.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:02:57.749Z,1629036177.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B5,000,010D1,189,80,80,81,FF
2021-08-15T14:02:57.749Z,1629036177.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:02:57.749Z,1629036177.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:02:57.751Z,1629036177.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:02:58.164Z,1629036178.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:02:58.981Z,1629036178.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE4,000,010FF,186,80,80,87,FF
2021-08-15T14:02:58.982Z,1629036178.982 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:02:58.985Z,1629036178.985 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140259.65*56

2021-08-15T14:02:59.451Z,1629036179.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 223.559998 m, bearing: 255.595487 deg, deltaT: 4.802938 s, approachRate: 0.574650 m/s, LOS rate: 7.361808 deg/s, posRepo size: 4
2021-08-15T14:02:59.457Z,1629036179.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 223.559998 m,
      bearing: 255.595487 deg,
      approachRate: 0.574650 m/s,
      LOS rate: 7.361808 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 138.978602 deg,
      new cmd heading: 136.106957 deg.

2021-08-15T14:03:01.810Z,1629036181.810 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:03:02.193Z,1629036182.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:03:02.193Z,1629036182.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:03:02.194Z,1629036182.194 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:03:02.195Z,1629036182.195 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:03:02.605Z,1629036182.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE4,000,010FF,186,80,80,87,FF
2021-08-15T14:03:02.605Z,1629036182.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:03:02.606Z,1629036182.606 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:03:02.607Z,1629036182.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:03:03.013Z,1629036183.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:03:03.837Z,1629036183.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A6,000,01129,189,80,80,93,FF
2021-08-15T14:03:03.837Z,1629036183.837 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:03:03.840Z,1629036183.840 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140304.51*58

2021-08-15T14:03:04.273Z,1629036184.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 226.080002 m, bearing: 175.296286 deg, deltaT: 4.834376 s, approachRate: 0.521268 m/s, LOS rate: -16.610045 deg/s, posRepo size: 4
2021-08-15T14:03:04.274Z,1629036184.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.610045 deg/s. Setting heading cmd to target bearing of 175.296286deg and heading rate command to 0 deg/s.
2021-08-15T14:03:06.665Z,1629036186.665 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:03:07.041Z,1629036187.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:03:07.041Z,1629036187.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:03:07.041Z,1629036187.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:03:07.042Z,1629036187.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:03:07.445Z,1629036187.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A6,000,01129,189,80,80,93,FF
2021-08-15T14:03:07.445Z,1629036187.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:03:07.445Z,1629036187.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:03:07.447Z,1629036187.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:03:07.853Z,1629036187.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:03:08.263Z,1629036188.263 [Micromodem](INFO): Nmea in: $SNTTA,0.238185,0.238260,,,140309.35*5F

2021-08-15T14:03:08.657Z,1629036188.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,169,000,0114A,186,80,80,BE,FF
2021-08-15T14:03:08.657Z,1629036188.657 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:03:09.092Z,1629036189.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 228.059982 m, bearing: 184.575262 deg, deltaT: 4.863021 s, approachRate: 0.407150 m/s, LOS rate: 1.908068 deg/s, posRepo size: 4
2021-08-15T14:03:09.094Z,1629036189.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 228.059982 m,
      bearing: 184.575262 deg,
      approachRate: 0.407150 m/s,
      LOS rate: 1.908068 deg/s,
      cmd update: 7.632273 deg/s,
      cmd heading: 175.296286 deg,
      new cmd heading: 175.296286 deg.

2021-08-15T14:03:11.507Z,1629036191.507 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:03:11.885Z,1629036191.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:03:11.885Z,1629036191.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:03:11.885Z,1629036191.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:03:11.886Z,1629036191.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:03:12.305Z,1629036192.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
169,000,0114A,186,80,80,BE,FF
2021-08-15T14:03:12.305Z,1629036192.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:03:12.305Z,1629036192.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:03:12.307Z,1629036192.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:03:12.794Z,1629036192.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:03:13.208Z,1629036193.208 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9D,000,01159,186,80,80,BE,FF
2021-08-15T14:03:13.209Z,1629036193.209 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:03:13.615Z,1629036193.615 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140314.21*5E

2021-08-15T14:03:13.641Z,1629036193.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 228.960007 m, bearing: 192.395719 deg, deltaT: 4.512013 s, approachRate: 0.199473 m/s, LOS rate: 1.733252 deg/s, posRepo size: 4
2021-08-15T14:03:13.643Z,1629036193.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 228.960007 m,
      bearing: 192.395719 deg,
      approachRate: 0.199473 m/s,
      LOS rate: 1.733252 deg/s,
      cmd update: 6.933010 deg/s,
      cmd heading: 209.760959 deg,
      new cmd heading: 212.896983 deg.

2021-08-15T14:03:16.095Z,1629036196.095 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:03:16.417Z,1629036196.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:03:16.417Z,1629036196.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:03:16.417Z,1629036196.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:03:16.418Z,1629036196.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:03:16.817Z,1629036196.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9D,000,01159,186,80,80,BE,FF
2021-08-15T14:03:16.817Z,1629036196.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:03:16.817Z,1629036196.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:03:16.819Z,1629036196.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:03:17.225Z,1629036197.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:03:18.101Z,1629036198.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3BE,000,01166,188,80,80,84,FF
2021-08-15T14:03:18.101Z,1629036198.101 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:03:18.104Z,1629036198.104 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140318.72*54

2021-08-15T14:03:18.565Z,1629036198.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 229.739990 m, bearing: 150.950022 deg, deltaT: 4.945334 s, approachRate: 0.157721 m/s, LOS rate: -8.380768 deg/s, posRepo size: 4
2021-08-15T14:03:18.574Z,1629036198.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 229.739990 m,
      bearing: 150.950022 deg,
      approachRate: 0.157721 m/s,
      LOS rate: -8.380768 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 244.022776 deg,
      new cmd heading: 246.711459 deg.

2021-08-15T14:03:20.923Z,1629036200.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:03:21.301Z,1629036201.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:03:21.301Z,1629036201.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:03:21.301Z,1629036201.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:03:21.302Z,1629036201.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:03:21.705Z,1629036201.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3BE,000,01166,188,80,80,84,FF
2021-08-15T14:03:21.705Z,1629036201.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:03:21.705Z,1629036201.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:03:21.707Z,1629036201.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:03:22.137Z,1629036202.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:03:22.945Z,1629036202.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,29D,000,01180,189,80,80,B9,FF
2021-08-15T14:03:22.945Z,1629036202.945 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:03:22.973Z,1629036202.973 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140323.61*5E

2021-08-15T14:03:23.381Z,1629036203.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 231.299988 m, bearing: 185.469224 deg, deltaT: 4.820186 s, approachRate: 0.323638 m/s, LOS rate: 7.161384 deg/s, posRepo size: 4
2021-08-15T14:03:23.383Z,1629036203.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 231.299988 m,
      bearing: 185.469224 deg,
      approachRate: 0.323638 m/s,
      LOS rate: 7.161384 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 186.180866 deg,
      new cmd heading: 181.615238 deg.

2021-08-15T14:03:25.764Z,1629036205.764 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:03:26.173Z,1629036206.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:03:26.173Z,1629036206.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:03:26.173Z,1629036206.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:03:26.174Z,1629036206.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:03:26.549Z,1629036206.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
29D,000,01180,189,80,80,B9,FF
2021-08-15T14:03:26.549Z,1629036206.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:03:26.549Z,1629036206.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:03:26.551Z,1629036206.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:03:26.962Z,1629036206.962 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:03:27.801Z,1629036207.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22A,000,011A8,188,80,80,AE,FF
2021-08-15T14:03:27.801Z,1629036207.801 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:03:27.804Z,1629036207.804 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140328.45*53

2021-08-15T14:03:28.221Z,1629036208.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 233.699997 m, bearing: 199.643329 deg, deltaT: 4.870345 s, approachRate: 0.492780 m/s, LOS rate: 2.910287 deg/s, posRepo size: 4
2021-08-15T14:03:28.223Z,1629036208.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 233.699997 m,
      bearing: 199.643329 deg,
      approachRate: 0.492780 m/s,
      LOS rate: 2.910287 deg/s,
      cmd update: 11.641150 deg/s,
      cmd heading: 244.625476 deg,
      new cmd heading: 248.878984 deg.

2021-08-15T14:03:30.630Z,1629036210.630 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:03:30.987Z,1629036210.987 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:03:30.987Z,1629036210.987 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:03:30.987Z,1629036210.987 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:03:30.987Z,1629036210.987 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:03:31.401Z,1629036211.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22A,000,011A8,188,80,80,AE,FF
2021-08-15T14:03:31.401Z,1629036211.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:03:31.401Z,1629036211.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:03:31.403Z,1629036211.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:03:31.816Z,1629036211.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:03:32.645Z,1629036212.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BE,000,011CB,189,80,80,91,FF
2021-08-15T14:03:32.645Z,1629036212.645 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:03:32.649Z,1629036212.649 [Micromodem](INFO): Nmea in: $SNTTA,0.163605,,,,140333.30*42

2021-08-15T14:03:33.060Z,1629036213.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 235.799988 m, bearing: 179.927304 deg, deltaT: 4.843006 s, approachRate: 0.433613 m/s, LOS rate: -4.071030 deg/s, posRepo size: 4
2021-08-15T14:03:33.062Z,1629036213.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 235.799988 m,
      bearing: 179.927304 deg,
      approachRate: 0.433613 m/s,
      LOS rate: -4.071030 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 300.957012 deg,
      new cmd heading: 305.125149 deg.

2021-08-15T14:03:35.469Z,1629036215.469 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:03:35.850Z,1629036215.850 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:03:35.850Z,1629036215.850 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:03:35.851Z,1629036215.851 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:03:35.851Z,1629036215.851 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:03:36.247Z,1629036216.247 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BE,000,011CB,189,80,80,91,FF
2021-08-15T14:03:36.247Z,1629036216.247 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:03:36.247Z,1629036216.247 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:03:36.249Z,1629036216.249 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:03:36.760Z,1629036216.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:03:37.162Z,1629036217.162 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,011F4,189,80,80,91,FF
2021-08-15T14:03:37.162Z,1629036217.162 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:03:37.586Z,1629036217.586 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140338.15*57

2021-08-15T14:03:37.623Z,1629036217.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 238.259995 m, bearing: 167.273682 deg, deltaT: 4.475216 s, approachRate: 0.549696 m/s, LOS rate: -2.827489 deg/s, posRepo size: 4
2021-08-15T14:03:37.641Z,1629036217.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 238.259995 m,
      bearing: 167.273682 deg,
      approachRate: 0.549696 m/s,
      LOS rate: -2.827489 deg/s,
      cmd update: -11.309954 deg/s,
      cmd heading: 247.171210 deg,
      new cmd heading: 241.900126 deg.

2021-08-15T14:03:40.076Z,1629036220.076 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:03:40.389Z,1629036220.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:03:40.389Z,1629036220.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:03:40.389Z,1629036220.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:03:40.390Z,1629036220.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:03:40.794Z,1629036220.794 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,011F4,189,80,80,91,FF
2021-08-15T14:03:40.794Z,1629036220.794 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:03:40.794Z,1629036220.794 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:03:40.796Z,1629036220.796 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:03:41.217Z,1629036221.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:03:42.069Z,1629036222.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD0,000,0121A,189,80,80,AB,FF
2021-08-15T14:03:42.071Z,1629036222.071 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:03:42.079Z,1629036222.079 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140342.70*59

2021-08-15T14:03:42.529Z,1629036222.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 240.539993 m, bearing: 276.568812 deg, deltaT: 5.005134 s, approachRate: 0.455532 m/s, LOS rate: 21.836605 deg/s, posRepo size: 4
2021-08-15T14:03:42.529Z,1629036222.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 21.836605 deg/s. Setting heading cmd to target bearing of 276.568812deg and heading rate command to 0 deg/s.
2021-08-15T14:03:44.934Z,1629036224.934 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:03:45.336Z,1629036225.336 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:03:45.337Z,1629036225.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:03:45.338Z,1629036225.338 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:03:45.340Z,1629036225.340 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:03:45.365Z,1629036225.365 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T14:03:45.713Z,1629036225.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD0,000,0121A,189,80,80,AB,FF
2021-08-15T14:03:45.713Z,1629036225.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:03:45.713Z,1629036225.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:03:45.715Z,1629036225.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:03:46.155Z,1629036226.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:03:46.929Z,1629036226.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E61,000,01251,186,80,80,A7,FF
2021-08-15T14:03:46.929Z,1629036226.929 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:03:47.401Z,1629036227.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 243.839996 m, bearing: 264.088035 deg, deltaT: 4.757065 s, approachRate: 0.693706 m/s, LOS rate: -2.623630 deg/s, posRepo size: 4
2021-08-15T14:03:47.403Z,1629036227.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 243.839996 m,
      bearing: 264.088035 deg,
      approachRate: 0.693706 m/s,
      LOS rate: -2.623630 deg/s,
      cmd update: -10.494519 deg/s,
      cmd heading: 276.568812 deg,
      new cmd heading: 276.568812 deg.

2021-08-15T14:03:49.453Z,1629036229.453 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:03:49.761Z,1629036229.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:03:49.761Z,1629036229.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:03:49.761Z,1629036229.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:03:49.762Z,1629036229.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:03:50.161Z,1629036230.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E61,000,01251,186,80,80,A7,FF
2021-08-15T14:03:50.161Z,1629036230.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:03:50.161Z,1629036230.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:03:50.163Z,1629036230.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:03:50.575Z,1629036230.575 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:03:51.405Z,1629036231.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DAC,000,0127A,189,80,80,9A,FF
2021-08-15T14:03:51.405Z,1629036231.405 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:03:51.408Z,1629036231.408 [Micromodem](INFO): Nmea in: $SNTTA,0.166530,,,,140352.06*40

2021-08-15T14:03:51.829Z,1629036231.829 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 246.299988 m, bearing: 262.264265 deg, deltaT: 4.487588 s, approachRate: 0.548177 m/s, LOS rate: -0.406403 deg/s, posRepo size: 4
2021-08-15T14:03:51.831Z,1629036231.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 246.299988 m,
      bearing: 262.264265 deg,
      approachRate: 0.548177 m/s,
      LOS rate: -0.406403 deg/s,
      cmd update: -1.625613 deg/s,
      cmd heading: 229.473892 deg,
      new cmd heading: 225.348612 deg.

2021-08-15T14:03:54.250Z,1629036234.250 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:03:54.613Z,1629036234.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:03:54.613Z,1629036234.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:03:54.613Z,1629036234.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:03:54.614Z,1629036234.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:03:55.013Z,1629036235.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DAC,000,0127A,189,80,80,9A,FF
2021-08-15T14:03:55.013Z,1629036235.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:03:55.013Z,1629036235.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:03:55.015Z,1629036235.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:03:55.452Z,1629036235.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:03:56.265Z,1629036236.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE8,000,012A6,188,80,80,80,FF
2021-08-15T14:03:56.265Z,1629036236.265 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:03:56.269Z,1629036236.269 [Micromodem](INFO): Nmea in: $SNTTA,0.167784,,,,140356.92*45

2021-08-15T14:03:56.714Z,1629036236.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 248.940002 m, bearing: 274.262886 deg, deltaT: 4.969102 s, approachRate: 0.531286 m/s, LOS rate: 2.414646 deg/s, posRepo size: 4
2021-08-15T14:03:56.717Z,1629036236.717 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 248.940002 m,
      bearing: 274.262886 deg,
      approachRate: 0.531286 m/s,
      LOS rate: 2.414646 deg/s,
      cmd update: 9.658582 deg/s,
      cmd heading: 221.397012 deg,
      new cmd heading: 220.895468 deg.

2021-08-15T14:03:59.108Z,1629036239.108 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:03:59.501Z,1629036239.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:03:59.501Z,1629036239.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:03:59.501Z,1629036239.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:03:59.502Z,1629036239.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:03:59.892Z,1629036239.892 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE8,000,012A6,188,80,80,80,FF
2021-08-15T14:03:59.892Z,1629036239.892 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:03:59.892Z,1629036239.892 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:03:59.894Z,1629036239.894 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:04:00.313Z,1629036240.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:04:01.125Z,1629036241.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C3D,000,012EA,188,80,80,55,FF
2021-08-15T14:04:01.126Z,1629036241.126 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:04:01.128Z,1629036241.128 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140401.80*56

2021-08-15T14:04:01.573Z,1629036241.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 253.019989 m, bearing: 284.952596 deg, deltaT: 4.811601 s, approachRate: 0.847948 m/s, LOS rate: 2.221653 deg/s, posRepo size: 4
2021-08-15T14:04:01.580Z,1629036241.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 253.019989 m,
      bearing: 284.952596 deg,
      approachRate: 0.847948 m/s,
      LOS rate: 2.221653 deg/s,
      cmd update: 8.886614 deg/s,
      cmd heading: 267.837301 deg,
      new cmd heading: 271.275882 deg.

2021-08-15T14:04:03.959Z,1629036243.959 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:04:04.333Z,1629036244.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:04:04.333Z,1629036244.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:04:04.333Z,1629036244.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:04:04.334Z,1629036244.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:04:04.737Z,1629036244.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C3D,000,012EA,188,80,80,55,FF
2021-08-15T14:04:04.737Z,1629036244.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:04:04.738Z,1629036244.738 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:04:04.739Z,1629036244.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:04:05.144Z,1629036245.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:04:05.974Z,1629036245.974 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140406.64*5B

2021-08-15T14:04:06.784Z,1629036246.784 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:04:08.401Z,1629036248.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,188,80,80,55,FF
2021-08-15T14:04:08.401Z,1629036248.401 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,188,80,80,55,FF
2021-08-15T14:04:08.401Z,1629036248.401 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:04:09.616Z,1629036249.616 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:04:09.997Z,1629036249.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:04:09.997Z,1629036249.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:04:09.998Z,1629036249.998 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:04:09.998Z,1629036249.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:04:10.413Z,1629036250.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,188,80,80,55,FF
2021-08-15T14:04:10.413Z,1629036250.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:04:10.413Z,1629036250.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:04:10.415Z,1629036250.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:04:10.800Z,1629036250.800 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:04:11.651Z,1629036251.651 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140412.31*5E

2021-08-15T14:04:12.475Z,1629036252.475 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:04:14.093Z,1629036254.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,188,80,80,55,FF
2021-08-15T14:04:14.093Z,1629036254.093 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,188,80,80,55,FF
2021-08-15T14:04:14.094Z,1629036254.094 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:04:15.295Z,1629036255.295 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:04:15.669Z,1629036255.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:04:15.669Z,1629036255.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:04:15.669Z,1629036255.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:04:15.670Z,1629036255.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:04:16.117Z,1629036256.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,188,80,80,55,FF
2021-08-15T14:04:16.117Z,1629036256.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:04:16.117Z,1629036256.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:04:16.119Z,1629036256.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:04:16.603Z,1629036256.603 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:04:17.405Z,1629036257.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4C,000,01381,187,80,80,6D,FF
2021-08-15T14:04:17.405Z,1629036257.405 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:04:17.413Z,1629036257.413 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140418.03*55

2021-08-15T14:04:17.825Z,1629036257.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 262.079987 m, bearing: 318.498579 deg, deltaT: 16.282227 s, approachRate: 0.556435 m/s, LOS rate: 2.060282 deg/s, posRepo size: 4
2021-08-15T14:04:17.827Z,1629036257.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 262.079987 m,
      bearing: 318.498579 deg,
      approachRate: 0.556435 m/s,
      LOS rate: 2.060282 deg/s,
      cmd update: 8.241129 deg/s,
      cmd heading: 52.531460 deg,
      new cmd heading: 55.474734 deg.

2021-08-15T14:04:20.270Z,1629036260.270 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:04:20.629Z,1629036260.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:04:20.630Z,1629036260.630 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:04:20.630Z,1629036260.630 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:04:20.631Z,1629036260.631 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:04:21.030Z,1629036261.030 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4C,000,01381,187,80,80,6D,FF
2021-08-15T14:04:21.030Z,1629036261.030 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:04:21.031Z,1629036261.031 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:04:21.032Z,1629036261.032 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:04:21.432Z,1629036261.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:04:22.278Z,1629036262.278 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6B,000,013A2,186,80,80,97,FF
2021-08-15T14:04:22.279Z,1629036262.279 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:04:22.282Z,1629036262.282 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140422.93*55

2021-08-15T14:04:22.707Z,1629036262.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 264.059998 m, bearing: 342.928143 deg, deltaT: 4.881933 s, approachRate: 0.405579 m/s, LOS rate: 5.004076 deg/s, posRepo size: 4
2021-08-15T14:04:22.710Z,1629036262.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 264.059998 m,
      bearing: 342.928143 deg,
      approachRate: 0.405579 m/s,
      LOS rate: 5.004076 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 92.764016 deg,
      new cmd heading: 95.468285 deg.

2021-08-15T14:04:25.102Z,1629036265.102 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:04:25.469Z,1629036265.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:04:25.469Z,1629036265.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:04:25.469Z,1629036265.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:04:25.470Z,1629036265.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:04:25.869Z,1629036265.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6B,000,013A2,186,80,80,97,FF
2021-08-15T14:04:25.869Z,1629036265.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:04:25.870Z,1629036265.870 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:04:25.871Z,1629036265.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:04:26.299Z,1629036266.299 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:04:27.109Z,1629036267.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BE,000,013B4,186,80,80,70,FF
2021-08-15T14:04:27.109Z,1629036267.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:04:27.112Z,1629036267.112 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140427.77*5A

2021-08-15T14:04:27.534Z,1629036267.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 265.139984 m, bearing: 323.125075 deg, deltaT: 4.780877 s, approachRate: 0.225897 m/s, LOS rate: -4.142141 deg/s, posRepo size: 4
2021-08-15T14:04:27.537Z,1629036267.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 265.139984 m,
      bearing: 323.125075 deg,
      approachRate: 0.225897 m/s,
      LOS rate: -4.142141 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 150.128217 deg,
      new cmd heading: 154.671825 deg.

2021-08-15T14:04:29.934Z,1629036269.934 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:04:30.324Z,1629036270.324 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:04:30.325Z,1629036270.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:04:30.325Z,1629036270.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:04:30.326Z,1629036270.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:04:30.721Z,1629036270.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BE,000,013B4,186,80,80,70,FF
2021-08-15T14:04:30.721Z,1629036270.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:04:30.722Z,1629036270.722 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:04:30.723Z,1629036270.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:04:31.128Z,1629036271.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:04:31.965Z,1629036271.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D3B,000,013B4,188,80,80,8F,FF
2021-08-15T14:04:31.965Z,1629036271.965 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:04:31.968Z,1629036271.968 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140432.62*5A

2021-08-15T14:04:32.424Z,1629036272.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 265.139984 m, bearing: 41.333440 deg, deltaT: 4.924952 s, approachRate: 0.000000 m/s, LOS rate: 15.880024 deg/s, posRepo size: 4
2021-08-15T14:04:32.425Z,1629036272.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.880024 deg/s. Setting heading cmd to target bearing of 41.333440deg and heading rate command to 0 deg/s.
2021-08-15T14:04:34.783Z,1629036274.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:04:35.165Z,1629036275.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:04:35.165Z,1629036275.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:04:35.165Z,1629036275.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:04:35.166Z,1629036275.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:04:35.567Z,1629036275.567 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D3B,000,013B4,188,80,80,8F,FF
2021-08-15T14:04:35.567Z,1629036275.567 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:04:35.567Z,1629036275.567 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:04:35.617Z,1629036275.617 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:04:35.981Z,1629036275.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:04:36.782Z,1629036276.782 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B33,000,0139E,189,80,80,96,FF
2021-08-15T14:04:36.782Z,1629036276.782 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:04:37.201Z,1629036277.201 [Micromodem](INFO): Nmea in: $SNTTA,0.177823,,,,140437.60*4B

2021-08-15T14:04:37.244Z,1629036277.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 263.820007 m, bearing: 91.376613 deg, deltaT: 4.718317 s, approachRate: -0.279756 m/s, LOS rate: 10.606149 deg/s, posRepo size: 4
2021-08-15T14:04:37.246Z,1629036277.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 263.820007 m,
      bearing: 91.376613 deg,
      approachRate: -0.279756 m/s,
      LOS rate: 10.606149 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 41.333440 deg,
      new cmd heading: 41.333440 deg.

2021-08-15T14:04:39.666Z,1629036279.666 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:04:40.032Z,1629036280.032 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:04:40.032Z,1629036280.032 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:04:40.033Z,1629036280.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:04:40.034Z,1629036280.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:04:40.421Z,1629036280.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B33,000,0139E,189,80,80,96,FF
2021-08-15T14:04:40.421Z,1629036280.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:04:40.421Z,1629036280.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:04:40.423Z,1629036280.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:04:40.834Z,1629036280.834 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:04:41.665Z,1629036281.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D4F,000,0137A,18A,80,80,92,FF
2021-08-15T14:04:41.666Z,1629036281.666 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:04:41.669Z,1629036281.669 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140442.33*59

2021-08-15T14:04:42.113Z,1629036282.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 261.660004 m, bearing: 85.064030 deg, deltaT: 4.896432 s, approachRate: -0.441138 m/s, LOS rate: -1.289221 deg/s, posRepo size: 4
2021-08-15T14:04:42.115Z,1629036282.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 261.660004 m,
      bearing: 85.064030 deg,
      approachRate: -0.441138 m/s,
      LOS rate: -1.289221 deg/s,
      cmd update: -5.156885 deg/s,
      cmd heading: 100.083641 deg,
      new cmd heading: 105.043673 deg.

2021-08-15T14:04:44.509Z,1629036284.509 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:04:44.881Z,1629036284.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:04:44.881Z,1629036284.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:04:44.881Z,1629036284.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:04:44.882Z,1629036284.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:04:45.269Z,1629036285.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D4F,000,0137A,18A,80,80,92,FF
2021-08-15T14:04:45.270Z,1629036285.270 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:04:45.270Z,1629036285.270 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:04:45.271Z,1629036285.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:04:45.693Z,1629036285.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:04:46.509Z,1629036286.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8C,000,0134C,186,80,80,95,FF
2021-08-15T14:04:46.509Z,1629036286.509 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:04:46.513Z,1629036286.513 [Micromodem](INFO): Nmea in: $SNTTA,0.183231,,,,140447.17*4E

2021-08-15T14:04:46.928Z,1629036286.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 258.899994 m, bearing: 89.992530 deg, deltaT: 4.891352 s, approachRate: -0.564263 m/s, LOS rate: 1.007595 deg/s, posRepo size: 4
2021-08-15T14:04:46.930Z,1629036286.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 258.899994 m,
      bearing: 89.992530 deg,
      approachRate: -0.564263 m/s,
      LOS rate: 1.007595 deg/s,
      cmd update: 4.030379 deg/s,
      cmd heading: 74.885499 deg,
      new cmd heading: 73.122531 deg.

2021-08-15T14:04:49.371Z,1629036289.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:04:49.729Z,1629036289.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:04:49.729Z,1629036289.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:04:49.729Z,1629036289.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:04:49.730Z,1629036289.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:04:50.121Z,1629036290.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8C,000,0134C,186,80,80,95,FF
2021-08-15T14:04:50.121Z,1629036290.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:04:50.121Z,1629036290.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:04:50.123Z,1629036290.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:04:50.541Z,1629036290.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:04:51.365Z,1629036291.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE9,000,01317,183,80,80,B1,FF
2021-08-15T14:04:51.366Z,1629036291.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:04:51.373Z,1629036291.373 [Micromodem](INFO): Nmea in: $SNTTA,0.185578,,,,140452.03*43

2021-08-15T14:04:51.776Z,1629036291.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 255.720001 m, bearing: 85.826006 deg, deltaT: 4.865567 s, approachRate: -0.653571 m/s, LOS rate: -0.856329 deg/s, posRepo size: 4
2021-08-15T14:04:51.778Z,1629036291.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 255.720001 m,
      bearing: 85.826006 deg,
      approachRate: -0.653571 m/s,
      LOS rate: -0.856329 deg/s,
      cmd update: -3.425315 deg/s,
      cmd heading: 94.478135 deg,
      new cmd heading: 95.802848 deg.

2021-08-15T14:04:54.232Z,1629036294.232 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:04:54.574Z,1629036294.574 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:04:54.574Z,1629036294.574 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:04:54.574Z,1629036294.574 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:04:54.580Z,1629036294.580 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:04:54.965Z,1629036294.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE9,000,01317,183,80,80,B1,FF
2021-08-15T14:04:54.965Z,1629036294.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:04:54.966Z,1629036294.966 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:04:54.967Z,1629036294.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:04:55.431Z,1629036295.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:04:56.178Z,1629036296.178 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D3,000,012E2,186,80,80,89,FF
2021-08-15T14:04:56.178Z,1629036296.178 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:04:56.237Z,1629036296.237 [Micromodem](INFO): Nmea in: $SNTTA,0.434723,0.434691,,,140456.87*5B

2021-08-15T14:04:56.635Z,1629036296.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 252.539993 m, bearing: 84.241928 deg, deltaT: 4.863271 s, approachRate: -0.653883 m/s, LOS rate: -0.325723 deg/s, posRepo size: 4
2021-08-15T14:04:56.638Z,1629036296.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 252.539993 m,
      bearing: 84.241928 deg,
      approachRate: -0.653883 m/s,
      LOS rate: -0.325723 deg/s,
      cmd update: -1.302891 deg/s,
      cmd heading: 77.808504 deg,
      new cmd heading: 76.707025 deg.

2021-08-15T14:04:59.044Z,1629036299.044 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:04:59.438Z,1629036299.438 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:04:59.439Z,1629036299.439 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:04:59.439Z,1629036299.439 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:04:59.440Z,1629036299.440 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:04:59.809Z,1629036299.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D3,000,012E2,186,80,80,89,FF
2021-08-15T14:04:59.809Z,1629036299.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:04:59.810Z,1629036299.810 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:04:59.811Z,1629036299.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:05:00.222Z,1629036300.222 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:05:01.033Z,1629036301.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04E,000,012A7,184,80,80,7A,FF
2021-08-15T14:05:01.034Z,1629036301.034 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:05:01.473Z,1629036301.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 248.999985 m, bearing: 86.810010 deg, deltaT: 4.731827 s, approachRate: -0.748127 m/s, LOS rate: 0.542725 deg/s, posRepo size: 4
2021-08-15T14:05:01.475Z,1629036301.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 248.999985 m,
      bearing: 86.810010 deg,
      approachRate: -0.748127 m/s,
      LOS rate: 0.542725 deg/s,
      cmd update: 2.170902 deg/s,
      cmd heading: 71.636721 deg,
      new cmd heading: 71.086716 deg.

2021-08-15T14:05:03.874Z,1629036303.874 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:05:04.269Z,1629036304.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:05:04.269Z,1629036304.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:05:04.269Z,1629036304.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:05:04.270Z,1629036304.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:05:04.665Z,1629036304.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04E,000,012A7,184,80,80,7A,FF
2021-08-15T14:05:04.665Z,1629036304.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:05:04.665Z,1629036304.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:05:04.667Z,1629036304.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:05:05.078Z,1629036305.078 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:05:05.897Z,1629036305.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9F,000,0126C,186,80,80,8E,FF
2021-08-15T14:05:05.897Z,1629036305.897 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:05:05.900Z,1629036305.900 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140506.57*5A

2021-08-15T14:05:06.400Z,1629036306.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 245.459991 m, bearing: 84.951304 deg, deltaT: 4.924916 s, approachRate: -0.718793 m/s, LOS rate: -0.377409 deg/s, posRepo size: 4
2021-08-15T14:05:06.402Z,1629036306.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 245.459991 m,
      bearing: 84.951304 deg,
      approachRate: -0.718793 m/s,
      LOS rate: -0.377409 deg/s,
      cmd update: -1.509635 deg/s,
      cmd heading: 82.287597 deg,
      new cmd heading: 83.241235 deg.

2021-08-15T14:05:08.394Z,1629036308.394 [CTD_Seabird](ERROR): Failed to parse device response: 8.46,23.751.14
2021-08-15T14:05:08.723Z,1629036308.723 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:05:09.105Z,1629036309.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:05:09.105Z,1629036309.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:05:09.105Z,1629036309.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:05:09.106Z,1629036309.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:05:09.517Z,1629036309.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9F,000,0126C,186,80,80,8E,FF
2021-08-15T14:05:09.517Z,1629036309.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:05:09.517Z,1629036309.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:05:09.519Z,1629036309.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:05:09.916Z,1629036309.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:05:10.319Z,1629036310.319 [Micromodem](INFO): Nmea in: $SNTTA,0.201750,0.201531,,,140511.42*5D

2021-08-15T14:05:10.729Z,1629036310.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,029,000,01239,185,80,80,95,FF
2021-08-15T14:05:10.729Z,1629036310.729 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:05:11.160Z,1629036311.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 242.399994 m, bearing: 84.676813 deg, deltaT: 4.770188 s, approachRate: -0.641484 m/s, LOS rate: -0.057543 deg/s, posRepo size: 4
2021-08-15T14:05:11.162Z,1629036311.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 242.399994 m,
      bearing: 84.676813 deg,
      approachRate: -0.641484 m/s,
      LOS rate: -0.057543 deg/s,
      cmd update: -0.230173 deg/s,
      cmd heading: 75.055963 deg,
      new cmd heading: 74.433258 deg.

2021-08-15T14:05:13.594Z,1629036313.594 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:05:13.953Z,1629036313.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:05:13.953Z,1629036313.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:05:13.953Z,1629036313.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:05:13.954Z,1629036313.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:05:14.377Z,1629036314.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
029,000,01239,185,80,80,95,FF
2021-08-15T14:05:14.377Z,1629036314.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:05:14.378Z,1629036314.378 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:05:14.379Z,1629036314.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:05:14.771Z,1629036314.771 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:05:15.569Z,1629036315.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,011,000,011FA,183,80,80,87,FF
2021-08-15T14:05:15.570Z,1629036315.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:05:15.579Z,1629036315.579 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140516.28*53

2021-08-15T14:05:16.006Z,1629036316.006 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 238.619995 m, bearing: 82.549707 deg, deltaT: 4.906640 s, approachRate: -0.770384 m/s, LOS rate: -0.433516 deg/s, posRepo size: 4
2021-08-15T14:05:16.033Z,1629036316.033 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 238.619995 m,
      bearing: 82.549707 deg,
      approachRate: -0.770384 m/s,
      LOS rate: -0.433516 deg/s,
      cmd update: -1.734063 deg/s,
      cmd heading: 73.928611 deg,
      new cmd heading: 73.845460 deg.

2021-08-15T14:05:18.470Z,1629036318.470 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:05:18.797Z,1629036318.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:05:18.797Z,1629036318.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:05:18.797Z,1629036318.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:05:18.798Z,1629036318.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:05:19.210Z,1629036319.210 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
011,000,011FA,183,80,80,87,FF
2021-08-15T14:05:19.210Z,1629036319.210 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:05:19.210Z,1629036319.210 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:05:19.212Z,1629036319.212 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:05:19.620Z,1629036319.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:05:20.445Z,1629036320.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC2,000,011BE,184,80,80,AA,FF
2021-08-15T14:05:20.445Z,1629036320.445 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:05:20.448Z,1629036320.448 [Micromodem](INFO): Nmea in: $SNTTA,,0.353035,,,140521.12*43

2021-08-15T14:05:20.860Z,1629036320.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 235.019989 m, bearing: 83.453983 deg, deltaT: 4.890433 s, approachRate: -0.736132 m/s, LOS rate: 0.184907 deg/s, posRepo size: 4
2021-08-15T14:05:20.862Z,1629036320.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 235.019989 m,
      bearing: 83.453983 deg,
      approachRate: -0.736132 m/s,
      LOS rate: 0.184907 deg/s,
      cmd update: 0.739629 deg/s,
      cmd heading: 65.433786 deg,
      new cmd heading: 64.886069 deg.

2021-08-15T14:05:23.267Z,1629036323.267 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:05:23.645Z,1629036323.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:05:23.645Z,1629036323.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:05:23.645Z,1629036323.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:05:23.646Z,1629036323.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:05:24.088Z,1629036324.088 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC2,000,011BE,184,80,80,AA,FF
2021-08-15T14:05:24.089Z,1629036324.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:05:24.089Z,1629036324.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:05:24.090Z,1629036324.090 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:05:24.480Z,1629036324.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:05:25.267Z,1629036325.267 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFD,000,01186,186,80,80,9C,FF
2021-08-15T14:05:25.268Z,1629036325.268 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:05:25.274Z,1629036325.274 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140525.99*59

2021-08-15T14:05:25.711Z,1629036325.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 231.660004 m, bearing: 85.548577 deg, deltaT: 4.826033 s, approachRate: -0.696221 m/s, LOS rate: 0.434020 deg/s, posRepo size: 4
2021-08-15T14:05:25.713Z,1629036325.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 231.660004 m,
      bearing: 85.548577 deg,
      approachRate: -0.696221 m/s,
      LOS rate: 0.434020 deg/s,
      cmd update: 1.736079 deg/s,
      cmd heading: 69.000632 deg,
      new cmd heading: 69.255472 deg.

2021-08-15T14:05:28.164Z,1629036328.164 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:05:28.493Z,1629036328.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:05:28.493Z,1629036328.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:05:28.493Z,1629036328.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:05:28.494Z,1629036328.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:05:28.897Z,1629036328.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFD,000,01186,186,80,80,9C,FF
2021-08-15T14:05:28.897Z,1629036328.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:05:28.898Z,1629036328.898 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:05:28.899Z,1629036328.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:05:29.313Z,1629036329.313 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:05:30.149Z,1629036330.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0C,000,01156,186,80,80,8D,FF
2021-08-15T14:05:30.150Z,1629036330.150 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:05:30.153Z,1629036330.153 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140530.80*55

2021-08-15T14:05:30.559Z,1629036330.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 228.779999 m, bearing: 87.448100 deg, deltaT: 4.859067 s, approachRate: -0.592707 m/s, LOS rate: 0.390923 deg/s, posRepo size: 4
2021-08-15T14:05:30.563Z,1629036330.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 228.779999 m,
      bearing: 87.448100 deg,
      approachRate: -0.592707 m/s,
      LOS rate: 0.390923 deg/s,
      cmd update: 1.563694 deg/s,
      cmd heading: 77.415075 deg,
      new cmd heading: 78.015168 deg.

2021-08-15T14:05:32.962Z,1629036332.962 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:05:33.358Z,1629036333.358 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:05:33.358Z,1629036333.358 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:05:33.359Z,1629036333.359 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:05:33.364Z,1629036333.364 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:05:33.745Z,1629036333.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0C,000,01156,186,80,80,8D,FF
2021-08-15T14:05:33.745Z,1629036333.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:05:33.746Z,1629036333.746 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:05:33.747Z,1629036333.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:05:34.191Z,1629036334.191 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:05:34.957Z,1629036334.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAA,000,01114,185,80,80,AB,FF
2021-08-15T14:05:34.958Z,1629036334.958 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:05:35.425Z,1629036335.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 224.819992 m, bearing: 87.398472 deg, deltaT: 4.778354 s, approachRate: -0.828739 m/s, LOS rate: -0.010386 deg/s, posRepo size: 4
2021-08-15T14:05:35.427Z,1629036335.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 224.819992 m,
      bearing: 87.398472 deg,
      approachRate: -0.828739 m/s,
      LOS rate: -0.010386 deg/s,
      cmd update: -0.041544 deg/s,
      cmd heading: 84.906032 deg,
      new cmd heading: 85.564862 deg.

2021-08-15T14:05:37.825Z,1629036337.825 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:05:38.193Z,1629036338.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:05:38.193Z,1629036338.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:05:38.193Z,1629036338.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:05:38.194Z,1629036338.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:05:38.609Z,1629036338.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAA,000,01114,185,80,80,AB,FF
2021-08-15T14:05:38.609Z,1629036338.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:05:38.609Z,1629036338.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:05:38.611Z,1629036338.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:05:39.000Z,1629036339.000 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:05:39.417Z,1629036339.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,016,000,0047F,183,80,80,B1,FF
2021-08-15T14:05:39.417Z,1629036339.417 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:05:39.845Z,1629036339.845 [Micromodem](INFO): Nmea in: $SNTTA,0.156052,,,,140540.51*45

2021-08-15T14:05:39.880Z,1629036339.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.559998 m, bearing: 88.221510 deg, deltaT: 4.469556 s, approachRate: -43.239193 m/s, LOS rate: 0.184143 deg/s, posRepo size: 4
2021-08-15T14:05:39.881Z,1629036339.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.56 m.
2021-08-15T14:05:39.883Z,1629036339.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.559998 m,
      bearing: 88.221510 deg,
      approachRate: -43.239193 m/s,
      LOS rate: 0.184143 deg/s,
      cmd update: 0.736572 deg/s,
      cmd heading: 84.720522 deg,
      new cmd heading: 84.703445 deg.

2021-08-15T14:05:40.262Z,1629036340.262 [PowerOnly](INFO): Powering up loadControl
2021-08-15T14:05:40.372Z,1629036340.372 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T14:05:40.372Z,1629036340.372 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T14:05:40.373Z,1629036340.373 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T14:05:40.373Z,1629036340.373 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T14:05:40.373Z,1629036340.373 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T14:05:40.373Z,1629036340.373 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T14:05:40.687Z,1629036340.687 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T14:05:40.687Z,1629036340.687 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T14:05:40.687Z,1629036340.687 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T14:05:40.688Z,1629036340.688 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T14:05:42.300Z,1629036342.300 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:05:42.645Z,1629036342.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:05:42.645Z,1629036342.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:05:42.645Z,1629036342.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:05:42.646Z,1629036342.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:05:43.037Z,1629036343.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
016,000,0047F,183,80,80,B1,FF
2021-08-15T14:05:43.037Z,1629036343.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:05:43.037Z,1629036343.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:05:43.039Z,1629036343.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:05:43.453Z,1629036343.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:05:44.282Z,1629036344.282 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140544.94*53

2021-08-15T14:05:45.105Z,1629036345.105 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:05:46.678Z,1629036346.678 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,183,80,80,B1,FF
2021-08-15T14:05:46.679Z,1629036346.679 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,183,80,80,B1,FF
2021-08-15T14:05:46.679Z,1629036346.679 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:05:47.919Z,1629036347.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:05:48.291Z,1629036348.291 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:05:48.291Z,1629036348.291 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:05:48.292Z,1629036348.292 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:05:48.294Z,1629036348.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:05:48.698Z,1629036348.698 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,183,80,80,B1,FF
2021-08-15T14:05:48.698Z,1629036348.698 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:05:48.698Z,1629036348.698 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:05:48.699Z,1629036348.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:05:49.103Z,1629036349.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:05:49.940Z,1629036349.940 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140550.60*5D

2021-08-15T14:05:50.380Z,1629036350.380 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T14:05:50.800Z,1629036350.800 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:05:52.330Z,1629036352.330 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,183,80,80,B1,FF
2021-08-15T14:05:52.331Z,1629036352.331 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,183,80,80,B1,FF
2021-08-15T14:05:52.331Z,1629036352.331 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:05:53.609Z,1629036353.609 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:05:53.961Z,1629036353.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:05:53.961Z,1629036353.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:05:53.961Z,1629036353.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:05:53.962Z,1629036353.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:05:54.385Z,1629036354.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,183,80,80,B1,FF
2021-08-15T14:05:54.385Z,1629036354.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:05:54.385Z,1629036354.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:05:54.387Z,1629036354.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:05:54.760Z,1629036354.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:05:55.563Z,1629036355.563 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BD,000,01022,186,80,80,A4,FF
2021-08-15T14:05:55.569Z,1629036355.569 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:05:55.587Z,1629036355.587 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140556.29*56

2021-08-15T14:05:55.702Z,1629036355.702 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:05:56.090Z,1629036356.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 210.299988 m, bearing: 88.743603 deg, deltaT: 16.222155 s, approachRate: 11.018264 m/s, LOS rate: 0.032184 deg/s, posRepo size: 4
2021-08-15T14:05:56.092Z,1629036356.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 210.299988 m,
      bearing: 88.743603 deg,
      approachRate: 11.018264 m/s,
      LOS rate: 0.032184 deg/s,
      cmd update: 0.128736 deg/s,
      cmd heading: 96.672134 deg,
      new cmd heading: 96.962915 deg.

2021-08-15T14:05:56.482Z,1629036356.482 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T14:05:56.482Z,1629036356.482 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T14:05:56.482Z,1629036356.482 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T14:05:56.483Z,1629036356.483 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T14:05:56.483Z,1629036356.483 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T14:05:56.483Z,1629036356.483 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T14:05:56.801Z,1629036356.801 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T14:05:56.801Z,1629036356.801 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T14:05:56.802Z,1629036356.802 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T14:05:56.802Z,1629036356.802 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T14:05:58.466Z,1629036358.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:05:58.801Z,1629036358.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:05:58.802Z,1629036358.802 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:05:58.802Z,1629036358.802 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:05:58.803Z,1629036358.803 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:05:59.197Z,1629036359.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BD,000,01022,186,80,80,A4,FF
2021-08-15T14:05:59.197Z,1629036359.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:05:59.197Z,1629036359.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:05:59.199Z,1629036359.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:05:59.620Z,1629036359.620 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:06:00.440Z,1629036360.440 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10A,000,00FEB,185,80,80,A0,FF
2021-08-15T14:06:00.441Z,1629036360.441 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:06:00.443Z,1629036360.443 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140601.10*5D

2021-08-15T14:06:00.894Z,1629036360.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 207.000000 m, bearing: 89.768309 deg, deltaT: 4.869698 s, approachRate: -0.677658 m/s, LOS rate: 0.210425 deg/s, posRepo size: 4
2021-08-15T14:06:00.897Z,1629036360.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 207.000000 m,
      bearing: 89.768309 deg,
      approachRate: -0.677658 m/s,
      LOS rate: 0.210425 deg/s,
      cmd update: 0.841700 deg/s,
      cmd heading: 97.297356 deg,
      new cmd heading: 97.341217 deg.

2021-08-15T14:06:03.259Z,1629036363.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:06:03.657Z,1629036363.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:06:03.657Z,1629036363.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:06:03.657Z,1629036363.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:06:03.658Z,1629036363.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:06:04.081Z,1629036364.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10A,000,00FEB,185,80,80,A0,FF
2021-08-15T14:06:04.081Z,1629036364.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:06:04.081Z,1629036364.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:06:04.083Z,1629036364.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:06:04.575Z,1629036364.575 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:06:04.961Z,1629036364.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F6,000,00FB7,186,80,80,B0,FF
2021-08-15T14:06:04.962Z,1629036364.962 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:06:05.418Z,1629036365.418 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140605.98*59

2021-08-15T14:06:05.470Z,1629036365.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 203.879990 m, bearing: 89.564797 deg, deltaT: 4.441437 s, approachRate: -0.702478 m/s, LOS rate: -0.045821 deg/s, posRepo size: 4
2021-08-15T14:06:05.476Z,1629036365.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 203.879990 m,
      bearing: 89.564797 deg,
      approachRate: -0.702478 m/s,
      LOS rate: -0.045821 deg/s,
      cmd update: -0.183285 deg/s,
      cmd heading: 101.046991 deg,
      new cmd heading: 101.436931 deg.

2021-08-15T14:06:07.845Z,1629036367.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:06:08.189Z,1629036368.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:06:08.189Z,1629036368.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:06:08.189Z,1629036368.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:06:08.190Z,1629036368.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:06:08.601Z,1629036368.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F6,000,00FB7,186,80,80,B0,FF
2021-08-15T14:06:08.601Z,1629036368.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:06:08.601Z,1629036368.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:06:08.603Z,1629036368.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:06:08.998Z,1629036368.998 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:06:09.836Z,1629036369.836 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,143,000,00F83,185,80,80,A9,FF
2021-08-15T14:06:09.837Z,1629036369.837 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:06:09.839Z,1629036369.839 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140610.51*58

2021-08-15T14:06:10.302Z,1629036370.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 200.759995 m, bearing: 89.516589 deg, deltaT: 4.879355 s, approachRate: -0.639428 m/s, LOS rate: -0.009880 deg/s, posRepo size: 4
2021-08-15T14:06:10.317Z,1629036370.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.759995 m,
      bearing: 89.516589 deg,
      approachRate: -0.639428 m/s,
      LOS rate: -0.009880 deg/s,
      cmd update: -0.039520 deg/s,
      cmd heading: 100.153412 deg,
      new cmd heading: 100.077508 deg.

2021-08-15T14:06:12.671Z,1629036372.671 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:06:13.037Z,1629036373.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:06:13.037Z,1629036373.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:06:13.037Z,1629036373.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:06:13.038Z,1629036373.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:06:13.441Z,1629036373.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
143,000,00F83,185,80,80,A9,FF
2021-08-15T14:06:13.441Z,1629036373.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:06:13.441Z,1629036373.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:06:13.443Z,1629036373.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:06:13.860Z,1629036373.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:06:14.677Z,1629036374.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15B,000,00F4D,186,80,80,9F,FF
2021-08-15T14:06:14.678Z,1629036374.678 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:06:14.701Z,1629036374.701 [Micromodem](INFO): Nmea in: $SNTTA,0.133924,,,,140615.34*4E

2021-08-15T14:06:15.117Z,1629036375.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 197.519989 m, bearing: 88.768554 deg, deltaT: 4.867353 s, approachRate: -0.665661 m/s, LOS rate: -0.153684 deg/s, posRepo size: 4
2021-08-15T14:06:15.118Z,1629036375.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.519989 m,
      bearing: 88.768554 deg,
      approachRate: -0.665661 m/s,
      LOS rate: -0.153684 deg/s,
      cmd update: -0.614737 deg/s,
      cmd heading: 99.961095 deg,
      new cmd heading: 99.947177 deg.

2021-08-15T14:06:17.531Z,1629036377.531 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:06:17.889Z,1629036377.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:06:17.889Z,1629036377.889 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:06:17.889Z,1629036377.889 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:06:17.890Z,1629036377.890 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:06:18.296Z,1629036378.296 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15B,000,00F4D,186,80,80,9F,FF
2021-08-15T14:06:18.296Z,1629036378.296 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:06:18.296Z,1629036378.296 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:06:18.298Z,1629036378.298 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:06:18.697Z,1629036378.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:06:19.522Z,1629036379.522 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15E,000,00F16,185,80,80,A2,FF
2021-08-15T14:06:19.522Z,1629036379.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:06:19.525Z,1629036379.525 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140620.20*5D

2021-08-15T14:06:19.944Z,1629036379.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 194.219986 m, bearing: 88.404607 deg, deltaT: 4.847138 s, approachRate: -0.680815 m/s, LOS rate: -0.075085 deg/s, posRepo size: 4
2021-08-15T14:06:19.946Z,1629036379.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 194.219986 m,
      bearing: 88.404607 deg,
      approachRate: -0.680815 m/s,
      LOS rate: -0.075085 deg/s,
      cmd update: -0.300339 deg/s,
      cmd heading: 96.978310 deg,
      new cmd heading: 96.766921 deg.

2021-08-15T14:06:22.431Z,1629036382.431 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:06:22.737Z,1629036382.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:06:22.737Z,1629036382.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:06:22.737Z,1629036382.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:06:22.738Z,1629036382.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:06:23.129Z,1629036383.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15E,000,00F16,185,80,80,A2,FF
2021-08-15T14:06:23.129Z,1629036383.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:06:23.130Z,1629036383.130 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:06:23.131Z,1629036383.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:06:23.548Z,1629036383.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:06:23.950Z,1629036383.950 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15E,000,00F16,185,80,80,A2,FF
2021-08-15T14:06:23.950Z,1629036383.950 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:06:24.409Z,1629036384.409 [Micromodem](INFO): Nmea in: $SNTTA,0.139093,,,,140625.03*46

2021-08-15T14:06:24.482Z,1629036384.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 194.219986 m, bearing: 86.495590 deg, deltaT: 4.402955 s, approachRate: 0.000000 m/s, LOS rate: -0.433576 deg/s, posRepo size: 4
2021-08-15T14:06:24.484Z,1629036384.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 194.219986 m,
      bearing: 86.495590 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.433576 deg/s,
      cmd update: -1.734306 deg/s,
      cmd heading: 95.665048 deg,
      new cmd heading: 95.512255 deg.

2021-08-15T14:06:26.806Z,1629036386.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:06:27.181Z,1629036387.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:06:27.181Z,1629036387.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:06:27.182Z,1629036387.182 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:06:27.182Z,1629036387.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:06:27.593Z,1629036387.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15E,000,00F16,185,80,80,A2,FF
2021-08-15T14:06:27.593Z,1629036387.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:06:27.593Z,1629036387.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:06:27.595Z,1629036387.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:06:27.990Z,1629036387.990 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:06:28.817Z,1629036388.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FB,000,00EAD,186,80,80,90,FF
2021-08-15T14:06:28.818Z,1629036388.818 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:06:28.820Z,1629036388.820 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140629.50*53

2021-08-15T14:06:29.253Z,1629036389.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 187.919983 m, bearing: 89.150457 deg, deltaT: 4.830157 s, approachRate: -1.304306 m/s, LOS rate: 0.549644 deg/s, posRepo size: 4
2021-08-15T14:06:29.255Z,1629036389.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.919983 m,
      bearing: 89.150457 deg,
      approachRate: -1.304306 m/s,
      LOS rate: 0.549644 deg/s,
      cmd update: 2.198576 deg/s,
      cmd heading: 87.229942 deg,
      new cmd heading: 86.515796 deg.

2021-08-15T14:06:31.675Z,1629036391.675 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:06:32.064Z,1629036392.064 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:06:32.065Z,1629036392.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:06:32.065Z,1629036392.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:06:32.067Z,1629036392.067 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:06:32.437Z,1629036392.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FB,000,00EAD,186,80,80,90,FF
2021-08-15T14:06:32.437Z,1629036392.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:06:32.437Z,1629036392.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:06:32.439Z,1629036392.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:06:32.844Z,1629036392.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:06:33.673Z,1629036393.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07C,000,00E75,186,80,80,AC,FF
2021-08-15T14:06:33.673Z,1629036393.673 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:06:33.676Z,1629036393.676 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140634.34*5D

2021-08-15T14:06:34.143Z,1629036394.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 184.559998 m, bearing: 91.114969 deg, deltaT: 4.870144 s, approachRate: -0.689915 m/s, LOS rate: 0.403379 deg/s, posRepo size: 4
2021-08-15T14:06:34.150Z,1629036394.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.559998 m,
      bearing: 91.114969 deg,
      approachRate: -0.689915 m/s,
      LOS rate: 0.403379 deg/s,
      cmd update: 1.613515 deg/s,
      cmd heading: 97.938920 deg,
      new cmd heading: 98.897539 deg.

2021-08-15T14:06:36.503Z,1629036396.503 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:06:36.873Z,1629036396.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:06:36.873Z,1629036396.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:06:36.873Z,1629036396.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:06:36.874Z,1629036396.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:06:37.281Z,1629036397.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07C,000,00E75,186,80,80,AC,FF
2021-08-15T14:06:37.281Z,1629036397.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:06:37.281Z,1629036397.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:06:37.283Z,1629036397.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:06:37.685Z,1629036397.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:06:38.122Z,1629036398.122 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E0,000,00E3E,186,80,80,AC,FF
2021-08-15T14:06:38.122Z,1629036398.122 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:06:38.525Z,1629036398.525 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140639.19*5F

2021-08-15T14:06:38.574Z,1629036398.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 181.260010 m, bearing: 89.469611 deg, deltaT: 4.475259 s, approachRate: -0.737385 m/s, LOS rate: -0.367657 deg/s, posRepo size: 4
2021-08-15T14:06:38.577Z,1629036398.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.260010 m,
      bearing: 89.469611 deg,
      approachRate: -0.737385 m/s,
      LOS rate: -0.367657 deg/s,
      cmd update: -1.470626 deg/s,
      cmd heading: 105.134154 deg,
      new cmd heading: 105.790237 deg.

2021-08-15T14:06:40.949Z,1629036400.949 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:06:41.397Z,1629036401.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:06:41.397Z,1629036401.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:06:41.397Z,1629036401.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:06:41.398Z,1629036401.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:06:41.416Z,1629036401.416 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T14:06:41.729Z,1629036401.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E0,000,00E3E,186,80,80,AC,FF
2021-08-15T14:06:41.729Z,1629036401.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:06:41.729Z,1629036401.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:06:41.731Z,1629036401.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:06:42.137Z,1629036402.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:06:42.538Z,1629036402.538 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15E,000,00E3E,186,80,80,AC,FF
2021-08-15T14:06:42.538Z,1629036402.538 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:06:42.974Z,1629036402.974 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140643.63*5F

2021-08-15T14:06:42.994Z,1629036402.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 181.260010 m, bearing: 88.423697 deg, deltaT: 4.437865 s, approachRate: 0.000000 m/s, LOS rate: -0.235679 deg/s, posRepo size: 4
2021-08-15T14:06:42.996Z,1629036402.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.260010 m,
      bearing: 88.423697 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.235679 deg/s,
      cmd update: -0.942718 deg/s,
      cmd heading: 98.590281 deg,
      new cmd heading: 98.035178 deg.

2021-08-15T14:06:45.424Z,1629036405.424 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:06:45.767Z,1629036405.767 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:06:45.767Z,1629036405.767 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:06:45.767Z,1629036405.767 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:06:45.768Z,1629036405.768 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:06:46.161Z,1629036406.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15E,000,00E3E,186,80,80,AC,FF
2021-08-15T14:06:46.161Z,1629036406.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:06:46.162Z,1629036406.162 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:06:46.163Z,1629036406.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:06:46.575Z,1629036406.575 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:06:46.974Z,1629036406.974 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,148,000,00E3E,186,80,80,AC,FF
2021-08-15T14:06:46.975Z,1629036406.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:06:47.414Z,1629036407.414 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140648.07*56

2021-08-15T14:06:47.441Z,1629036407.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 181.260010 m, bearing: 88.446435 deg, deltaT: 4.415629 s, approachRate: 0.000000 m/s, LOS rate: 0.005149 deg/s, posRepo size: 4
2021-08-15T14:06:47.443Z,1629036407.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.260010 m,
      bearing: 88.446435 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.005149 deg/s,
      cmd update: 0.020597 deg/s,
      cmd heading: 94.434538 deg,
      new cmd heading: 94.042380 deg.

2021-08-15T14:06:49.845Z,1629036409.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:06:50.221Z,1629036410.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:06:50.221Z,1629036410.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:06:50.221Z,1629036410.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:06:50.222Z,1629036410.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:06:50.625Z,1629036410.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
148,000,00E3E,186,80,80,AC,FF
2021-08-15T14:06:50.625Z,1629036410.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:06:50.625Z,1629036410.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:06:50.627Z,1629036410.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:06:51.041Z,1629036411.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:06:51.426Z,1629036411.426 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B8,000,00E3E,186,80,80,AC,FF
2021-08-15T14:06:51.426Z,1629036411.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:06:51.869Z,1629036411.869 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140652.53*5C

2021-08-15T14:06:51.916Z,1629036411.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 181.260010 m, bearing: 92.190471 deg, deltaT: 4.450678 s, approachRate: 0.000000 m/s, LOS rate: 0.841228 deg/s, posRepo size: 4
2021-08-15T14:06:51.918Z,1629036411.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.260010 m,
      bearing: 92.190471 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.841228 deg/s,
      cmd update: 3.364913 deg/s,
      cmd heading: 94.526353 deg,
      new cmd heading: 94.535197 deg.

2021-08-15T14:06:54.367Z,1629036414.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:06:54.649Z,1629036414.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:06:54.649Z,1629036414.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:06:54.649Z,1629036414.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:06:54.650Z,1629036414.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:06:55.072Z,1629036415.072 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B8,000,00E3E,186,80,80,AC,FF
2021-08-15T14:06:55.072Z,1629036415.072 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:06:55.073Z,1629036415.073 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:06:55.074Z,1629036415.074 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:06:55.469Z,1629036415.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:06:55.898Z,1629036415.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,11E,000,00D76,186,80,80,AC,FF
2021-08-15T14:06:55.898Z,1629036415.898 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:06:56.302Z,1629036416.302 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140656.98*5F

2021-08-15T14:06:56.403Z,1629036416.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 169.260010 m, bearing: 87.951711 deg, deltaT: 4.454418 s, approachRate: -2.693955 m/s, LOS rate: -0.951586 deg/s, posRepo size: 4
2021-08-15T14:06:56.405Z,1629036416.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.260010 m,
      bearing: 87.951711 deg,
      approachRate: -2.693955 m/s,
      LOS rate: -0.951586 deg/s,
      cmd update: -3.806343 deg/s,
      cmd heading: 109.529045 deg,
      new cmd heading: 111.084752 deg.

2021-08-15T14:06:58.714Z,1629036418.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:06:59.094Z,1629036419.094 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:06:59.094Z,1629036419.094 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:06:59.094Z,1629036419.094 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:06:59.095Z,1629036419.095 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:06:59.501Z,1629036419.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
11E,000,00D76,186,80,80,AC,FF
2021-08-15T14:06:59.501Z,1629036419.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:06:59.501Z,1629036419.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:06:59.503Z,1629036419.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:06:59.922Z,1629036419.922 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:07:00.314Z,1629036420.314 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E5,000,00D45,186,80,80,AC,FF
2021-08-15T14:07:00.315Z,1629036420.315 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:07:00.750Z,1629036420.750 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140701.41*58

2021-08-15T14:07:00.791Z,1629036420.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.319992 m, bearing: 85.990046 deg, deltaT: 4.503274 s, approachRate: -0.652862 m/s, LOS rate: -0.435609 deg/s, posRepo size: 4
2021-08-15T14:07:00.794Z,1629036420.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.319992 m,
      bearing: 85.990046 deg,
      approachRate: -0.652862 m/s,
      LOS rate: -0.435609 deg/s,
      cmd update: -1.742434 deg/s,
      cmd heading: 92.417409 deg,
      new cmd heading: 91.066537 deg.

2021-08-15T14:07:03.174Z,1629036423.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:07:03.537Z,1629036423.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:07:03.537Z,1629036423.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:07:03.537Z,1629036423.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:07:03.538Z,1629036423.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:07:03.941Z,1629036423.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E5,000,00D45,186,80,80,AC,FF
2021-08-15T14:07:03.941Z,1629036423.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:07:03.941Z,1629036423.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:07:03.943Z,1629036423.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:07:04.365Z,1629036424.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:07:04.762Z,1629036424.762 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C0,000,00D13,186,80,80,AC,FF
2021-08-15T14:07:04.762Z,1629036424.762 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:07:05.193Z,1629036425.193 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140705.85*54

2021-08-15T14:07:05.210Z,1629036425.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.320007 m, bearing: 94.096572 deg, deltaT: 4.398326 s, approachRate: -0.682074 m/s, LOS rate: 1.843093 deg/s, posRepo size: 4
2021-08-15T14:07:05.212Z,1629036425.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.320007 m,
      bearing: 94.096572 deg,
      approachRate: -0.682074 m/s,
      LOS rate: 1.843093 deg/s,
      cmd update: 7.372374 deg/s,
      cmd heading: 84.746634 deg,
      new cmd heading: 84.100264 deg.

2021-08-15T14:07:07.623Z,1629036427.623 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:07:07.981Z,1629036427.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:07:07.981Z,1629036427.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:07:07.981Z,1629036427.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:07:07.982Z,1629036427.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:07:08.409Z,1629036428.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C0,000,00D13,186,80,80,AC,FF
2021-08-15T14:07:08.409Z,1629036428.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:07:08.409Z,1629036428.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:07:08.411Z,1629036428.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:07:08.793Z,1629036428.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:07:09.614Z,1629036429.614 [Micromodem](INFO): Nmea in: $SNTTA,0.124276,,,,140710.31*45

2021-08-15T14:07:10.420Z,1629036430.420 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFF,000,038E8,182,80,80,64,FF
2021-08-15T14:07:10.421Z,1629036430.421 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:07:10.862Z,1629036430.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 836.580017 m, bearing: 91.394112 deg, deltaT: 5.663022 s, approachRate: 118.887054 m/s, LOS rate: -0.477212 deg/s, posRepo size: 4
2021-08-15T14:07:10.868Z,1629036430.868 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 836.580017 m,
      bearing: 91.394112 deg,
      approachRate: 118.887054 m/s,
      LOS rate: -0.477212 deg/s,
      cmd update: -1.908847 deg/s,
      cmd heading: 126.455028 deg,
      new cmd heading: 129.109901 deg.

2021-08-15T14:07:11.648Z,1629036431.648 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T14:07:13.265Z,1629036433.265 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:07:13.637Z,1629036433.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:07:13.637Z,1629036433.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:07:13.637Z,1629036433.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:07:13.638Z,1629036433.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:07:14.061Z,1629036434.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFF,000,038E8,182,80,80,64,FF
2021-08-15T14:07:14.062Z,1629036434.062 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:07:14.062Z,1629036434.062 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:07:14.070Z,1629036434.070 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:07:14.465Z,1629036434.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:07:14.846Z,1629036434.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15F,000,038E8,182,80,80,64,FF
2021-08-15T14:07:14.847Z,1629036434.847 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:07:15.281Z,1629036435.281 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140715.97*56

2021-08-15T14:07:15.317Z,1629036435.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 836.580017 m, bearing: 86.881331 deg, deltaT: 4.395614 s, approachRate: 0.000000 m/s, LOS rate: -1.026655 deg/s, posRepo size: 4
2021-08-15T14:07:15.325Z,1629036435.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 836.580017 m,
      bearing: 86.881331 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.026655 deg/s,
      cmd update: -4.106622 deg/s,
      cmd heading: 118.053281 deg,
      new cmd heading: 117.257130 deg.

2021-08-15T14:07:16.494Z,1629036436.494 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T14:07:17.731Z,1629036437.731 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:07:18.125Z,1629036438.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:07:18.125Z,1629036438.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:07:18.125Z,1629036438.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:07:18.126Z,1629036438.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:07:18.494Z,1629036438.494 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15F,000,038E8,182,80,80,64,FF
2021-08-15T14:07:18.494Z,1629036438.494 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:07:18.494Z,1629036438.494 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:07:18.496Z,1629036438.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:07:18.901Z,1629036438.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:07:19.302Z,1629036439.302 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A5,000,00560,189,80,80,78,FF
2021-08-15T14:07:19.303Z,1629036439.303 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:07:19.737Z,1629036439.737 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140720.40*5A

2021-08-15T14:07:19.782Z,1629036439.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.059998 m, bearing: 81.096564 deg, deltaT: 4.468909 s, approachRate: -177.117065 m/s, LOS rate: -1.294447 deg/s, posRepo size: 4
2021-08-15T14:07:19.784Z,1629036439.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.059998 m,
      bearing: 81.096564 deg,
      approachRate: -177.117065 m/s,
      LOS rate: -1.294447 deg/s,
      cmd update: -5.177789 deg/s,
      cmd heading: 99.717897 deg,
      new cmd heading: 97.995161 deg.

2021-08-15T14:07:22.172Z,1629036442.172 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:07:22.525Z,1629036442.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:07:22.525Z,1629036442.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:07:22.525Z,1629036442.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:07:22.526Z,1629036442.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:07:22.548Z,1629036442.548 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T14:07:22.938Z,1629036442.938 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A5,000,00560,189,80,80,78,FF
2021-08-15T14:07:22.938Z,1629036442.938 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:07:22.938Z,1629036442.938 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:07:22.939Z,1629036442.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:07:23.377Z,1629036443.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:07:23.754Z,1629036443.754 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,191,000,00C46,186,80,80,75,FF
2021-08-15T14:07:23.754Z,1629036443.754 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:07:24.186Z,1629036444.186 [Micromodem](INFO): Nmea in: $SNTTA,0.110986,,,,140724.85*4E

2021-08-15T14:07:24.234Z,1629036444.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.020004 m, bearing: 86.548298 deg, deltaT: 4.401605 s, approachRate: 24.073038 m/s, LOS rate: 1.238579 deg/s, posRepo size: 4
2021-08-15T14:07:24.236Z,1629036444.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.020004 m,
      bearing: 86.548298 deg,
      approachRate: 24.073038 m/s,
      LOS rate: 1.238579 deg/s,
      cmd update: 4.954315 deg/s,
      cmd heading: 76.885545 deg,
      new cmd heading: 74.495783 deg.

2021-08-15T14:07:26.618Z,1629036446.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:07:26.981Z,1629036446.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:07:26.981Z,1629036446.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:07:26.981Z,1629036446.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:07:26.982Z,1629036446.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:07:27.405Z,1629036447.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
191,000,00C46,186,80,80,75,FF
2021-08-15T14:07:27.405Z,1629036447.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:07:27.405Z,1629036447.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:07:27.407Z,1629036447.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:07:27.796Z,1629036447.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:07:28.198Z,1629036448.198 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC6,000,00C14,184,80,80,75,FF
2021-08-15T14:07:28.198Z,1629036448.198 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:07:28.633Z,1629036448.633 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140729.31*55

2021-08-15T14:07:28.695Z,1629036448.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.020004 m, bearing: 92.726354 deg, deltaT: 4.487656 s, approachRate: -0.668500 m/s, LOS rate: 1.376678 deg/s, posRepo size: 4
2021-08-15T14:07:28.701Z,1629036448.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.020004 m,
      bearing: 92.726354 deg,
      approachRate: -0.668500 m/s,
      LOS rate: 1.376678 deg/s,
      cmd update: 5.506711 deg/s,
      cmd heading: 99.119514 deg,
      new cmd heading: 101.238732 deg.

2021-08-15T14:07:31.047Z,1629036451.047 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:07:31.429Z,1629036451.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:07:31.429Z,1629036451.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:07:31.429Z,1629036451.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:07:31.430Z,1629036451.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:07:31.477Z,1629036451.477 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T14:07:31.833Z,1629036451.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC6,000,00C14,184,80,80,75,FF
2021-08-15T14:07:31.833Z,1629036451.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:07:31.833Z,1629036451.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:07:31.835Z,1629036451.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:07:32.245Z,1629036452.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:07:32.641Z,1629036452.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00E,000,00BE4,183,80,80,AB,FF
2021-08-15T14:07:32.641Z,1629036452.641 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:07:33.093Z,1629036453.093 [Micromodem](INFO): Nmea in: $SNTTA,0.096490,,,,140733.74*43

2021-08-15T14:07:33.116Z,1629036453.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.140015 m, bearing: 91.924675 deg, deltaT: 4.449321 s, approachRate: -0.647287 m/s, LOS rate: -0.180180 deg/s, posRepo size: 4
2021-08-15T14:07:33.118Z,1629036453.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.140015 m,
      bearing: 91.924675 deg,
      approachRate: -0.647287 m/s,
      LOS rate: -0.180180 deg/s,
      cmd update: -0.720721 deg/s,
      cmd heading: 123.574729 deg,
      new cmd heading: 125.858010 deg.

2021-08-15T14:07:35.513Z,1629036455.513 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:07:35.873Z,1629036455.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:07:35.873Z,1629036455.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:07:35.873Z,1629036455.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:07:35.874Z,1629036455.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:07:36.278Z,1629036456.278 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00E,000,00BE4,183,80,80,AB,FF
2021-08-15T14:07:36.278Z,1629036456.278 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:07:36.278Z,1629036456.278 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:07:36.279Z,1629036456.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:07:36.416Z,1629036456.416 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T14:07:36.685Z,1629036456.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:07:37.085Z,1629036457.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,11C,000,00BB0,186,80,80,A6,FF
2021-08-15T14:07:37.086Z,1629036457.086 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:07:37.525Z,1629036457.525 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140738.18*5E

2021-08-15T14:07:37.574Z,1629036457.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 142.020004 m, bearing: 89.287293 deg, deltaT: 4.393831 s, approachRate: -0.710089 m/s, LOS rate: -0.600247 deg/s, posRepo size: 4
2021-08-15T14:07:37.578Z,1629036457.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.020004 m,
      bearing: 89.287293 deg,
      approachRate: -0.710089 m/s,
      LOS rate: -0.600247 deg/s,
      cmd update: -2.400986 deg/s,
      cmd heading: 120.402130 deg,
      new cmd heading: 120.062920 deg.

2021-08-15T14:07:39.938Z,1629036459.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:07:40.335Z,1629036460.335 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:07:40.336Z,1629036460.336 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:07:40.337Z,1629036460.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:07:40.338Z,1629036460.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:07:40.443Z,1629036460.443 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T14:07:40.721Z,1629036460.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
11C,000,00BB0,186,80,80,A6,FF
2021-08-15T14:07:40.721Z,1629036460.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:07:40.721Z,1629036460.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:07:40.723Z,1629036460.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:07:41.128Z,1629036461.128 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:07:41.529Z,1629036461.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,250,000,00B7C,189,80,80,9C,FF
2021-08-15T14:07:41.530Z,1629036461.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:07:41.974Z,1629036461.974 [Micromodem](INFO): Nmea in: $SNTTA,0.094763,,,,140742.63*4E

2021-08-15T14:07:41.996Z,1629036461.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.900009 m, bearing: 84.468396 deg, deltaT: 4.492870 s, approachRate: -0.694433 m/s, LOS rate: -1.072565 deg/s, posRepo size: 4
2021-08-15T14:07:41.998Z,1629036461.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.900009 m,
      bearing: 84.468396 deg,
      approachRate: -0.694433 m/s,
      LOS rate: -1.072565 deg/s,
      cmd update: -4.290261 deg/s,
      cmd heading: 109.624314 deg,
      new cmd heading: 108.653593 deg.

2021-08-15T14:07:44.436Z,1629036464.436 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:07:44.757Z,1629036464.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:07:44.757Z,1629036464.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:07:44.757Z,1629036464.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:07:44.758Z,1629036464.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:07:45.157Z,1629036465.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
250,000,00B7C,189,80,80,9C,FF
2021-08-15T14:07:45.157Z,1629036465.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:07:45.158Z,1629036465.158 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:07:45.159Z,1629036465.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:07:45.590Z,1629036465.590 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:07:45.977Z,1629036465.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B4,000,00B4C,189,80,80,A7,FF
2021-08-15T14:07:45.978Z,1629036465.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:07:46.441Z,1629036466.441 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140747.06*59

2021-08-15T14:07:46.526Z,1629036466.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.020004 m, bearing: 82.237458 deg, deltaT: 4.490404 s, approachRate: -0.641369 m/s, LOS rate: -0.496823 deg/s, posRepo size: 4
2021-08-15T14:07:46.532Z,1629036466.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.020004 m,
      bearing: 82.237458 deg,
      approachRate: -0.641369 m/s,
      LOS rate: -0.496823 deg/s,
      cmd update: -1.987294 deg/s,
      cmd heading: 90.360016 deg,
      new cmd heading: 88.455290 deg.

2021-08-15T14:07:48.847Z,1629036468.847 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:07:49.225Z,1629036469.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:07:49.225Z,1629036469.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:07:49.226Z,1629036469.226 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:07:49.227Z,1629036469.227 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:07:49.644Z,1629036469.644 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B4,000,00B4C,189,80,80,A7,FF
2021-08-15T14:07:49.645Z,1629036469.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:07:49.645Z,1629036469.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:07:49.646Z,1629036469.646 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:07:50.078Z,1629036470.078 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:07:50.107Z,1629036470.107 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T14:07:50.461Z,1629036470.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,107,000,00B1C,185,80,80,AD,FF
2021-08-15T14:07:50.461Z,1629036470.461 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:07:50.865Z,1629036470.865 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140751.55*58

2021-08-15T14:07:50.898Z,1629036470.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.139999 m, bearing: 88.431955 deg, deltaT: 4.403765 s, approachRate: -0.653987 m/s, LOS rate: 1.406636 deg/s, posRepo size: 4
2021-08-15T14:07:50.900Z,1629036470.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.139999 m,
      bearing: 88.431955 deg,
      approachRate: -0.653987 m/s,
      LOS rate: 1.406636 deg/s,
      cmd update: 5.626546 deg/s,
      cmd heading: 81.600302 deg,
      new cmd heading: 80.789591 deg.

2021-08-15T14:07:53.292Z,1629036473.292 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:07:53.674Z,1629036473.674 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:07:53.674Z,1629036473.674 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:07:53.675Z,1629036473.675 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:07:53.677Z,1629036473.677 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:07:54.110Z,1629036474.110 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
107,000,00B1C,185,80,80,AD,FF
2021-08-15T14:07:54.110Z,1629036474.110 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:07:54.110Z,1629036474.110 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:07:54.112Z,1629036474.112 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:07:54.138Z,1629036474.138 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T14:07:54.497Z,1629036474.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:07:54.898Z,1629036474.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,004,000,00AEC,183,80,80,AF,FF
2021-08-15T14:07:54.898Z,1629036474.898 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:07:55.350Z,1629036475.350 [Micromodem](INFO): Nmea in: $SNTTA,0.086592,,,,140756.02*43

2021-08-15T14:07:55.404Z,1629036475.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.260010 m, bearing: 91.627363 deg, deltaT: 4.426157 s, approachRate: -0.650675 m/s, LOS rate: 0.721937 deg/s, posRepo size: 4
2021-08-15T14:07:55.406Z,1629036475.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.260010 m,
      bearing: 91.627363 deg,
      approachRate: -0.650675 m/s,
      LOS rate: 0.721937 deg/s,
      cmd update: 2.887750 deg/s,
      cmd heading: 106.501481 deg,
      new cmd heading: 109.248827 deg.

2021-08-15T14:07:57.780Z,1629036477.780 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:07:58.125Z,1629036478.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:07:58.125Z,1629036478.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:07:58.125Z,1629036478.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:07:58.126Z,1629036478.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:07:58.522Z,1629036478.522 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
004,000,00AEC,183,80,80,AF,FF
2021-08-15T14:07:58.523Z,1629036478.523 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:07:58.523Z,1629036478.523 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:07:58.526Z,1629036478.526 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:07:58.941Z,1629036478.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:07:59.346Z,1629036479.346 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B2,000,00AB7,186,80,80,B0,FF
2021-08-15T14:07:59.347Z,1629036479.347 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:07:59.769Z,1629036479.769 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140800.43*54

2021-08-15T14:07:59.803Z,1629036479.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.080002 m, bearing: 90.660707 deg, deltaT: 4.516894 s, approachRate: -0.704025 m/s, LOS rate: -0.214009 deg/s, posRepo size: 4
2021-08-15T14:07:59.805Z,1629036479.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.080002 m,
      bearing: 90.660707 deg,
      approachRate: -0.704025 m/s,
      LOS rate: -0.214009 deg/s,
      cmd update: -0.856036 deg/s,
      cmd heading: 119.522985 deg,
      new cmd heading: 120.614021 deg.

2021-08-15T14:08:02.206Z,1629036482.206 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:08:02.562Z,1629036482.562 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:08:02.562Z,1629036482.562 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:08:02.562Z,1629036482.562 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:08:02.563Z,1629036482.563 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:08:02.969Z,1629036482.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B2,000,00AB7,186,80,80,B0,FF
2021-08-15T14:08:02.970Z,1629036482.970 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:08:02.970Z,1629036482.970 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:08:02.971Z,1629036482.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:08:03.413Z,1629036483.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:08:03.777Z,1629036483.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,217,000,00A87,187,80,80,84,FF
2021-08-15T14:08:03.778Z,1629036483.778 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:08:04.203Z,1629036484.203 [Micromodem](INFO): Nmea in: $SNTTA,0.472536,0.472355,,,140804.87*5B

2021-08-15T14:08:04.275Z,1629036484.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.200005 m, bearing: 86.571097 deg, deltaT: 4.414742 s, approachRate: -0.652359 m/s, LOS rate: -0.926353 deg/s, posRepo size: 4
2021-08-15T14:08:04.278Z,1629036484.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.200005 m,
      bearing: 86.571097 deg,
      approachRate: -0.652359 m/s,
      LOS rate: -0.926353 deg/s,
      cmd update: -3.705412 deg/s,
      cmd heading: 115.736939 deg,
      new cmd heading: 115.370796 deg.

2021-08-15T14:08:06.649Z,1629036486.649 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:08:07.009Z,1629036487.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:08:07.009Z,1629036487.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:08:07.009Z,1629036487.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:08:07.010Z,1629036487.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:08:07.409Z,1629036487.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
217,000,00A87,187,80,80,84,FF
2021-08-15T14:08:07.409Z,1629036487.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:08:07.410Z,1629036487.410 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:08:07.411Z,1629036487.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:08:07.840Z,1629036487.840 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:08:08.237Z,1629036488.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B5,000,00A59,189,80,80,BD,FF
2021-08-15T14:08:08.238Z,1629036488.238 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:08:08.666Z,1629036488.666 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140809.31*58

2021-08-15T14:08:08.693Z,1629036488.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.439995 m, bearing: 85.648366 deg, deltaT: 4.507900 s, approachRate: -0.612261 m/s, LOS rate: -0.204692 deg/s, posRepo size: 4
2021-08-15T14:08:08.695Z,1629036488.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.439995 m,
      bearing: 85.648366 deg,
      approachRate: -0.612261 m/s,
      LOS rate: -0.204692 deg/s,
      cmd update: -0.818768 deg/s,
      cmd heading: 99.177766 deg,
      new cmd heading: 97.782771 deg.

2021-08-15T14:08:11.103Z,1629036491.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:08:11.469Z,1629036491.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:08:11.469Z,1629036491.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:08:11.469Z,1629036491.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:08:11.470Z,1629036491.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:08:11.873Z,1629036491.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B5,000,00A59,189,80,80,BD,FF
2021-08-15T14:08:11.873Z,1629036491.873 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:08:11.873Z,1629036491.873 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:08:11.875Z,1629036491.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:08:12.281Z,1629036492.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:08:12.690Z,1629036492.690 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,215,000,00A29,187,80,80,B1,FF
2021-08-15T14:08:12.690Z,1629036492.690 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:08:13.125Z,1629036493.125 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140813.78*5E

2021-08-15T14:08:13.182Z,1629036493.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.559998 m, bearing: 83.838981 deg, deltaT: 4.356454 s, approachRate: -0.661088 m/s, LOS rate: -0.415334 deg/s, posRepo size: 4
2021-08-15T14:08:13.197Z,1629036493.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.559998 m,
      bearing: 83.838981 deg,
      approachRate: -0.661088 m/s,
      LOS rate: -0.415334 deg/s,
      cmd update: -1.661338 deg/s,
      cmd heading: 95.578756 deg,
      new cmd heading: 95.216514 deg.

2021-08-15T14:08:15.547Z,1629036495.547 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:08:15.917Z,1629036495.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:08:15.917Z,1629036495.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:08:15.917Z,1629036495.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:08:15.918Z,1629036495.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:08:16.339Z,1629036496.339 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
215,000,00A29,187,80,80,B1,FF
2021-08-15T14:08:16.339Z,1629036496.339 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:08:16.345Z,1629036496.345 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:08:16.354Z,1629036496.354 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:08:16.789Z,1629036496.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:08:17.173Z,1629036497.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FA,000,009F7,186,80,80,A7,FF
2021-08-15T14:08:17.173Z,1629036497.173 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:08:17.625Z,1629036497.625 [Micromodem](INFO): Nmea in: $SNTTA,0.087085,,,,140818.27*43

2021-08-15T14:08:17.655Z,1629036497.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.560005 m, bearing: 89.631876 deg, deltaT: 4.520873 s, approachRate: -0.663587 m/s, LOS rate: 1.281367 deg/s, posRepo size: 4
2021-08-15T14:08:17.657Z,1629036497.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.560005 m,
      bearing: 89.631876 deg,
      approachRate: -0.663587 m/s,
      LOS rate: 1.281367 deg/s,
      cmd update: 5.125466 deg/s,
      cmd heading: 88.130377 deg,
      new cmd heading: 87.367660 deg.

2021-08-15T14:08:18.477Z,1629036498.477 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T14:08:20.094Z,1629036500.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:08:20.406Z,1629036500.406 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:08:20.406Z,1629036500.406 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:08:20.406Z,1629036500.406 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:08:20.407Z,1629036500.407 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:08:20.810Z,1629036500.810 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FA,000,009F7,186,80,80,A7,FF
2021-08-15T14:08:20.810Z,1629036500.810 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:08:20.810Z,1629036500.810 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:08:20.812Z,1629036500.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:08:21.221Z,1629036501.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:08:21.626Z,1629036501.626 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A8,000,009C8,186,80,80,CB,FF
2021-08-15T14:08:21.626Z,1629036501.626 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:08:22.083Z,1629036502.083 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140822.72*56

2021-08-15T14:08:22.172Z,1629036502.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.740005 m, bearing: 89.275012 deg, deltaT: 4.421191 s, approachRate: -0.637837 m/s, LOS rate: -0.080717 deg/s, posRepo size: 4
2021-08-15T14:08:22.174Z,1629036502.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.740005 m,
      bearing: 89.275012 deg,
      approachRate: -0.637837 m/s,
      LOS rate: -0.080717 deg/s,
      cmd update: -0.322867 deg/s,
      cmd heading: 110.982534 deg,
      new cmd heading: 113.612052 deg.

2021-08-15T14:08:24.469Z,1629036504.469 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:08:24.853Z,1629036504.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:08:24.853Z,1629036504.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:08:24.854Z,1629036504.854 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:08:24.855Z,1629036504.855 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:08:25.249Z,1629036505.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A8,000,009C8,186,80,80,CB,FF
2021-08-15T14:08:25.249Z,1629036505.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:08:25.249Z,1629036505.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:08:25.251Z,1629036505.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:08:25.657Z,1629036505.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:08:26.105Z,1629036506.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18C,000,00996,186,80,80,9C,FF
2021-08-15T14:08:26.106Z,1629036506.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:08:26.505Z,1629036506.505 [Micromodem](INFO): Nmea in: $SNTTA,0.077482,,,,140827.16*41

2021-08-15T14:08:26.553Z,1629036506.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.739998 m, bearing: 88.595183 deg, deltaT: 4.517370 s, approachRate: -0.664105 m/s, LOS rate: -0.150492 deg/s, posRepo size: 4
2021-08-15T14:08:26.556Z,1629036506.556 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.739998 m,
      bearing: 88.595183 deg,
      approachRate: -0.664105 m/s,
      LOS rate: -0.150492 deg/s,
      cmd update: -0.601969 deg/s,
      cmd heading: 109.525700 deg,
      new cmd heading: 109.401356 deg.

2021-08-15T14:08:28.904Z,1629036508.904 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:08:29.297Z,1629036509.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:08:29.297Z,1629036509.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:08:29.297Z,1629036509.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:08:29.298Z,1629036509.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:08:29.701Z,1629036509.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18C,000,00996,186,80,80,9C,FF
2021-08-15T14:08:29.701Z,1629036509.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:08:29.701Z,1629036509.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:08:29.703Z,1629036509.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:08:30.121Z,1629036510.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:08:30.505Z,1629036510.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25D,000,00965,188,80,80,90,FF
2021-08-15T14:08:30.506Z,1629036510.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:08:30.949Z,1629036510.949 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140831.61*56

2021-08-15T14:08:30.974Z,1629036510.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.799995 m, bearing: 84.798130 deg, deltaT: 4.425610 s, approachRate: -0.664316 m/s, LOS rate: -0.857973 deg/s, posRepo size: 4
2021-08-15T14:08:30.993Z,1629036510.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.799995 m,
      bearing: 84.798130 deg,
      approachRate: -0.664316 m/s,
      LOS rate: -0.857973 deg/s,
      cmd update: -3.431891 deg/s,
      cmd heading: 106.858551 deg,
      new cmd heading: 106.632927 deg.

2021-08-15T14:08:31.217Z,1629036511.217 [CTD_Seabird](ERROR): Failed to parse device response: 2,4.77709,4830.93
2021-08-15T14:08:33.407Z,1629036513.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:08:33.745Z,1629036513.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:08:33.745Z,1629036513.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:08:33.745Z,1629036513.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:08:33.746Z,1629036513.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:08:34.137Z,1629036514.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
25D,000,00965,188,80,80,90,FF
2021-08-15T14:08:34.137Z,1629036514.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:08:34.137Z,1629036514.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:08:34.139Z,1629036514.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:08:34.549Z,1629036514.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:08:34.945Z,1629036514.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24D,000,00938,189,80,80,AD,FF
2021-08-15T14:08:34.946Z,1629036514.946 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:08:35.405Z,1629036515.405 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140836.04*52

2021-08-15T14:08:35.457Z,1629036515.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.100006 m, bearing: 82.212071 deg, deltaT: 4.394474 s, approachRate: -0.614406 m/s, LOS rate: -0.588480 deg/s, posRepo size: 4
2021-08-15T14:08:35.459Z,1629036515.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.100006 m,
      bearing: 82.212071 deg,
      approachRate: -0.614406 m/s,
      LOS rate: -0.588480 deg/s,
      cmd update: -2.353920 deg/s,
      cmd heading: 91.777622 deg,
      new cmd heading: 90.192971 deg.

2021-08-15T14:08:37.800Z,1629036517.800 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:08:38.177Z,1629036518.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:08:38.177Z,1629036518.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:08:38.178Z,1629036518.178 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:08:38.179Z,1629036518.179 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:08:38.586Z,1629036518.586 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24D,000,00938,189,80,80,AD,FF
2021-08-15T14:08:38.587Z,1629036518.587 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:08:38.587Z,1629036518.587 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:08:38.589Z,1629036518.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:08:38.989Z,1629036518.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:08:39.397Z,1629036519.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,123,000,00907,186,80,80,AF,FF
2021-08-15T14:08:39.398Z,1629036519.398 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:08:39.821Z,1629036519.821 [Micromodem](INFO): Nmea in: $SNTTA,0.073333,,,,140840.49*43

2021-08-15T14:08:39.863Z,1629036519.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.160004 m, bearing: 86.990314 deg, deltaT: 4.470243 s, approachRate: -0.657683 m/s, LOS rate: 1.068900 deg/s, posRepo size: 4
2021-08-15T14:08:39.865Z,1629036519.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.160004 m,
      bearing: 86.990314 deg,
      approachRate: -0.657683 m/s,
      LOS rate: 1.068900 deg/s,
      cmd update: 4.275601 deg/s,
      cmd heading: 81.264051 deg,
      new cmd heading: 80.310473 deg.

2021-08-15T14:08:42.272Z,1629036522.272 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:08:42.633Z,1629036522.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:08:42.633Z,1629036522.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:08:42.633Z,1629036522.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:08:42.634Z,1629036522.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:08:43.037Z,1629036523.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
123,000,00907,186,80,80,AF,FF
2021-08-15T14:08:43.037Z,1629036523.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:08:43.037Z,1629036523.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:08:43.039Z,1629036523.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:08:43.433Z,1629036523.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:08:43.833Z,1629036523.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,022,000,008D8,184,80,80,AF,FF
2021-08-15T14:08:43.834Z,1629036523.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:08:44.281Z,1629036524.281 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140844.94*5E

2021-08-15T14:08:44.408Z,1629036524.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.339996 m, bearing: 90.689210 deg, deltaT: 4.442406 s, approachRate: -0.634793 m/s, LOS rate: 0.832633 deg/s, posRepo size: 4
2021-08-15T14:08:44.410Z,1629036524.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.339996 m,
      bearing: 90.689210 deg,
      approachRate: -0.634793 m/s,
      LOS rate: 0.832633 deg/s,
      cmd update: 3.330534 deg/s,
      cmd heading: 100.276638 deg,
      new cmd heading: 102.410316 deg.

2021-08-15T14:08:46.710Z,1629036526.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:08:47.065Z,1629036527.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:08:47.065Z,1629036527.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:08:47.065Z,1629036527.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:08:47.066Z,1629036527.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:08:47.474Z,1629036527.474 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
022,000,008D8,184,80,80,AF,FF
2021-08-15T14:08:47.474Z,1629036527.474 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:08:47.474Z,1629036527.474 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:08:47.476Z,1629036527.476 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:08:47.876Z,1629036527.876 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:08:48.285Z,1629036528.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F1,000,008A6,186,80,80,A0,FF
2021-08-15T14:08:48.286Z,1629036528.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:08:48.721Z,1629036528.721 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140849.38*55

2021-08-15T14:08:48.756Z,1629036528.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.340004 m, bearing: 88.239248 deg, deltaT: 4.516649 s, approachRate: -0.664208 m/s, LOS rate: -0.542429 deg/s, posRepo size: 4
2021-08-15T14:08:48.758Z,1629036528.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.340004 m,
      bearing: 88.239248 deg,
      approachRate: -0.664208 m/s,
      LOS rate: -0.542429 deg/s,
      cmd update: -2.169716 deg/s,
      cmd heading: 115.314120 deg,
      new cmd heading: 116.433593 deg.

2021-08-15T14:08:51.147Z,1629036531.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:08:51.513Z,1629036531.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:08:51.513Z,1629036531.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:08:51.513Z,1629036531.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:08:51.514Z,1629036531.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:08:51.909Z,1629036531.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F1,000,008A6,186,80,80,A0,FF
2021-08-15T14:08:51.909Z,1629036531.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:08:51.910Z,1629036531.910 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:08:51.911Z,1629036531.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:08:52.358Z,1629036532.358 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:08:52.729Z,1629036532.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,268,000,00875,189,80,80,A7,FF
2021-08-15T14:08:52.730Z,1629036532.730 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:08:53.170Z,1629036533.170 [Micromodem](INFO): Nmea in: $SNTTA,0.074248,,,,140853.83*4D

2021-08-15T14:08:53.192Z,1629036533.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.400002 m, bearing: 80.848205 deg, deltaT: 4.358711 s, approachRate: -0.674512 m/s, LOS rate: -1.695695 deg/s, posRepo size: 4
2021-08-15T14:08:53.194Z,1629036533.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.400002 m,
      bearing: 80.848205 deg,
      approachRate: -0.674512 m/s,
      LOS rate: -1.695695 deg/s,
      cmd update: -6.782779 deg/s,
      cmd heading: 105.862516 deg,
      new cmd heading: 104.960046 deg.

2021-08-15T14:08:55.615Z,1629036535.615 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:08:55.949Z,1629036535.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:08:55.950Z,1629036535.950 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:08:55.950Z,1629036535.950 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:08:55.951Z,1629036535.951 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:08:56.416Z,1629036536.416 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
268,000,00875,189,80,80,A7,FF
2021-08-15T14:08:56.416Z,1629036536.416 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:08:56.417Z,1629036536.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:08:56.418Z,1629036536.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:08:56.798Z,1629036536.798 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:08:57.209Z,1629036537.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,295,000,0084B,189,80,80,9F,FF
2021-08-15T14:08:57.209Z,1629036537.209 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:08:57.623Z,1629036537.623 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140858.32*5F

2021-08-15T14:08:57.649Z,1629036537.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.879997 m, bearing: 79.536016 deg, deltaT: 4.446531 s, approachRate: -0.566735 m/s, LOS rate: -0.295104 deg/s, posRepo size: 4
2021-08-15T14:08:57.651Z,1629036537.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.879997 m,
      bearing: 79.536016 deg,
      approachRate: -0.566735 m/s,
      LOS rate: -0.295104 deg/s,
      cmd update: -1.180416 deg/s,
      cmd heading: 75.675228 deg,
      new cmd heading: 72.807768 deg.

2021-08-15T14:09:00.096Z,1629036540.096 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:09:00.429Z,1629036540.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:09:00.429Z,1629036540.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:09:00.429Z,1629036540.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:09:00.430Z,1629036540.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:09:00.825Z,1629036540.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
295,000,0084B,189,80,80,9F,FF
2021-08-15T14:09:00.825Z,1629036540.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:09:00.826Z,1629036540.826 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:09:00.827Z,1629036540.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:09:01.244Z,1629036541.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:09:01.633Z,1629036541.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B7,000,0081E,186,80,80,97,FF
2021-08-15T14:09:01.634Z,1629036541.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:09:02.113Z,1629036542.113 [Micromodem](INFO): Nmea in: $SNTTA,0.073866,,,,140902.73*46

2021-08-15T14:09:02.153Z,1629036542.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.180008 m, bearing: 88.326114 deg, deltaT: 4.469413 s, approachRate: -0.604104 m/s, LOS rate: 1.966723 deg/s, posRepo size: 4
2021-08-15T14:09:02.155Z,1629036542.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.180008 m,
      bearing: 88.326114 deg,
      approachRate: -0.604104 m/s,
      LOS rate: 1.966723 deg/s,
      cmd update: 7.866893 deg/s,
      cmd heading: 70.409034 deg,
      new cmd heading: 69.859533 deg.

2021-08-15T14:09:04.522Z,1629036544.522 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:09:04.865Z,1629036544.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:09:04.865Z,1629036544.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:09:04.865Z,1629036544.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:09:04.866Z,1629036544.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:09:05.269Z,1629036545.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B7,000,0081E,186,80,80,97,FF
2021-08-15T14:09:05.270Z,1629036545.270 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:09:05.270Z,1629036545.270 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:09:05.273Z,1629036545.273 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:09:05.684Z,1629036545.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:09:06.124Z,1629036546.124 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7E,000,007E8,186,80,80,A8,FF
2021-08-15T14:09:06.125Z,1629036546.125 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:09:06.525Z,1629036546.525 [Micromodem](INFO): Nmea in: $SNTTA,,0.060966,,,140907.18*4D

2021-08-15T14:09:06.576Z,1629036546.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.940002 m, bearing: 89.952861 deg, deltaT: 4.491253 s, approachRate: -0.721403 m/s, LOS rate: 0.362203 deg/s, posRepo size: 4
2021-08-15T14:09:06.579Z,1629036546.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.940002 m,
      bearing: 89.952861 deg,
      approachRate: -0.721403 m/s,
      LOS rate: 0.362203 deg/s,
      cmd update: 1.448813 deg/s,
      cmd heading: 105.614876 deg,
      new cmd heading: 108.829816 deg.

2021-08-15T14:09:08.931Z,1629036548.931 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:09:09.317Z,1629036549.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:09:09.318Z,1629036549.318 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:09:09.318Z,1629036549.318 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:09:09.320Z,1629036549.320 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:09:09.721Z,1629036549.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7E,000,007E8,186,80,80,A8,FF
2021-08-15T14:09:09.722Z,1629036549.722 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:09:09.722Z,1629036549.722 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:09:09.723Z,1629036549.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:09:10.131Z,1629036550.131 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:09:10.537Z,1629036550.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE8,000,007B6,183,80,80,A3,FF
2021-08-15T14:09:10.537Z,1629036550.537 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:09:10.977Z,1629036550.977 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140911.63*57

2021-08-15T14:09:11.010Z,1629036551.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.940002 m, bearing: 89.415905 deg, deltaT: 4.424486 s, approachRate: -0.678045 m/s, LOS rate: -0.121360 deg/s, posRepo size: 4
2021-08-15T14:09:11.011Z,1629036551.011 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.940002 m,
      bearing: 89.415905 deg,
      approachRate: -0.678045 m/s,
      LOS rate: -0.121360 deg/s,
      cmd update: -0.485440 deg/s,
      cmd heading: 112.054317 deg,
      new cmd heading: 112.636988 deg.

2021-08-15T14:09:13.476Z,1629036553.476 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:09:13.765Z,1629036553.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:09:13.766Z,1629036553.766 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:09:13.766Z,1629036553.766 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:09:13.767Z,1629036553.767 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:09:14.169Z,1629036554.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE8,000,007B6,183,80,80,A3,FF
2021-08-15T14:09:14.169Z,1629036554.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:09:14.170Z,1629036554.170 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:09:14.171Z,1629036554.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:09:14.582Z,1629036554.582 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:09:14.969Z,1629036554.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,117,000,00782,186,80,80,93,FF
2021-08-15T14:09:14.970Z,1629036554.970 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:09:15.425Z,1629036555.425 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140916.08*5D

2021-08-15T14:09:15.471Z,1629036555.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.820000 m, bearing: 87.862140 deg, deltaT: 4.425863 s, approachRate: -0.704948 m/s, LOS rate: -0.351065 deg/s, posRepo size: 4
2021-08-15T14:09:15.478Z,1629036555.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.820000 m,
      bearing: 87.862140 deg,
      approachRate: -0.704948 m/s,
      LOS rate: -0.351065 deg/s,
      cmd update: -1.404260 deg/s,
      cmd heading: 109.909272 deg,
      new cmd heading: 109.693184 deg.

2021-08-15T14:09:17.832Z,1629036557.832 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:09:18.209Z,1629036558.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:09:18.209Z,1629036558.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:09:18.209Z,1629036558.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:09:18.210Z,1629036558.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:09:18.613Z,1629036558.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
117,000,00782,186,80,80,93,FF
2021-08-15T14:09:18.613Z,1629036558.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:09:18.613Z,1629036558.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:09:18.615Z,1629036558.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:09:19.013Z,1629036559.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:09:19.418Z,1629036559.418 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,271,000,00756,189,80,80,88,FF
2021-08-15T14:09:19.418Z,1629036559.418 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:09:19.857Z,1629036559.857 [Micromodem](INFO): Nmea in: $SNTTA,0.064361,,,,140920.52*4F

2021-08-15T14:09:19.908Z,1629036559.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.180008 m, bearing: 80.022995 deg, deltaT: 4.413292 s, approachRate: -0.598191 m/s, LOS rate: -1.776258 deg/s, posRepo size: 4
2021-08-15T14:09:19.911Z,1629036559.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.180008 m,
      bearing: 80.022995 deg,
      approachRate: -0.598191 m/s,
      LOS rate: -1.776258 deg/s,
      cmd update: -7.105032 deg/s,
      cmd heading: 103.696276 deg,
      new cmd heading: 103.093793 deg.

2021-08-15T14:09:22.301Z,1629036562.301 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:09:22.657Z,1629036562.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:09:22.657Z,1629036562.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:09:22.657Z,1629036562.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:09:22.658Z,1629036562.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:09:23.049Z,1629036563.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
271,000,00756,189,80,80,88,FF
2021-08-15T14:09:23.049Z,1629036563.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:09:23.049Z,1629036563.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:09:23.051Z,1629036563.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:09:23.457Z,1629036563.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:09:23.865Z,1629036563.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20F,000,00722,187,80,80,80,FF
2021-08-15T14:09:23.866Z,1629036563.866 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:09:24.305Z,1629036564.305 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140924.96*5B

2021-08-15T14:09:24.393Z,1629036564.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.060005 m, bearing: 81.594218 deg, deltaT: 4.474124 s, approachRate: -0.697344 m/s, LOS rate: 0.351180 deg/s, posRepo size: 4
2021-08-15T14:09:24.395Z,1629036564.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.060005 m,
      bearing: 81.594218 deg,
      approachRate: -0.697344 m/s,
      LOS rate: 0.351180 deg/s,
      cmd update: 1.404721 deg/s,
      cmd heading: 71.910083 deg,
      new cmd heading: 68.583969 deg.

2021-08-15T14:09:26.729Z,1629036566.729 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:09:27.096Z,1629036567.096 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:09:27.096Z,1629036567.096 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:09:27.096Z,1629036567.096 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:09:27.097Z,1629036567.097 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:09:27.509Z,1629036567.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20F,000,00722,187,80,80,80,FF
2021-08-15T14:09:27.509Z,1629036567.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:09:27.509Z,1629036567.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:09:27.511Z,1629036567.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:09:27.901Z,1629036567.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:09:28.317Z,1629036568.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,050,000,006F0,184,80,80,C7,FF
2021-08-15T14:09:28.318Z,1629036568.318 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:09:28.734Z,1629036568.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.059998 m, bearing: 89.047061 deg, deltaT: 4.509587 s, approachRate: -0.665251 m/s, LOS rate: 1.652666 deg/s, posRepo size: 4
2021-08-15T14:09:28.736Z,1629036568.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.059998 m,
      bearing: 89.047061 deg,
      approachRate: -0.665251 m/s,
      LOS rate: 1.652666 deg/s,
      cmd update: 6.610666 deg/s,
      cmd heading: 78.238933 deg,
      new cmd heading: 78.666135 deg.

2021-08-15T14:09:31.156Z,1629036571.156 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:09:31.545Z,1629036571.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:09:31.545Z,1629036571.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:09:31.545Z,1629036571.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:09:31.546Z,1629036571.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:09:31.941Z,1629036571.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
050,000,006F0,184,80,80,C7,FF
2021-08-15T14:09:31.941Z,1629036571.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:09:31.941Z,1629036571.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:09:31.943Z,1629036571.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:09:32.365Z,1629036572.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:09:32.739Z,1629036572.739 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F68,000,006C0,186,80,80,8C,FF
2021-08-15T14:09:32.739Z,1629036572.739 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:09:33.185Z,1629036573.185 [Micromodem](INFO): Nmea in: $SNTTA,0.063797,,,,140933.85*4D

2021-08-15T14:09:33.223Z,1629036573.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.180000 m, bearing: 90.978721 deg, deltaT: 4.321938 s, approachRate: -0.666367 m/s, LOS rate: 0.446943 deg/s, posRepo size: 4
2021-08-15T14:09:33.225Z,1629036573.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.180000 m,
      bearing: 90.978721 deg,
      approachRate: -0.666367 m/s,
      LOS rate: 0.446943 deg/s,
      cmd update: 1.787772 deg/s,
      cmd heading: 106.839601 deg,
      new cmd heading: 109.927079 deg.

2021-08-15T14:09:35.619Z,1629036575.619 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:09:35.985Z,1629036575.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:09:35.985Z,1629036575.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:09:35.986Z,1629036575.986 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:09:35.987Z,1629036575.987 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:09:36.397Z,1629036576.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F68,000,006C0,186,80,80,8C,FF
2021-08-15T14:09:36.398Z,1629036576.398 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:09:36.398Z,1629036576.398 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:09:36.399Z,1629036576.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:09:36.789Z,1629036576.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:09:37.181Z,1629036577.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04C,000,0068F,184,80,80,AB,FF
2021-08-15T14:09:37.182Z,1629036577.182 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:09:37.629Z,1629036577.629 [Micromodem](INFO): Nmea in: $SNTTA,0.094615,,,,140938.31*4A

2021-08-15T14:09:37.675Z,1629036577.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.240005 m, bearing: 90.424048 deg, deltaT: 4.489992 s, approachRate: -0.654788 m/s, LOS rate: -0.123535 deg/s, posRepo size: 4
2021-08-15T14:09:37.678Z,1629036577.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.240005 m,
      bearing: 90.424048 deg,
      approachRate: -0.654788 m/s,
      LOS rate: -0.123535 deg/s,
      cmd update: -0.494142 deg/s,
      cmd heading: 114.847934 deg,
      new cmd heading: 115.634314 deg.

2021-08-15T14:09:40.111Z,1629036580.111 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-15T14:09:40.145Z,1629036580.145 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:09:40.417Z,1629036580.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:09:40.417Z,1629036580.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:09:40.417Z,1629036580.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:09:40.418Z,1629036580.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:09:40.818Z,1629036580.818 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04C,000,0068F,184,80,80,AB,FF
2021-08-15T14:09:40.819Z,1629036580.819 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:09:40.819Z,1629036580.819 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:09:40.821Z,1629036580.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:09:41.228Z,1629036581.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:09:41.629Z,1629036581.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BD,000,00659,186,80,80,91,FF
2021-08-15T14:09:41.630Z,1629036581.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:09:42.105Z,1629036582.105 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140942.73*50

2021-08-15T14:09:42.174Z,1629036582.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.000000 m, bearing: 85.516407 deg, deltaT: 4.410837 s, approachRate: -0.734556 m/s, LOS rate: -1.112633 deg/s, posRepo size: 4
2021-08-15T14:09:42.180Z,1629036582.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.000000 m,
      bearing: 85.516407 deg,
      approachRate: -0.734556 m/s,
      LOS rate: -1.112633 deg/s,
      cmd update: -4.450530 deg/s,
      cmd heading: 112.663279 deg,
      new cmd heading: 112.407801 deg.

2021-08-15T14:09:44.486Z,1629036584.486 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:09:44.865Z,1629036584.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:09:44.865Z,1629036584.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:09:44.865Z,1629036584.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:09:44.866Z,1629036584.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:09:45.265Z,1629036585.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BD,000,00659,186,80,80,91,FF
2021-08-15T14:09:45.265Z,1629036585.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:09:45.266Z,1629036585.266 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:09:45.267Z,1629036585.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:09:45.677Z,1629036585.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:09:46.113Z,1629036586.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C4,000,0062D,189,80,80,8A,FF
2021-08-15T14:09:46.114Z,1629036586.114 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:09:46.541Z,1629036586.541 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140947.17*57

2021-08-15T14:09:46.598Z,1629036586.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.360001 m, bearing: 79.950902 deg, deltaT: 4.513734 s, approachRate: -0.584881 m/s, LOS rate: -1.233016 deg/s, posRepo size: 4
2021-08-15T14:09:46.599Z,1629036586.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.360001 m,
      bearing: 79.950902 deg,
      approachRate: -0.584881 m/s,
      LOS rate: -1.233016 deg/s,
      cmd update: -4.932063 deg/s,
      cmd heading: 92.662894 deg,
      new cmd heading: 90.682867 deg.

2021-08-15T14:09:48.924Z,1629036588.924 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:09:49.312Z,1629036589.312 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:09:49.312Z,1629036589.312 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:09:49.313Z,1629036589.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:09:49.315Z,1629036589.315 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:09:49.717Z,1629036589.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C4,000,0062D,189,80,80,8A,FF
2021-08-15T14:09:49.718Z,1629036589.718 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:09:49.718Z,1629036589.718 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:09:49.719Z,1629036589.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:09:50.125Z,1629036590.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:09:50.521Z,1629036590.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17D,000,005FD,185,80,80,C7,FF
2021-08-15T14:09:50.521Z,1629036590.521 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:09:50.597Z,1629036590.597 [CTD_Seabird](ERROR): Failed to parse device response: .28
2021-08-15T14:09:50.957Z,1629036590.957 [Micromodem](INFO): Nmea in: $SNTTA,,,,,140951.62*52

2021-08-15T14:09:50.989Z,1629036590.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.480000 m, bearing: 85.008084 deg, deltaT: 4.469180 s, approachRate: -0.644414 m/s, LOS rate: 1.131568 deg/s, posRepo size: 4
2021-08-15T14:09:50.991Z,1629036590.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.480000 m,
      bearing: 85.008084 deg,
      approachRate: -0.644414 m/s,
      LOS rate: 1.131568 deg/s,
      cmd update: 4.526272 deg/s,
      cmd heading: 70.541849 deg,
      new cmd heading: 68.800806 deg.

2021-08-15T14:09:53.406Z,1629036593.406 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:09:53.753Z,1629036593.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:09:53.754Z,1629036593.754 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:09:53.754Z,1629036593.754 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:09:53.755Z,1629036593.755 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:09:54.166Z,1629036594.166 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
17D,000,005FD,185,80,80,C7,FF
2021-08-15T14:09:54.166Z,1629036594.166 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:09:54.166Z,1629036594.166 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:09:54.168Z,1629036594.168 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:09:54.572Z,1629036594.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:09:54.969Z,1629036594.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF4,000,005CD,183,80,80,C1,FF
2021-08-15T14:09:54.969Z,1629036594.969 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:09:55.417Z,1629036595.417 [Micromodem](INFO): Nmea in: $SNTTA,0.043792,,,,140956.07*43

2021-08-15T14:09:55.466Z,1629036595.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.600002 m, bearing: 88.866690 deg, deltaT: 4.347177 s, approachRate: -0.662498 m/s, LOS rate: 0.887612 deg/s, posRepo size: 4
2021-08-15T14:09:55.468Z,1629036595.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.600002 m,
      bearing: 88.866690 deg,
      approachRate: -0.662498 m/s,
      LOS rate: 0.887612 deg/s,
      cmd update: 3.550448 deg/s,
      cmd heading: 90.236697 deg,
      new cmd heading: 92.403184 deg.

2021-08-15T14:09:57.801Z,1629036597.801 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:09:58.201Z,1629036598.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:09:58.202Z,1629036598.202 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:09:58.202Z,1629036598.202 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:09:58.203Z,1629036598.203 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:09:58.605Z,1629036598.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF4,000,005CD,183,80,80,C1,FF
2021-08-15T14:09:58.605Z,1629036598.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:09:58.605Z,1629036598.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:09:58.607Z,1629036598.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:09:59.006Z,1629036599.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:09:59.413Z,1629036599.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F79,000,0059E,187,80,80,AC,FF
2021-08-15T14:09:59.414Z,1629036599.414 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:09:59.858Z,1629036599.858 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141000.51*5E

2021-08-15T14:09:59.904Z,1629036599.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.779995 m, bearing: 91.616490 deg, deltaT: 4.454386 s, approachRate: -0.633086 m/s, LOS rate: 0.617324 deg/s, posRepo size: 4
2021-08-15T14:09:59.906Z,1629036599.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.779995 m,
      bearing: 91.616490 deg,
      approachRate: -0.633086 m/s,
      LOS rate: 0.617324 deg/s,
      cmd update: 2.469297 deg/s,
      cmd heading: 106.051967 deg,
      new cmd heading: 107.678288 deg.

2021-08-15T14:10:02.361Z,1629036602.361 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:10:02.634Z,1629036602.634 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:10:02.635Z,1629036602.635 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:10:02.635Z,1629036602.635 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:10:02.636Z,1629036602.636 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:10:03.037Z,1629036603.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F79,000,0059E,187,80,80,AC,FF
2021-08-15T14:10:03.037Z,1629036603.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:10:03.038Z,1629036603.038 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:10:03.041Z,1629036603.041 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:10:03.445Z,1629036603.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:10:03.861Z,1629036603.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BD,000,0056A,185,80,80,9F,FF
2021-08-15T14:10:03.862Z,1629036603.862 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:10:04.297Z,1629036604.297 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141004.95*52

2021-08-15T14:10:04.390Z,1629036604.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.660000 m, bearing: 87.399381 deg, deltaT: 4.478489 s, approachRate: -0.696662 m/s, LOS rate: -0.941637 deg/s, posRepo size: 4
2021-08-15T14:10:04.393Z,1629036604.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.660000 m,
      bearing: 87.399381 deg,
      approachRate: -0.696662 m/s,
      LOS rate: -0.941637 deg/s,
      cmd update: -3.766546 deg/s,
      cmd heading: 117.099007 deg,
      new cmd heading: 118.265582 deg.

2021-08-15T14:10:06.726Z,1629036606.726 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:10:07.089Z,1629036607.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:10:07.089Z,1629036607.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:10:07.090Z,1629036607.090 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:10:07.091Z,1629036607.091 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:10:07.493Z,1629036607.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BD,000,0056A,185,80,80,9F,FF
2021-08-15T14:10:07.493Z,1629036607.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:10:07.493Z,1629036607.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:10:07.495Z,1629036607.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:10:07.896Z,1629036607.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:10:08.295Z,1629036608.295 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,256,000,00537,18A,80,80,33,FF
2021-08-15T14:10:08.295Z,1629036608.295 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:10:08.739Z,1629036608.739 [Micromodem](INFO): Nmea in: $SNTTA,0.031184,,,,141009.40*46

2021-08-15T14:10:08.787Z,1629036608.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.599998 m, bearing: 82.453210 deg, deltaT: 4.498642 s, approachRate: -0.680206 m/s, LOS rate: -1.099481 deg/s, posRepo size: 4
2021-08-15T14:10:08.790Z,1629036608.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.599998 m,
      bearing: 82.453210 deg,
      approachRate: -0.680206 m/s,
      LOS rate: -1.099481 deg/s,
      cmd update: -4.397923 deg/s,
      cmd heading: 100.152223 deg,
      new cmd heading: 98.752089 deg.

2021-08-15T14:10:11.135Z,1629036611.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:10:11.537Z,1629036611.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:10:11.537Z,1629036611.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:10:11.537Z,1629036611.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:10:11.538Z,1629036611.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:10:11.937Z,1629036611.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
256,000,00537,18A,80,80,33,FF
2021-08-15T14:10:11.937Z,1629036611.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:10:11.937Z,1629036611.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:10:11.939Z,1629036611.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:10:12.356Z,1629036612.356 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:10:12.734Z,1629036612.734 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,201,000,0050A,186,80,80,53,FF
2021-08-15T14:10:12.734Z,1629036612.734 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:10:13.185Z,1629036613.185 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141013.84*54

2021-08-15T14:10:13.208Z,1629036613.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.900002 m, bearing: 83.835791 deg, deltaT: 4.369206 s, approachRate: -0.617961 m/s, LOS rate: 0.316437 deg/s, posRepo size: 4
2021-08-15T14:10:13.209Z,1629036613.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.90 m.
2021-08-15T14:10:13.209Z,1629036613.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 39.90 m.
2021-08-15T14:10:13.209Z,1629036613.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-15T14:10:13.211Z,1629036613.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.900002 m,
      bearing: 83.835791 deg,
      approachRate: -0.617961 m/s,
      LOS rate: 0.316437 deg/s,
      cmd update: 1.265750 deg/s,
      cmd heading: 80.937311 deg,
      new cmd heading: 79.072345 deg.

2021-08-15T14:10:13.609Z,1629036613.609 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T14:10:13.609Z,1629036613.609 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T14:10:13.609Z,1629036613.609 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T14:10:13.610Z,1629036613.610 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T14:10:13.610Z,1629036613.610 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T14:10:13.610Z,1629036613.610 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T14:10:13.981Z,1629036613.981 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T14:10:13.982Z,1629036613.982 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T14:10:13.982Z,1629036613.982 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T14:10:13.982Z,1629036613.982 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T14:10:15.610Z,1629036615.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:10:15.981Z,1629036615.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:10:15.981Z,1629036615.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:10:15.981Z,1629036615.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:10:15.982Z,1629036615.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:10:16.397Z,1629036616.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
201,000,0050A,186,80,80,53,FF
2021-08-15T14:10:16.397Z,1629036616.397 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:10:16.397Z,1629036616.397 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:10:16.399Z,1629036616.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:10:16.805Z,1629036616.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:10:17.197Z,1629036617.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07A,000,004DB,187,80,80,7B,FF
2021-08-15T14:10:17.198Z,1629036617.198 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:10:17.248Z,1629036617.248 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:10:17.645Z,1629036617.645 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141018.31*51

2021-08-15T14:10:17.704Z,1629036617.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.080002 m, bearing: 88.262518 deg, deltaT: 4.457258 s, approachRate: -0.632676 m/s, LOS rate: 0.993150 deg/s, posRepo size: 4
2021-08-15T14:10:17.724Z,1629036617.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.080002 m,
      bearing: 88.262518 deg,
      approachRate: -0.632676 m/s,
      LOS rate: 0.993150 deg/s,
      cmd update: 3.972602 deg/s,
      cmd heading: 86.572874 deg,
      new cmd heading: 87.163588 deg.

2021-08-15T14:10:20.113Z,1629036620.113 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:10:20.425Z,1629036620.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:10:20.425Z,1629036620.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:10:20.425Z,1629036620.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:10:20.426Z,1629036620.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:10:20.833Z,1629036620.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07A,000,004DB,187,80,80,7B,FF
2021-08-15T14:10:20.833Z,1629036620.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:10:20.834Z,1629036620.834 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:10:20.835Z,1629036620.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:10:21.241Z,1629036621.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:10:21.645Z,1629036621.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC0,000,004AC,184,80,80,6C,FF
2021-08-15T14:10:21.646Z,1629036621.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:10:21.704Z,1629036621.704 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:10:22.109Z,1629036622.109 [Micromodem](INFO): Nmea in: $SNTTA,0.044242,,,,141022.74*43

2021-08-15T14:10:22.170Z,1629036622.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.259998 m, bearing: 90.469407 deg, deltaT: 4.456362 s, approachRate: -0.632804 m/s, LOS rate: 0.495222 deg/s, posRepo size: 4
2021-08-15T14:10:22.177Z,1629036622.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.259998 m,
      bearing: 90.469407 deg,
      approachRate: -0.632804 m/s,
      LOS rate: 0.495222 deg/s,
      cmd update: 1.980888 deg/s,
      cmd heading: 104.198890 deg,
      new cmd heading: 106.175021 deg.

2021-08-15T14:10:24.510Z,1629036624.510 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:10:24.869Z,1629036624.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:10:24.869Z,1629036624.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:10:24.869Z,1629036624.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:10:24.870Z,1629036624.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:10:25.282Z,1629036625.282 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC0,000,004AC,184,80,80,6C,FF
2021-08-15T14:10:25.282Z,1629036625.282 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:10:25.282Z,1629036625.282 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:10:25.284Z,1629036625.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:10:25.681Z,1629036625.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:10:26.117Z,1629036626.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B4,000,0047D,186,80,80,9E,FF
2021-08-15T14:10:26.117Z,1629036626.117 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:10:26.158Z,1629036626.158 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:10:26.545Z,1629036626.545 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141027.19*57

2021-08-15T14:10:26.605Z,1629036626.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.440002 m, bearing: 89.133320 deg, deltaT: 4.453401 s, approachRate: -0.633223 m/s, LOS rate: -0.300015 deg/s, posRepo size: 4
2021-08-15T14:10:26.607Z,1629036626.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.440002 m,
      bearing: 89.133320 deg,
      approachRate: -0.633223 m/s,
      LOS rate: -0.300015 deg/s,
      cmd update: -1.200060 deg/s,
      cmd heading: 113.076476 deg,
      new cmd heading: 113.960285 deg.

2021-08-15T14:10:28.949Z,1629036628.949 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:10:29.329Z,1629036629.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:10:29.330Z,1629036629.330 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:10:29.330Z,1629036629.330 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:10:29.332Z,1629036629.332 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:10:29.732Z,1629036629.732 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B4,000,0047D,186,80,80,9E,FF
2021-08-15T14:10:29.732Z,1629036629.732 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:10:29.733Z,1629036629.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:10:29.734Z,1629036629.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:10:30.125Z,1629036630.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:10:30.533Z,1629036630.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,23B,000,00447,189,80,80,93,FF
2021-08-15T14:10:30.533Z,1629036630.533 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:10:30.630Z,1629036630.630 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:10:30.723Z,1629036630.723 [CTD_Seabird](ERROR): Failed to parse device response: 9,4.78576,4799.50
2021-08-15T14:10:30.965Z,1629036630.965 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141031.64*5A

2021-08-15T14:10:31.000Z,1629036631.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.199999 m, bearing: 82.635303 deg, deltaT: 4.472501 s, approachRate: -0.724428 m/s, LOS rate: -1.452882 deg/s, posRepo size: 4
2021-08-15T14:10:31.002Z,1629036631.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.199999 m,
      bearing: 82.635303 deg,
      approachRate: -0.724428 m/s,
      LOS rate: -1.452882 deg/s,
      cmd update: -5.811528 deg/s,
      cmd heading: 107.714081 deg,
      new cmd heading: 107.261746 deg.

2021-08-15T14:10:33.427Z,1629036633.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:10:33.769Z,1629036633.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:10:33.769Z,1629036633.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:10:33.769Z,1629036633.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:10:33.770Z,1629036633.770 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:10:34.169Z,1629036634.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
23B,000,00447,189,80,80,93,FF
2021-08-15T14:10:34.169Z,1629036634.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:10:34.169Z,1629036634.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:10:34.171Z,1629036634.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:10:34.575Z,1629036634.575 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:10:34.974Z,1629036634.974 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,299,000,00420,189,80,80,97,FF
2021-08-15T14:10:34.974Z,1629036634.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:10:34.995Z,1629036634.995 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:10:35.426Z,1629036635.426 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141036.08*57

2021-08-15T14:10:35.468Z,1629036635.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.860001 m, bearing: 81.380591 deg, deltaT: 4.364491 s, approachRate: -0.536145 m/s, LOS rate: -0.287482 deg/s, posRepo size: 4
2021-08-15T14:10:35.470Z,1629036635.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.860001 m,
      bearing: 81.380591 deg,
      approachRate: -0.536145 m/s,
      LOS rate: -0.287482 deg/s,
      cmd update: -1.149928 deg/s,
      cmd heading: 82.326002 deg,
      new cmd heading: 79.556960 deg.

2021-08-15T14:10:37.829Z,1629036637.829 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:10:38.215Z,1629036638.215 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:10:38.215Z,1629036638.215 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:10:38.215Z,1629036638.215 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:10:38.216Z,1629036638.216 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:10:38.613Z,1629036638.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
299,000,00420,189,80,80,97,FF
2021-08-15T14:10:38.613Z,1629036638.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:10:38.614Z,1629036638.614 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:10:38.615Z,1629036638.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:10:39.056Z,1629036639.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:10:39.423Z,1629036639.423 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C9,000,003EB,186,80,80,75,FF
2021-08-15T14:10:39.424Z,1629036639.424 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:10:39.455Z,1629036639.455 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:10:39.881Z,1629036639.881 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141040.52*59

2021-08-15T14:10:39.903Z,1629036639.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.679996 m, bearing: 89.137821 deg, deltaT: 4.460275 s, approachRate: -0.712961 m/s, LOS rate: 1.739182 deg/s, posRepo size: 4
2021-08-15T14:10:39.905Z,1629036639.905 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.679996 m,
      bearing: 89.137821 deg,
      approachRate: -0.712961 m/s,
      LOS rate: 1.739182 deg/s,
      cmd update: 6.956728 deg/s,
      cmd heading: 77.197004 deg,
      new cmd heading: 76.677897 deg.

2021-08-15T14:10:42.306Z,1629036642.306 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:10:42.657Z,1629036642.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:10:42.657Z,1629036642.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:10:42.657Z,1629036642.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:10:42.658Z,1629036642.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:10:43.054Z,1629036643.054 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C9,000,003EB,186,80,80,75,FF
2021-08-15T14:10:43.054Z,1629036643.054 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:10:43.054Z,1629036643.054 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:10:43.055Z,1629036643.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:10:43.471Z,1629036643.471 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:10:43.876Z,1629036643.876 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8D,000,003BB,187,80,80,9B,FF
2021-08-15T14:10:43.877Z,1629036643.877 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:10:43.897Z,1629036643.897 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:10:44.305Z,1629036644.305 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141044.96*55

2021-08-15T14:10:44.390Z,1629036644.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.799997 m, bearing: 88.629826 deg, deltaT: 4.442315 s, approachRate: -0.648310 m/s, LOS rate: -0.114354 deg/s, posRepo size: 4
2021-08-15T14:10:44.392Z,1629036644.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.799997 m,
      bearing: 88.629826 deg,
      approachRate: -0.648310 m/s,
      LOS rate: -0.114354 deg/s,
      cmd update: -0.457415 deg/s,
      cmd heading: 108.101101 deg,
      new cmd heading: 111.552146 deg.

2021-08-15T14:10:46.708Z,1629036646.708 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:10:47.093Z,1629036647.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:10:47.094Z,1629036647.094 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:10:47.094Z,1629036647.094 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:10:47.095Z,1629036647.095 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:10:47.506Z,1629036647.506 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8D,000,003BB,187,80,80,9B,FF
2021-08-15T14:10:47.507Z,1629036647.507 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:10:47.507Z,1629036647.507 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:10:47.509Z,1629036647.509 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:10:47.923Z,1629036647.923 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:10:48.313Z,1629036648.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDF,000,00393,185,80,80,45,FF
2021-08-15T14:10:48.313Z,1629036648.313 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:10:48.431Z,1629036648.431 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:10:48.757Z,1629036648.757 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141049.42*51

2021-08-15T14:10:48.780Z,1629036648.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.400002 m, bearing: 89.929720 deg, deltaT: 4.538354 s, approachRate: -0.528825 m/s, LOS rate: 0.286424 deg/s, posRepo size: 4
2021-08-15T14:10:48.782Z,1629036648.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.400002 m,
      bearing: 89.929720 deg,
      approachRate: -0.528825 m/s,
      LOS rate: 0.286424 deg/s,
      cmd update: 1.145697 deg/s,
      cmd heading: 106.029015 deg,
      new cmd heading: 105.866336 deg.

2021-08-15T14:10:51.184Z,1629036651.184 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:10:51.562Z,1629036651.562 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:10:51.562Z,1629036651.562 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:10:51.562Z,1629036651.562 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:10:51.564Z,1629036651.564 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:10:51.946Z,1629036651.946 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDF,000,00393,185,80,80,45,FF
2021-08-15T14:10:51.946Z,1629036651.946 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:10:51.946Z,1629036651.946 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:10:51.952Z,1629036651.952 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:10:52.370Z,1629036652.370 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:10:52.762Z,1629036652.762 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CE,000,0036B,186,80,80,82,FF
2021-08-15T14:10:52.762Z,1629036652.762 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:10:52.783Z,1629036652.783 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:10:53.189Z,1629036653.189 [Micromodem](INFO): Nmea in: $SNTTA,0.032127,,,,141053.86*49

2021-08-15T14:10:53.212Z,1629036653.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.000000 m, bearing: 91.620007 deg, deltaT: 4.348085 s, approachRate: -0.551968 m/s, LOS rate: 0.388743 deg/s, posRepo size: 4
2021-08-15T14:10:53.214Z,1629036653.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.000000 m,
      bearing: 91.620007 deg,
      approachRate: -0.551968 m/s,
      LOS rate: 0.388743 deg/s,
      cmd update: 1.554972 deg/s,
      cmd heading: 111.019921 deg,
      new cmd heading: 111.513937 deg.

2021-08-15T14:10:55.622Z,1629036655.622 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:10:55.989Z,1629036655.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:10:55.989Z,1629036655.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:10:55.989Z,1629036655.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:10:55.990Z,1629036655.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:10:56.401Z,1629036656.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CE,000,0036B,186,80,80,82,FF
2021-08-15T14:10:56.401Z,1629036656.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:10:56.401Z,1629036656.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:10:56.403Z,1629036656.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:10:56.845Z,1629036656.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:10:57.233Z,1629036657.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FB,000,00331,186,80,80,B7,FF
2021-08-15T14:10:57.233Z,1629036657.233 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:10:57.282Z,1629036657.282 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:10:57.666Z,1629036657.666 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141058.31*55

2021-08-15T14:10:57.692Z,1629036657.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.520001 m, bearing: 90.534909 deg, deltaT: 4.498642 s, approachRate: -0.773566 m/s, LOS rate: -0.241206 deg/s, posRepo size: 4
2021-08-15T14:10:57.694Z,1629036657.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.520001 m,
      bearing: 90.534909 deg,
      approachRate: -0.773566 m/s,
      LOS rate: -0.241206 deg/s,
      cmd update: -0.964823 deg/s,
      cmd heading: 118.015507 deg,
      new cmd heading: 118.657481 deg.

2021-08-15T14:11:00.165Z,1629036660.165 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:11:00.469Z,1629036660.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:11:00.469Z,1629036660.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:11:00.470Z,1629036660.470 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:11:00.471Z,1629036660.471 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:11:00.874Z,1629036660.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1FB,000,00331,186,80,80,B7,FF
2021-08-15T14:11:00.874Z,1629036660.874 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:11:00.874Z,1629036660.874 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:11:00.908Z,1629036660.908 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:11:01.282Z,1629036661.282 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:11:01.678Z,1629036661.678 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2FF,000,0030D,189,80,80,8F,FF
2021-08-15T14:11:01.679Z,1629036661.679 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:11:01.750Z,1629036661.750 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:11:02.133Z,1629036662.133 [Micromodem](INFO): Nmea in: $SNTTA,0.028551,,,,141102.81*45

2021-08-15T14:11:02.190Z,1629036662.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.359999 m, bearing: 84.541821 deg, deltaT: 4.467899 s, approachRate: -0.483449 m/s, LOS rate: -1.341366 deg/s, posRepo size: 4
2021-08-15T14:11:02.193Z,1629036662.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.359999 m,
      bearing: 84.541821 deg,
      approachRate: -0.483449 m/s,
      LOS rate: -1.341366 deg/s,
      cmd update: -5.365464 deg/s,
      cmd heading: 113.704811 deg,
      new cmd heading: 113.277147 deg.

2021-08-15T14:11:04.545Z,1629036664.545 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:11:04.916Z,1629036664.916 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:11:04.917Z,1629036664.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:11:04.917Z,1629036664.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:11:04.918Z,1629036664.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:11:05.324Z,1629036665.324 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2FF,000,0030D,189,80,80,8F,FF
2021-08-15T14:11:05.325Z,1629036665.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:11:05.325Z,1629036665.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:11:05.333Z,1629036665.333 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:11:05.732Z,1629036665.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:11:06.126Z,1629036666.126 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,159,000,002EE,185,80,80,93,FF
2021-08-15T14:11:06.126Z,1629036666.126 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:11:06.182Z,1629036666.182 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:11:06.615Z,1629036666.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.499999 m, bearing: 97.293326 deg, deltaT: 4.432005 s, approachRate: -0.419675 m/s, LOS rate: 2.877141 deg/s, posRepo size: 4
2021-08-15T14:11:06.617Z,1629036666.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.499999 m,
      bearing: 97.293326 deg,
      approachRate: -0.419675 m/s,
      LOS rate: 2.877141 deg/s,
      cmd update: 11.508566 deg/s,
      cmd heading: 90.011699 deg,
      new cmd heading: 87.586590 deg.

2021-08-15T14:11:08.991Z,1629036668.991 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:11:09.373Z,1629036669.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:11:09.374Z,1629036669.374 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:11:09.374Z,1629036669.374 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:11:09.375Z,1629036669.375 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:11:09.753Z,1629036669.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
159,000,002EE,185,80,80,93,FF
2021-08-15T14:11:09.753Z,1629036669.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:11:09.754Z,1629036669.754 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:11:09.755Z,1629036669.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:11:10.166Z,1629036670.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:11:10.582Z,1629036670.582 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF6,000,002D1,184,80,80,9A,FF
2021-08-15T14:11:10.583Z,1629036670.583 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:11:10.673Z,1629036670.673 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:11:11.009Z,1629036671.009 [Micromodem](INFO): Nmea in: $SNTTA,0.032783,,,,141111.66*48

2021-08-15T14:11:11.048Z,1629036671.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.759999 m, bearing: 99.889693 deg, deltaT: 4.490449 s, approachRate: -0.387489 m/s, LOS rate: 0.578198 deg/s, posRepo size: 4
2021-08-15T14:11:11.050Z,1629036671.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.759999 m,
      bearing: 99.889693 deg,
      approachRate: -0.387489 m/s,
      LOS rate: 0.578198 deg/s,
      cmd update: 2.312790 deg/s,
      cmd heading: 141.755143 deg,
      new cmd heading: 146.042832 deg.

2021-08-15T14:11:13.454Z,1629036673.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:11:13.813Z,1629036673.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:11:13.813Z,1629036673.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:11:13.813Z,1629036673.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:11:13.814Z,1629036673.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:11:14.209Z,1629036674.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF6,000,002D1,184,80,80,9A,FF
2021-08-15T14:11:14.209Z,1629036674.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:11:14.210Z,1629036674.210 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:11:14.211Z,1629036674.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:11:14.640Z,1629036674.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:11:15.037Z,1629036675.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,090,000,002D4,186,80,80,6D,FF
2021-08-15T14:11:15.037Z,1629036675.037 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:11:15.057Z,1629036675.057 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:11:15.465Z,1629036675.465 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141116.12*5F

2021-08-15T14:11:15.517Z,1629036675.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.940001 m, bearing: 89.792242 deg, deltaT: 4.384801 s, approachRate: 0.041051 m/s, LOS rate: -2.302830 deg/s, posRepo size: 4
2021-08-15T14:11:15.525Z,1629036675.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.940001 m,
      bearing: 89.792242 deg,
      approachRate: 0.041051 m/s,
      LOS rate: -2.302830 deg/s,
      cmd update: -9.211319 deg/s,
      cmd heading: 151.920804 deg,
      new cmd heading: 152.942671 deg.

2021-08-15T14:11:17.887Z,1629036677.887 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:11:18.257Z,1629036678.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:11:18.257Z,1629036678.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:11:18.257Z,1629036678.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:11:18.258Z,1629036678.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:11:18.666Z,1629036678.666 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
090,000,002D4,186,80,80,6D,FF
2021-08-15T14:11:18.666Z,1629036678.666 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:11:18.666Z,1629036678.666 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:11:18.668Z,1629036678.668 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:11:19.069Z,1629036679.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:11:19.481Z,1629036679.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F36,000,002E7,186,80,80,A1,FF
2021-08-15T14:11:19.482Z,1629036679.482 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:11:19.533Z,1629036679.533 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:11:19.918Z,1629036679.918 [Micromodem](INFO): Nmea in: $SNTTA,0.027305,,,,141120.57*46

2021-08-15T14:11:19.940Z,1629036679.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.080001 m, bearing: 118.040559 deg, deltaT: 4.475144 s, approachRate: 0.254740 m/s, LOS rate: 6.312270 deg/s, posRepo size: 4
2021-08-15T14:11:19.942Z,1629036679.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.080001 m,
      bearing: 118.040559 deg,
      approachRate: 0.254740 m/s,
      LOS rate: 6.312270 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 110.699266 deg,
      new cmd heading: 106.921731 deg.

2021-08-15T14:11:22.391Z,1629036682.391 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:11:22.701Z,1629036682.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:11:22.701Z,1629036682.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:11:22.701Z,1629036682.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:11:22.702Z,1629036682.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:11:23.109Z,1629036683.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F36,000,002E7,186,80,80,A1,FF
2021-08-15T14:11:23.109Z,1629036683.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:11:23.109Z,1629036683.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:11:23.111Z,1629036683.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:11:23.513Z,1629036683.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:11:23.917Z,1629036683.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFB,000,0030A,186,80,80,7F,FF
2021-08-15T14:11:23.918Z,1629036683.918 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:11:23.980Z,1629036683.980 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:11:24.357Z,1629036684.357 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141125.02*5E

2021-08-15T14:11:24.434Z,1629036684.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.180000 m, bearing: 130.964438 deg, deltaT: 4.447277 s, approachRate: 0.472199 m/s, LOS rate: 2.906021 deg/s, posRepo size: 4
2021-08-15T14:11:24.440Z,1629036684.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.180000 m,
      bearing: 130.964438 deg,
      approachRate: 0.472199 m/s,
      LOS rate: 2.906021 deg/s,
      cmd update: 11.624083 deg/s,
      cmd heading: 164.062019 deg,
      new cmd heading: 169.541003 deg.

2021-08-15T14:11:26.787Z,1629036686.787 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:11:27.146Z,1629036687.146 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:11:27.146Z,1629036687.146 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:11:27.146Z,1629036687.146 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:11:27.147Z,1629036687.147 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:11:27.545Z,1629036687.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFB,000,0030A,186,80,80,7F,FF
2021-08-15T14:11:27.545Z,1629036687.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:11:27.545Z,1629036687.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:11:27.560Z,1629036687.560 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:11:27.960Z,1629036687.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:11:28.389Z,1629036688.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,051,000,00334,184,80,80,B9,FF
2021-08-15T14:11:28.389Z,1629036688.389 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:11:28.486Z,1629036688.486 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:11:28.801Z,1629036688.801 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141129.47*53

2021-08-15T14:11:28.824Z,1629036688.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.700000 m, bearing: 115.714620 deg, deltaT: 4.505980 s, approachRate: 0.559257 m/s, LOS rate: -3.384351 deg/s, posRepo size: 4
2021-08-15T14:11:28.826Z,1629036688.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.700000 m,
      bearing: 115.714620 deg,
      approachRate: 0.559257 m/s,
      LOS rate: -3.384351 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 216.397093 deg,
      new cmd heading: 220.406018 deg.

2021-08-15T14:11:31.215Z,1629036691.215 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:11:31.629Z,1629036691.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:11:31.629Z,1629036691.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:11:31.629Z,1629036691.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:11:31.630Z,1629036691.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:11:31.993Z,1629036691.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
051,000,00334,184,80,80,B9,FF
2021-08-15T14:11:31.993Z,1629036691.993 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:11:31.994Z,1629036691.994 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:11:31.995Z,1629036691.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:11:32.409Z,1629036692.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:11:32.809Z,1629036692.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E77,000,00359,186,80,80,48,FF
2021-08-15T14:11:32.810Z,1629036692.810 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:11:32.830Z,1629036692.830 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:11:33.241Z,1629036693.241 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141133.90*52

2021-08-15T14:11:33.274Z,1629036693.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.919997 m, bearing: 152.604157 deg, deltaT: 4.343972 s, approachRate: 0.511052 m/s, LOS rate: 8.492121 deg/s, posRepo size: 4
2021-08-15T14:11:33.275Z,1629036693.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 13.92 m. Rolling out.
2021-08-15T14:11:33.275Z,1629036693.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-15T14:11:35.690Z,1629036695.690 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:11:36.077Z,1629036696.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:11:36.077Z,1629036696.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:11:36.077Z,1629036696.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:11:36.078Z,1629036696.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:11:36.434Z,1629036696.434 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E77,000,00359,186,80,80,48,FF
2021-08-15T14:11:36.434Z,1629036696.434 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:11:36.434Z,1629036696.434 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:11:36.435Z,1629036696.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:11:36.853Z,1629036696.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:11:37.245Z,1629036697.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E50,000,0037B,185,80,80,7F,FF
2021-08-15T14:11:37.246Z,1629036697.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:11:37.301Z,1629036697.301 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:11:37.689Z,1629036697.689 [Micromodem](INFO): Nmea in: $SNTTA,0.010564,,,,141138.35*4E

2021-08-15T14:11:37.720Z,1629036697.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.960001 m, bearing: 170.968924 deg, deltaT: 4.471000 s, approachRate: 0.456275 m/s, LOS rate: 4.107530 deg/s, posRepo size: 4
2021-08-15T14:11:40.167Z,1629036700.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:11:40.474Z,1629036700.474 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:11:40.474Z,1629036700.474 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:11:40.474Z,1629036700.474 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:11:40.475Z,1629036700.475 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:11:40.889Z,1629036700.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E50,000,0037B,185,80,80,7F,FF
2021-08-15T14:11:40.889Z,1629036700.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:11:40.889Z,1629036700.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:11:40.891Z,1629036700.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:11:41.285Z,1629036701.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:11:41.690Z,1629036701.690 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F24,000,00398,187,80,80,57,FF
2021-08-15T14:11:41.691Z,1629036701.691 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:11:41.746Z,1629036701.746 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:11:42.157Z,1629036702.157 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141142.80*55

2021-08-15T14:11:42.217Z,1629036702.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.700001 m, bearing: 171.941051 deg, deltaT: 4.445069 s, approachRate: 0.391445 m/s, LOS rate: 0.218698 deg/s, posRepo size: 4
2021-08-15T14:11:43.728Z,1629036703.728 [PowerOnly](INFO): Powering down loadControl
2021-08-15T14:11:44.569Z,1629036704.569 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:11:44.921Z,1629036704.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:11:44.922Z,1629036704.922 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:11:44.922Z,1629036704.922 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:11:44.923Z,1629036704.923 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:11:45.345Z,1629036705.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F24,000,00398,187,80,80,57,FF
2021-08-15T14:11:45.345Z,1629036705.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:11:45.346Z,1629036705.346 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:11:45.354Z,1629036705.354 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:11:45.733Z,1629036705.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:11:46.221Z,1629036706.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E84,000,003A4,186,80,80,5B,FF
2021-08-15T14:11:46.222Z,1629036706.222 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:11:46.296Z,1629036706.296 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:11:46.593Z,1629036706.593 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141147.26*5C

2021-08-15T14:11:46.636Z,1629036706.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.420000 m, bearing: 186.575360 deg, deltaT: 4.551508 s, approachRate: 0.158189 m/s, LOS rate: 3.215266 deg/s, posRepo size: 4
2021-08-15T14:11:49.021Z,1629036709.021 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:11:49.397Z,1629036709.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:11:49.397Z,1629036709.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:11:49.397Z,1629036709.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:11:49.398Z,1629036709.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:11:49.789Z,1629036709.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E84,000,003A4,186,80,80,5B,FF
2021-08-15T14:11:49.789Z,1629036709.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:11:49.789Z,1629036709.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:11:49.790Z,1629036709.790 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:11:50.177Z,1629036710.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:11:50.586Z,1629036710.586 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E28,000,003A5,186,80,80,9F,FF
2021-08-15T14:11:50.586Z,1629036710.586 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:11:50.650Z,1629036710.650 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:11:51.013Z,1629036711.013 [Micromodem](INFO): Nmea in: $SNTTA,0.031901,,,,141151.70*4C

2021-08-15T14:11:51.036Z,1629036711.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.479998 m, bearing: 194.412387 deg, deltaT: 4.352737 s, approachRate: 0.013784 m/s, LOS rate: 1.800483 deg/s, posRepo size: 4
2021-08-15T14:11:53.434Z,1629036713.434 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:11:53.817Z,1629036713.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:11:53.817Z,1629036713.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:11:53.817Z,1629036713.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:11:53.818Z,1629036713.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:11:54.217Z,1629036714.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E28,000,003A5,186,80,80,9F,FF
2021-08-15T14:11:54.217Z,1629036714.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:11:54.218Z,1629036714.218 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:11:54.219Z,1629036714.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:11:54.637Z,1629036714.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:11:55.022Z,1629036715.022 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA8,000,003C2,186,80,80,8B,FF
2021-08-15T14:11:55.022Z,1629036715.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:11:55.070Z,1629036715.070 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:11:55.469Z,1629036715.469 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141156.13*5A

2021-08-15T14:11:55.495Z,1629036715.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.219997 m, bearing: 187.661196 deg, deltaT: 4.420299 s, approachRate: 0.393638 m/s, LOS rate: -1.527315 deg/s, posRepo size: 4
2021-08-15T14:11:57.890Z,1629036717.890 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:11:58.253Z,1629036718.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:11:58.253Z,1629036718.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:11:58.253Z,1629036718.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:11:58.254Z,1629036718.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:11:58.662Z,1629036718.662 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA8,000,003C2,186,80,80,8B,FF
2021-08-15T14:11:58.662Z,1629036718.662 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:11:58.663Z,1629036718.663 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:11:58.666Z,1629036718.666 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:11:59.074Z,1629036719.074 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:11:59.466Z,1629036719.466 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F17,000,003CF,187,80,80,43,FF
2021-08-15T14:11:59.466Z,1629036719.466 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:11:59.554Z,1629036719.554 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:11:59.902Z,1629036719.902 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141200.58*55

2021-08-15T14:11:59.918Z,1629036719.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.000000 m, bearing: 183.565159 deg, deltaT: 4.484104 s, approachRate: 0.173948 m/s, LOS rate: -0.913457 deg/s, posRepo size: 4
2021-08-15T14:12:02.386Z,1629036722.386 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:12:02.697Z,1629036722.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:12:02.697Z,1629036722.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:12:02.697Z,1629036722.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:12:02.698Z,1629036722.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:12:03.106Z,1629036723.106 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F17,000,003CF,187,80,80,43,FF
2021-08-15T14:12:03.106Z,1629036723.106 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:12:03.106Z,1629036723.106 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:12:03.107Z,1629036723.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:12:03.513Z,1629036723.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:12:03.906Z,1629036723.906 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F17,000,003CC,186,80,80,83,FF
2021-08-15T14:12:03.906Z,1629036723.906 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:12:03.955Z,1629036723.955 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:12:04.374Z,1629036724.374 [Micromodem](INFO): Nmea in: $SNTTA,0.046224,,,,141205.02*47

2021-08-15T14:12:04.407Z,1629036724.407 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T14:12:04.432Z,1629036724.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.820002 m, bearing: 184.204601 deg, deltaT: 4.405058 s, approachRate: -0.040862 m/s, LOS rate: 0.145161 deg/s, posRepo size: 4
2021-08-15T14:12:06.755Z,1629036726.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:12:07.145Z,1629036727.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:12:07.146Z,1629036727.146 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:12:07.146Z,1629036727.146 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:12:07.147Z,1629036727.147 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:12:07.551Z,1629036727.551 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F17,000,003CC,186,80,80,83,FF
2021-08-15T14:12:07.551Z,1629036727.551 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:12:07.551Z,1629036727.551 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:12:07.554Z,1629036727.554 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:12:07.948Z,1629036727.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:12:08.389Z,1629036728.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F55,000,003D7,187,80,80,53,FF
2021-08-15T14:12:08.389Z,1629036728.389 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:12:08.506Z,1629036728.506 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:12:08.793Z,1629036728.793 [Micromodem](INFO): Nmea in: $SNTTA,0.032749,,,,141209.46*46

2021-08-15T14:12:08.827Z,1629036728.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.480000 m, bearing: 181.499218 deg, deltaT: 4.546785 s, approachRate: 0.145157 m/s, LOS rate: -0.595010 deg/s, posRepo size: 4
2021-08-15T14:12:11.203Z,1629036731.203 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:12:11.608Z,1629036731.608 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:12:11.608Z,1629036731.608 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:12:11.608Z,1629036731.608 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:12:11.609Z,1629036731.609 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:12:11.989Z,1629036731.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F55,000,003D7,187,80,80,53,FF
2021-08-15T14:12:11.989Z,1629036731.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:12:11.989Z,1629036731.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:12:11.991Z,1629036731.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:12:12.405Z,1629036732.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:12:12.797Z,1629036732.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F48,000,003E2,186,80,80,45,FF
2021-08-15T14:12:12.798Z,1629036732.798 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:12:12.818Z,1629036732.818 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:12:13.237Z,1629036733.237 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141213.90*53

2021-08-15T14:12:13.273Z,1629036733.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.140001 m, bearing: 181.955953 deg, deltaT: 4.312065 s, approachRate: 0.153059 m/s, LOS rate: 0.105920 deg/s, posRepo size: 4
2021-08-15T14:12:15.674Z,1629036735.674 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:12:16.045Z,1629036736.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:12:16.045Z,1629036736.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:12:16.046Z,1629036736.046 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:12:16.047Z,1629036736.047 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:12:16.442Z,1629036736.442 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F48,000,003E2,186,80,80,45,FF
2021-08-15T14:12:16.442Z,1629036736.442 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:12:16.442Z,1629036736.442 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:12:16.443Z,1629036736.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:12:16.841Z,1629036736.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:12:17.249Z,1629036737.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECD,000,003E4,186,80,80,8E,FF
2021-08-15T14:12:17.250Z,1629036737.250 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:12:17.388Z,1629036737.388 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:12:17.677Z,1629036737.677 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141218.35*57

2021-08-15T14:12:17.712Z,1629036737.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.260002 m, bearing: 185.980942 deg, deltaT: 4.569955 s, approachRate: 0.026259 m/s, LOS rate: 0.880750 deg/s, posRepo size: 4
2021-08-15T14:12:20.157Z,1629036740.157 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:12:20.469Z,1629036740.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:12:20.469Z,1629036740.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:12:20.470Z,1629036740.470 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:12:20.471Z,1629036740.471 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:12:20.877Z,1629036740.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECD,000,003E4,186,80,80,8E,FF
2021-08-15T14:12:20.878Z,1629036740.878 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:12:20.878Z,1629036740.878 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:12:20.879Z,1629036740.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:12:21.315Z,1629036741.315 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:12:21.694Z,1629036741.694 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E75,000,003F4,187,80,80,4A,FF
2021-08-15T14:12:21.694Z,1629036741.694 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:12:21.757Z,1629036741.757 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:12:22.138Z,1629036742.138 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141222.79*56

2021-08-15T14:12:22.174Z,1629036742.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.219997 m, bearing: 189.324306 deg, deltaT: 4.368452 s, approachRate: 0.219756 m/s, LOS rate: 0.765343 deg/s, posRepo size: 4
2021-08-15T14:12:24.569Z,1629036744.569 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:12:24.921Z,1629036744.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:12:24.921Z,1629036744.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:12:24.921Z,1629036744.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:12:24.922Z,1629036744.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:12:25.340Z,1629036745.340 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E75,000,003F4,187,80,80,4A,FF
2021-08-15T14:12:25.341Z,1629036745.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:12:25.341Z,1629036745.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:12:25.350Z,1629036745.350 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:12:25.737Z,1629036745.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:12:26.158Z,1629036746.158 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2F,000,003FE,187,80,80,36,FF
2021-08-15T14:12:26.158Z,1629036746.158 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:12:26.161Z,1629036746.161 [Micromodem](INFO): Nmea in: $SNTTA,0.280806,0.281787,,,141227.26*5E

2021-08-15T14:12:26.240Z,1629036746.240 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:12:26.641Z,1629036746.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.819998 m, bearing: 193.789652 deg, deltaT: 4.483203 s, approachRate: 0.133833 m/s, LOS rate: 0.996017 deg/s, posRepo size: 4
2021-08-15T14:12:28.992Z,1629036748.992 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:12:29.393Z,1629036749.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:12:29.393Z,1629036749.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:12:29.393Z,1629036749.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:12:29.394Z,1629036749.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:12:29.773Z,1629036749.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2F,000,003FE,187,80,80,36,FF
2021-08-15T14:12:29.773Z,1629036749.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:12:29.773Z,1629036749.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:12:29.775Z,1629036749.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:12:30.193Z,1629036750.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:12:30.585Z,1629036750.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9B,000,00411,189,80,80,76,FF
2021-08-15T14:12:30.586Z,1629036750.586 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:12:30.668Z,1629036750.668 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:12:31.025Z,1629036751.025 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141231.69*55

2021-08-15T14:12:31.048Z,1629036751.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.959997 m, bearing: 202.825199 deg, deltaT: 4.428121 s, approachRate: 0.257445 m/s, LOS rate: 2.040493 deg/s, posRepo size: 4
2021-08-15T14:12:33.434Z,1629036753.434 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:12:33.821Z,1629036753.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:12:33.821Z,1629036753.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:12:33.822Z,1629036753.822 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:12:33.822Z,1629036753.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:12:34.217Z,1629036754.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9B,000,00411,189,80,80,76,FF
2021-08-15T14:12:34.217Z,1629036754.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:12:34.217Z,1629036754.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:12:34.219Z,1629036754.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:12:34.826Z,1629036754.826 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,13E,000,00411,189,80,80,76,FF
2021-08-15T14:12:34.826Z,1629036754.826 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:12:34.833Z,1629036754.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:12:34.912Z,1629036754.912 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:12:35.260Z,1629036755.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.959997 m, bearing: 156.407575 deg, deltaT: 4.244128 s, approachRate: 0.000000 m/s, LOS rate: -10.936904 deg/s, posRepo size: 4
2021-08-15T14:12:35.645Z,1629036755.645 [Micromodem](INFO): Nmea in: $SNTTA,0.038827,,,,141236.13*47

2021-08-15T14:12:37.690Z,1629036757.690 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:12:38.117Z,1629036758.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:12:38.117Z,1629036758.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:12:38.117Z,1629036758.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:12:38.118Z,1629036758.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:12:38.457Z,1629036758.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
13E,000,00411,189,80,80,76,FF
2021-08-15T14:12:38.457Z,1629036758.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:12:38.458Z,1629036758.458 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:12:38.464Z,1629036758.464 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:12:38.876Z,1629036758.876 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:12:39.269Z,1629036759.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCB,000,0041F,186,80,80,22,FF
2021-08-15T14:12:39.270Z,1629036759.270 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:12:39.378Z,1629036759.378 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:12:39.721Z,1629036759.721 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141240.37*58

2021-08-15T14:12:39.767Z,1629036759.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.799997 m, bearing: 175.182331 deg, deltaT: 4.465652 s, approachRate: 0.188102 m/s, LOS rate: 4.204258 deg/s, posRepo size: 4
2021-08-15T14:12:42.168Z,1629036762.168 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:12:42.505Z,1629036762.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:12:42.505Z,1629036762.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:12:42.505Z,1629036762.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:12:42.506Z,1629036762.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:12:42.909Z,1629036762.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCB,000,0041F,186,80,80,22,FF
2021-08-15T14:12:42.909Z,1629036762.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:12:42.909Z,1629036762.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:12:42.911Z,1629036762.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:12:43.353Z,1629036763.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:12:43.717Z,1629036763.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E46,000,00430,185,80,80,7C,FF
2021-08-15T14:12:43.718Z,1629036763.718 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:12:43.795Z,1629036763.795 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:12:44.157Z,1629036764.157 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141244.82*52

2021-08-15T14:12:44.233Z,1629036764.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.819998 m, bearing: 193.772767 deg, deltaT: 4.416825 s, approachRate: 0.230935 m/s, LOS rate: 4.209005 deg/s, posRepo size: 4
2021-08-15T14:12:46.602Z,1629036766.602 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:12:46.958Z,1629036766.958 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:12:46.958Z,1629036766.958 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:12:46.958Z,1629036766.958 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:12:46.959Z,1629036766.959 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:12:47.381Z,1629036767.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E46,000,00430,185,80,80,7C,FF
2021-08-15T14:12:47.381Z,1629036767.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:12:47.381Z,1629036767.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:12:47.383Z,1629036767.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:12:47.757Z,1629036767.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:12:48.166Z,1629036768.166 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0B,000,00438,188,80,80,2F,FF
2021-08-15T14:12:48.166Z,1629036768.166 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:12:48.206Z,1629036768.206 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:12:48.588Z,1629036768.588 [Micromodem](INFO): Nmea in: $SNTTA,0.265983,,,,141249.29*43

2021-08-15T14:12:48.614Z,1629036768.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.300001 m, bearing: 195.808901 deg, deltaT: 4.410945 s, approachRate: 0.108821 m/s, LOS rate: 0.461609 deg/s, posRepo size: 4
2021-08-15T14:12:51.003Z,1629036771.003 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:12:51.405Z,1629036771.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:12:51.405Z,1629036771.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:12:51.405Z,1629036771.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:12:51.406Z,1629036771.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:12:51.797Z,1629036771.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0B,000,00438,188,80,80,2F,FF
2021-08-15T14:12:51.797Z,1629036771.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:12:51.797Z,1629036771.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:12:51.799Z,1629036771.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:12:52.197Z,1629036772.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:12:52.613Z,1629036772.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E93,000,00440,186,80,80,58,FF
2021-08-15T14:12:52.613Z,1629036772.613 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:12:52.645Z,1629036772.645 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:12:53.045Z,1629036773.045 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141253.71*58

2021-08-15T14:12:53.084Z,1629036773.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.779999 m, bearing: 188.084394 deg, deltaT: 4.438910 s, approachRate: 0.108134 m/s, LOS rate: -1.740181 deg/s, posRepo size: 4
2021-08-15T14:12:55.458Z,1629036775.458 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:12:55.834Z,1629036775.834 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:12:55.834Z,1629036775.834 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:12:55.834Z,1629036775.834 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:12:55.835Z,1629036775.835 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:12:56.237Z,1629036776.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E93,000,00440,186,80,80,58,FF
2021-08-15T14:12:56.237Z,1629036776.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:12:56.237Z,1629036776.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:12:56.239Z,1629036776.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:12:56.668Z,1629036776.668 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:12:57.053Z,1629036777.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8B,000,0044A,186,80,80,93,FF
2021-08-15T14:12:57.053Z,1629036777.053 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:12:57.124Z,1629036777.124 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:12:57.493Z,1629036777.493 [Micromodem](INFO): Nmea in: $SNTTA,0.046538,,,,141258.15*43

2021-08-15T14:12:57.519Z,1629036777.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.379997 m, bearing: 188.237609 deg, deltaT: 4.479338 s, approachRate: 0.133948 m/s, LOS rate: 0.034205 deg/s, posRepo size: 4
2021-08-15T14:12:59.910Z,1629036779.910 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:13:00.285Z,1629036780.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:13:00.285Z,1629036780.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:13:00.285Z,1629036780.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:13:00.286Z,1629036780.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:13:00.682Z,1629036780.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8B,000,0044A,186,80,80,93,FF
2021-08-15T14:13:00.682Z,1629036780.682 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:13:00.682Z,1629036780.682 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:13:00.684Z,1629036780.684 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:13:01.088Z,1629036781.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:13:01.485Z,1629036781.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF6,000,0045A,186,80,80,7D,FF
2021-08-15T14:13:01.486Z,1629036781.486 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:13:01.540Z,1629036781.540 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:13:01.933Z,1629036781.933 [Micromodem](INFO): Nmea in: $SNTTA,0.032594,,,,141302.59*40

2021-08-15T14:13:01.949Z,1629036781.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.340000 m, bearing: 182.318567 deg, deltaT: 4.416368 s, approachRate: 0.217374 m/s, LOS rate: -1.340251 deg/s, posRepo size: 4
2021-08-15T14:13:04.421Z,1629036784.421 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:13:04.725Z,1629036784.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:13:04.725Z,1629036784.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:13:04.725Z,1629036784.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:13:04.726Z,1629036784.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:13:05.137Z,1629036785.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF6,000,0045A,186,80,80,7D,FF
2021-08-15T14:13:05.137Z,1629036785.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:13:05.137Z,1629036785.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:13:05.139Z,1629036785.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:13:05.529Z,1629036785.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:13:05.934Z,1629036785.934 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9C,000,00466,186,80,80,94,FF
2021-08-15T14:13:05.934Z,1629036785.934 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:13:05.959Z,1629036785.959 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:13:06.413Z,1629036786.413 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141307.05*5B

2021-08-15T14:13:06.489Z,1629036786.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.059999 m, bearing: 187.850365 deg, deltaT: 4.418336 s, approachRate: 0.162957 m/s, LOS rate: 1.252009 deg/s, posRepo size: 4
2021-08-15T14:13:08.475Z,1629036788.475 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:13:08.765Z,1629036788.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:13:08.765Z,1629036788.765 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:13:08.765Z,1629036788.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:13:08.766Z,1629036788.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:13:09.170Z,1629036789.170 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9C,000,00466,186,80,80,94,FF
2021-08-15T14:13:09.170Z,1629036789.170 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:13:09.170Z,1629036789.170 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:13:09.172Z,1629036789.172 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:13:09.571Z,1629036789.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:13:09.965Z,1629036789.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8E,000,00476,186,80,80,6C,FF
2021-08-15T14:13:09.966Z,1629036789.966 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:13:09.995Z,1629036789.995 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:13:10.453Z,1629036790.453 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141311.08*51

2021-08-15T14:13:10.516Z,1629036790.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.020002 m, bearing: 188.718673 deg, deltaT: 4.036385 s, approachRate: 0.237837 m/s, LOS rate: 0.215120 deg/s, posRepo size: 4
2021-08-15T14:13:12.498Z,1629036792.498 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:13:12.809Z,1629036792.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:13:12.809Z,1629036792.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:13:12.809Z,1629036792.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:13:12.810Z,1629036792.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:13:13.201Z,1629036793.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8E,000,00476,186,80,80,6C,FF
2021-08-15T14:13:13.201Z,1629036793.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:13:13.201Z,1629036793.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:13:13.203Z,1629036793.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:13:13.626Z,1629036793.626 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:13:14.025Z,1629036794.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E84,000,0048D,186,80,80,76,FF
2021-08-15T14:13:14.026Z,1629036794.026 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:13:14.104Z,1629036794.104 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:13:14.469Z,1629036794.469 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141315.11*5D

2021-08-15T14:13:14.533Z,1629036794.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.399998 m, bearing: 190.103207 deg, deltaT: 4.109046 s, approachRate: 0.335843 m/s, LOS rate: 0.336948 deg/s, posRepo size: 4
2021-08-15T14:13:16.886Z,1629036796.886 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:13:17.249Z,1629036797.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:13:17.249Z,1629036797.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:13:17.250Z,1629036797.250 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:13:17.251Z,1629036797.251 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:13:17.658Z,1629036797.658 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E84,000,0048D,186,80,80,76,FF
2021-08-15T14:13:17.658Z,1629036797.658 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:13:17.658Z,1629036797.658 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:13:17.660Z,1629036797.660 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:13:18.116Z,1629036798.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:13:18.481Z,1629036798.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9A,000,00491,186,80,80,82,FF
2021-08-15T14:13:18.482Z,1629036798.482 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:13:18.558Z,1629036798.558 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:13:18.905Z,1629036798.905 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141319.57*53

2021-08-15T14:13:18.928Z,1629036798.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.639999 m, bearing: 189.817555 deg, deltaT: 4.454536 s, approachRate: 0.053878 m/s, LOS rate: -0.064126 deg/s, posRepo size: 4
2021-08-15T14:13:21.373Z,1629036801.373 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:13:21.733Z,1629036801.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:13:21.733Z,1629036801.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:13:21.733Z,1629036801.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:13:21.734Z,1629036801.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:13:22.110Z,1629036802.110 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9A,000,00491,186,80,80,82,FF
2021-08-15T14:13:22.110Z,1629036802.110 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:13:22.110Z,1629036802.110 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:13:22.112Z,1629036802.112 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:13:22.519Z,1629036802.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:13:22.905Z,1629036802.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6B,000,004AC,187,80,80,74,FF
2021-08-15T14:13:22.906Z,1629036802.906 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:13:22.950Z,1629036802.950 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:13:23.361Z,1629036803.361 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141324.02*5D

2021-08-15T14:13:23.402Z,1629036803.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.259998 m, bearing: 192.644352 deg, deltaT: 4.391003 s, approachRate: 0.368936 m/s, LOS rate: 0.643770 deg/s, posRepo size: 4
2021-08-15T14:13:25.760Z,1629036805.760 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:13:26.144Z,1629036806.144 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:13:26.144Z,1629036806.144 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:13:26.145Z,1629036806.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:13:26.146Z,1629036806.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:13:26.537Z,1629036806.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6B,000,004AC,187,80,80,74,FF
2021-08-15T14:13:26.537Z,1629036806.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:13:26.538Z,1629036806.538 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:13:26.539Z,1629036806.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:13:26.945Z,1629036806.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:13:27.374Z,1629036807.374 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC4,000,004B5,186,80,80,39,FF
2021-08-15T14:13:27.375Z,1629036807.375 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:13:27.454Z,1629036807.454 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:13:27.789Z,1629036807.789 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141328.45*52

2021-08-15T14:13:27.832Z,1629036807.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.799999 m, bearing: 187.842988 deg, deltaT: 4.504008 s, approachRate: 0.119893 m/s, LOS rate: -1.066020 deg/s, posRepo size: 4
2021-08-15T14:13:30.243Z,1629036810.243 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:13:30.585Z,1629036810.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:13:30.585Z,1629036810.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:13:30.585Z,1629036810.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:13:30.586Z,1629036810.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:13:30.985Z,1629036810.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC4,000,004B5,186,80,80,39,FF
2021-08-15T14:13:30.985Z,1629036810.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:13:30.985Z,1629036810.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:13:30.987Z,1629036810.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:13:31.405Z,1629036811.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:13:31.789Z,1629036811.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED7,000,004C1,187,80,80,39,FF
2021-08-15T14:13:31.790Z,1629036811.790 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:13:31.810Z,1629036811.810 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:13:32.229Z,1629036812.229 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141332.90*51

2021-08-15T14:13:32.349Z,1629036812.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.520000 m, bearing: 185.272419 deg, deltaT: 4.355919 s, approachRate: 0.165293 m/s, LOS rate: -0.590132 deg/s, posRepo size: 4
2021-08-15T14:13:34.671Z,1629036814.671 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:13:35.017Z,1629036815.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:13:35.017Z,1629036815.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:13:35.017Z,1629036815.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:13:35.018Z,1629036815.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:13:35.429Z,1629036815.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED7,000,004C1,187,80,80,39,FF
2021-08-15T14:13:35.430Z,1629036815.430 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:13:35.430Z,1629036815.430 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:13:35.432Z,1629036815.432 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:13:35.833Z,1629036815.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:13:36.229Z,1629036816.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED1,000,004D1,187,80,80,53,FF
2021-08-15T14:13:36.230Z,1629036816.230 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:13:36.297Z,1629036816.297 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:13:36.686Z,1629036816.686 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141337.34*5A

2021-08-15T14:13:36.738Z,1629036816.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.480000 m, bearing: 184.251443 deg, deltaT: 4.487780 s, approachRate: 0.213914 m/s, LOS rate: -0.227501 deg/s, posRepo size: 4
2021-08-15T14:13:39.083Z,1629036819.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:13:39.465Z,1629036819.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:13:39.465Z,1629036819.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:13:39.465Z,1629036819.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:13:39.466Z,1629036819.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:13:39.877Z,1629036819.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED1,000,004D1,187,80,80,53,FF
2021-08-15T14:13:39.877Z,1629036819.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:13:39.877Z,1629036819.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:13:39.879Z,1629036819.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:13:40.296Z,1629036820.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:13:40.681Z,1629036820.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F70,000,004DF,186,80,80,5A,FF
2021-08-15T14:13:40.681Z,1629036820.681 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:13:40.701Z,1629036820.701 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:13:41.129Z,1629036821.129 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141341.79*52

2021-08-15T14:13:41.145Z,1629036821.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.320004 m, bearing: 175.957653 deg, deltaT: 4.404001 s, approachRate: 0.190737 m/s, LOS rate: -1.883240 deg/s, posRepo size: 4
2021-08-15T14:13:43.549Z,1629036823.549 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:13:43.906Z,1629036823.906 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:13:43.906Z,1629036823.906 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:13:43.907Z,1629036823.907 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:13:43.908Z,1629036823.908 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:13:44.332Z,1629036824.332 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F70,000,004DF,186,80,80,5A,FF
2021-08-15T14:13:44.333Z,1629036824.333 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:13:44.333Z,1629036824.333 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:13:44.343Z,1629036824.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:13:44.760Z,1629036824.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:13:45.163Z,1629036825.163 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE6,000,004F9,186,80,80,87,FF
2021-08-15T14:13:45.163Z,1629036825.163 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:13:45.188Z,1629036825.188 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:13:45.601Z,1629036825.601 [Micromodem](INFO): Nmea in: $SNTTA,0.036998,,,,141346.25*4F

2021-08-15T14:13:45.650Z,1629036825.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.879997 m, bearing: 182.359180 deg, deltaT: 4.486767 s, approachRate: 0.347688 m/s, LOS rate: 1.426757 deg/s, posRepo size: 4
2021-08-15T14:13:48.067Z,1629036828.067 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:13:48.397Z,1629036828.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:13:48.397Z,1629036828.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:13:48.397Z,1629036828.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:13:48.398Z,1629036828.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:13:48.801Z,1629036828.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE6,000,004F9,186,80,80,87,FF
2021-08-15T14:13:48.801Z,1629036828.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:13:48.801Z,1629036828.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:13:48.803Z,1629036828.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:13:49.201Z,1629036829.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:13:49.613Z,1629036829.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F29,000,00504,187,80,80,60,FF
2021-08-15T14:13:49.613Z,1629036829.613 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:13:49.684Z,1629036829.684 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:13:50.081Z,1629036830.081 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141350.71*5A

2021-08-15T14:13:50.128Z,1629036830.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.540001 m, bearing: 178.922843 deg, deltaT: 4.496024 s, approachRate: 0.146797 m/s, LOS rate: -0.764306 deg/s, posRepo size: 4
2021-08-15T14:13:52.469Z,1629036832.469 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:13:52.833Z,1629036832.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:13:52.833Z,1629036832.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:13:52.833Z,1629036832.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:13:52.834Z,1629036832.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:13:53.234Z,1629036833.234 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F29,000,00504,187,80,80,60,FF
2021-08-15T14:13:53.234Z,1629036833.234 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:13:53.234Z,1629036833.234 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:13:53.235Z,1629036833.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:13:53.641Z,1629036833.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:13:54.081Z,1629036834.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5C,000,00510,186,80,80,61,FF
2021-08-15T14:13:54.081Z,1629036834.081 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:13:54.153Z,1629036834.153 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:13:54.486Z,1629036834.486 [Micromodem](INFO): Nmea in: $SNTTA,0.047455,,,,141355.15*44

2021-08-15T14:13:54.512Z,1629036834.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.259998 m, bearing: 176.609403 deg, deltaT: 4.469286 s, approachRate: 0.161099 m/s, LOS rate: -0.517631 deg/s, posRepo size: 4
2021-08-15T14:13:54.881Z,1629036834.881 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T14:13:54.882Z,1629036834.882 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T14:13:54.882Z,1629036834.882 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T14:13:54.882Z,1629036834.882 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T14:13:54.883Z,1629036834.883 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T14:13:54.883Z,1629036834.883 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T14:13:55.301Z,1629036835.301 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T14:13:55.301Z,1629036835.301 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T14:13:55.301Z,1629036835.301 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T14:13:55.301Z,1629036835.301 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T14:13:56.911Z,1629036836.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:13:57.277Z,1629036837.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:13:57.277Z,1629036837.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:13:57.277Z,1629036837.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:13:57.278Z,1629036837.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:13:57.686Z,1629036837.686 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5C,000,00510,186,80,80,61,FF
2021-08-15T14:13:57.686Z,1629036837.686 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:13:57.686Z,1629036837.686 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:13:57.688Z,1629036837.688 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:13:58.112Z,1629036838.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:13:58.489Z,1629036838.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF3,000,0051F,186,80,80,62,FF
2021-08-15T14:13:58.490Z,1629036838.490 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:13:58.937Z,1629036838.937 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141359.60*53

2021-08-15T14:13:58.953Z,1629036838.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.159996 m, bearing: 181.216803 deg, deltaT: 4.399087 s, approachRate: 0.204587 m/s, LOS rate: 1.047354 deg/s, posRepo size: 4
2021-08-15T14:14:01.387Z,1629036841.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:14:01.749Z,1629036841.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:14:01.749Z,1629036841.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:14:01.749Z,1629036841.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:14:01.750Z,1629036841.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:14:02.133Z,1629036842.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF3,000,0051F,186,80,80,62,FF
2021-08-15T14:14:02.133Z,1629036842.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:14:02.133Z,1629036842.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:14:02.135Z,1629036842.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:14:02.533Z,1629036842.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:14:02.937Z,1629036842.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEB,000,00532,186,80,80,69,FF
2021-08-15T14:14:02.937Z,1629036842.937 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:14:03.389Z,1629036843.389 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141404.04*5E

2021-08-15T14:14:03.415Z,1629036843.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.299999 m, bearing: 181.144881 deg, deltaT: 4.405124 s, approachRate: 0.258790 m/s, LOS rate: -0.016327 deg/s, posRepo size: 4
2021-08-15T14:14:05.794Z,1629036845.794 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:14:06.165Z,1629036846.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:14:06.165Z,1629036846.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:14:06.165Z,1629036846.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:14:06.166Z,1629036846.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:14:06.578Z,1629036846.578 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEB,000,00532,186,80,80,69,FF
2021-08-15T14:14:06.578Z,1629036846.578 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:14:06.578Z,1629036846.578 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:14:06.581Z,1629036846.581 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:14:06.985Z,1629036846.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:14:07.396Z,1629036847.396 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F24,000,00545,187,80,80,92,FF
2021-08-15T14:14:07.397Z,1629036847.397 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:14:07.818Z,1629036847.818 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141408.49*5B

2021-08-15T14:14:07.834Z,1629036847.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.439999 m, bearing: 180.080806 deg, deltaT: 4.468993 s, approachRate: 0.255091 m/s, LOS rate: -0.238102 deg/s, posRepo size: 4
2021-08-15T14:14:10.251Z,1629036850.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:14:10.621Z,1629036850.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:14:10.621Z,1629036850.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:14:10.621Z,1629036850.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:14:10.622Z,1629036850.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:14:11.018Z,1629036851.018 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F24,000,00545,187,80,80,92,FF
2021-08-15T14:14:11.018Z,1629036851.018 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:14:11.018Z,1629036851.018 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:14:11.020Z,1629036851.020 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:14:11.440Z,1629036851.440 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:14:11.822Z,1629036851.822 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC9,000,0054D,186,80,80,5B,FF
2021-08-15T14:14:11.822Z,1629036851.822 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:14:12.253Z,1629036852.253 [Micromodem](INFO): Nmea in: $SNTTA,0.042610,,,,141412.93*48

2021-08-15T14:14:12.351Z,1629036852.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.920002 m, bearing: 184.268067 deg, deltaT: 4.419925 s, approachRate: 0.108600 m/s, LOS rate: 0.947360 deg/s, posRepo size: 4
2021-08-15T14:14:14.710Z,1629036854.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:14:15.057Z,1629036855.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:14:15.057Z,1629036855.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:14:15.058Z,1629036855.058 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:14:15.059Z,1629036855.059 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:14:15.465Z,1629036855.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC9,000,0054D,186,80,80,5B,FF
2021-08-15T14:14:15.465Z,1629036855.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:14:15.465Z,1629036855.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:14:15.467Z,1629036855.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:14:15.868Z,1629036855.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:14:16.277Z,1629036856.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB2,000,00561,186,80,80,58,FF
2021-08-15T14:14:16.278Z,1629036856.278 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:14:16.725Z,1629036856.725 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141417.38*53

2021-08-15T14:14:16.776Z,1629036856.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.119999 m, bearing: 184.635709 deg, deltaT: 4.523342 s, approachRate: 0.265290 m/s, LOS rate: 0.081277 deg/s, posRepo size: 4
2021-08-15T14:14:19.111Z,1629036859.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:14:19.510Z,1629036859.510 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:14:19.511Z,1629036859.511 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:14:19.511Z,1629036859.511 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:14:19.512Z,1629036859.512 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:14:19.901Z,1629036859.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB2,000,00561,186,80,80,58,FF
2021-08-15T14:14:19.901Z,1629036859.901 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:14:19.901Z,1629036859.901 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:14:19.903Z,1629036859.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:14:20.326Z,1629036860.326 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:14:20.717Z,1629036860.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F09,000,00567,186,80,80,7A,FF
2021-08-15T14:14:20.717Z,1629036860.717 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:14:21.151Z,1629036861.151 [Micromodem](INFO): Nmea in: $SNTTA,0.042131,,,,141421.82*4C

2021-08-15T14:14:21.190Z,1629036861.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.479996 m, bearing: 180.448421 deg, deltaT: 4.399904 s, approachRate: 0.081819 m/s, LOS rate: -0.951677 deg/s, posRepo size: 4
2021-08-15T14:14:23.601Z,1629036863.601 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:14:23.941Z,1629036863.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:14:23.941Z,1629036863.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:14:23.941Z,1629036863.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:14:23.942Z,1629036863.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:14:24.361Z,1629036864.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F09,000,00567,186,80,80,7A,FF
2021-08-15T14:14:24.361Z,1629036864.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:14:24.361Z,1629036864.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:14:24.363Z,1629036864.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:14:24.760Z,1629036864.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:14:25.162Z,1629036865.162 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F43,000,00579,186,80,80,80,FF
2021-08-15T14:14:25.163Z,1629036865.163 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:14:25.593Z,1629036865.593 [Micromodem](INFO): Nmea in: $SNTTA,0.050288,,,,141426.27*46

2021-08-15T14:14:25.631Z,1629036865.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.560001 m, bearing: 176.745502 deg, deltaT: 4.456169 s, approachRate: 0.242362 m/s, LOS rate: -0.830965 deg/s, posRepo size: 4
2021-08-15T14:14:28.071Z,1629036868.071 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:14:28.393Z,1629036868.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:14:28.393Z,1629036868.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:14:28.393Z,1629036868.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:14:28.394Z,1629036868.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:14:28.797Z,1629036868.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F43,000,00579,186,80,80,80,FF
2021-08-15T14:14:28.797Z,1629036868.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:14:28.797Z,1629036868.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:14:28.799Z,1629036868.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:14:29.193Z,1629036869.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:14:29.609Z,1629036869.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7B,000,00592,186,80,80,78,FF
2021-08-15T14:14:29.609Z,1629036869.609 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:14:30.050Z,1629036870.050 [Micromodem](INFO): Nmea in: $SNTTA,0.379783,,,,141430.71*44

2021-08-15T14:14:30.137Z,1629036870.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.060001 m, bearing: 174.248166 deg, deltaT: 4.434070 s, approachRate: 0.338290 m/s, LOS rate: -0.563215 deg/s, posRepo size: 4
2021-08-15T14:14:32.454Z,1629036872.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:14:32.843Z,1629036872.843 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:14:32.843Z,1629036872.843 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:14:32.844Z,1629036872.844 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:14:32.845Z,1629036872.845 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:14:33.233Z,1629036873.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7B,000,00592,186,80,80,78,FF
2021-08-15T14:14:33.233Z,1629036873.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:14:33.233Z,1629036873.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:14:33.235Z,1629036873.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:14:33.641Z,1629036873.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:14:34.069Z,1629036874.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F34,000,005A1,186,80,80,52,FF
2021-08-15T14:14:34.070Z,1629036874.070 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:14:34.485Z,1629036874.485 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141435.15*5C

2021-08-15T14:14:34.511Z,1629036874.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.960003 m, bearing: 177.874068 deg, deltaT: 4.513061 s, approachRate: 0.199422 m/s, LOS rate: 0.803424 deg/s, posRepo size: 4
2021-08-15T14:14:36.895Z,1629036876.895 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:14:37.277Z,1629036877.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:14:37.277Z,1629036877.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:14:37.278Z,1629036877.278 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:14:37.279Z,1629036877.279 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:14:37.677Z,1629036877.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F34,000,005A1,186,80,80,52,FF
2021-08-15T14:14:37.677Z,1629036877.677 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:14:37.677Z,1629036877.677 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:14:37.679Z,1629036877.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:14:38.117Z,1629036878.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:14:38.918Z,1629036878.918 [Micromodem](INFO): Nmea in: $SNTTA,0.048730,,,,141439.59*4E

2021-08-15T14:14:39.731Z,1629036879.731 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:14:41.332Z,1629036881.332 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,186,80,80,52,FF
2021-08-15T14:14:41.333Z,1629036881.333 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,186,80,80,52,FF
2021-08-15T14:14:41.334Z,1629036881.334 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:14:42.593Z,1629036882.593 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:14:42.937Z,1629036882.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:14:42.938Z,1629036882.938 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:14:42.938Z,1629036882.938 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:14:42.939Z,1629036882.939 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:14:43.355Z,1629036883.355 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,186,80,80,52,FF
2021-08-15T14:14:43.355Z,1629036883.355 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:14:43.355Z,1629036883.355 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:14:43.357Z,1629036883.357 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:14:43.736Z,1629036883.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:14:44.147Z,1629036884.147 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1C,000,005C1,187,80,80,59,FF
2021-08-15T14:14:44.148Z,1629036884.148 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:14:44.578Z,1629036884.578 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141445.27*5A

2021-08-15T14:14:44.625Z,1629036884.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.879997 m, bearing: 177.938381 deg, deltaT: 10.013904 s, approachRate: 0.191733 m/s, LOS rate: 0.006422 deg/s, posRepo size: 4
2021-08-15T14:14:46.991Z,1629036886.991 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:14:47.397Z,1629036887.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:14:47.397Z,1629036887.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:14:47.397Z,1629036887.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:14:47.398Z,1629036887.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:14:47.789Z,1629036887.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1C,000,005C1,187,80,80,59,FF
2021-08-15T14:14:47.789Z,1629036887.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:14:47.789Z,1629036887.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:14:47.791Z,1629036887.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:14:48.192Z,1629036888.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:14:48.594Z,1629036888.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7E,000,005D0,186,80,80,81,FF
2021-08-15T14:14:48.595Z,1629036888.595 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:14:49.025Z,1629036889.025 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141449.70*54

2021-08-15T14:14:49.048Z,1629036889.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.779999 m, bearing: 173.150527 deg, deltaT: 4.437868 s, approachRate: 0.202800 m/s, LOS rate: -1.078863 deg/s, posRepo size: 4
2021-08-15T14:14:51.442Z,1629036891.442 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:14:51.824Z,1629036891.824 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:14:51.824Z,1629036891.824 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:14:51.825Z,1629036891.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:14:51.826Z,1629036891.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:14:52.221Z,1629036892.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7E,000,005D0,186,80,80,81,FF
2021-08-15T14:14:52.221Z,1629036892.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:14:52.221Z,1629036892.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:14:52.223Z,1629036892.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:14:52.640Z,1629036892.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:14:53.034Z,1629036893.034 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB9,000,005E3,184,80,80,88,FF
2021-08-15T14:14:53.034Z,1629036893.034 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:14:53.469Z,1629036893.469 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141454.13*5D

2021-08-15T14:14:53.500Z,1629036893.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.919994 m, bearing: 170.722381 deg, deltaT: 4.433649 s, approachRate: 0.257124 m/s, LOS rate: -0.547663 deg/s, posRepo size: 4
2021-08-15T14:14:55.886Z,1629036895.886 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:14:56.257Z,1629036896.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:14:56.257Z,1629036896.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:14:56.257Z,1629036896.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:14:56.258Z,1629036896.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:14:56.665Z,1629036896.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB9,000,005E3,184,80,80,88,FF
2021-08-15T14:14:56.665Z,1629036896.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:14:56.665Z,1629036896.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:14:56.667Z,1629036896.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:14:57.072Z,1629036897.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:14:57.477Z,1629036897.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7E,000,005F2,186,80,80,91,FF
2021-08-15T14:14:57.477Z,1629036897.477 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:14:57.909Z,1629036897.909 [Micromodem](INFO): Nmea in: $SNTTA,,0.035231,,,141458.58*46

2021-08-15T14:14:57.944Z,1629036897.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.820000 m, bearing: 174.213291 deg, deltaT: 4.483463 s, approachRate: 0.200739 m/s, LOS rate: 0.778619 deg/s, posRepo size: 4
2021-08-15T14:14:58.729Z,1629036898.729 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-15T14:14:58.729Z,1629036898.729 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-15T14:14:58.729Z,1629036898.729 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-15T14:14:58.729Z,1629036898.729 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T14:14:58.729Z,1629036898.729 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-15T14:14:59.303Z,1629036899.303 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 10181961150000005D00000400260000000000000000151D80030C5669C08C7998685B1006E6CEB5683E9BFAAD2CDFF390599DF53DEBD795C4C21800
2021-08-15T14:14:59.303Z,1629036899.303 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-15T14:14:59.606Z,1629036899.606 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-15T14:14:59.990Z,1629036899.990 [Micromodem](INFO): Nmea in: $CADRQ,141501,1,10,0,64,1*76

2021-08-15T14:14:59.991Z,1629036899.991 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,10181961150000005D00000400260000000000000000151D80030C5669C08C7998685B1006E6CEB5683E9BFAAD2CDFF390599DF53DEBD795C4C21800*49

2021-08-15T14:15:00.087Z,1629036900.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:15:00.389Z,1629036900.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:15:00.389Z,1629036900.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:15:00.389Z,1629036900.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:15:00.390Z,1629036900.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:15:00.396Z,1629036900.396 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-15T14:15:00.793Z,1629036900.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7E,000,005F2,186,80,80,91,FF
2021-08-15T14:15:00.793Z,1629036900.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:15:00.793Z,1629036900.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:15:00.795Z,1629036900.795 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-15T14:15:00.796Z,1629036900.796 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:15:02.313Z,1629036902.313 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-15T14:15:02.314Z,1629036902.314 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-15T14:15:02.720Z,1629036902.720 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,141501.919723,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*52

2021-08-15T14:15:02.721Z,1629036902.721 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210815,141501.919723,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*52

2021-08-15T14:15:02.746Z,1629036902.746 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:15:05.403Z,1629036905.403 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:15:06.408Z,1629036906.408 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.017996
2021-08-15T14:15:08.155Z,1629036908.155 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:15:08.461Z,1629036908.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:15:08.461Z,1629036908.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:15:08.461Z,1629036908.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:15:08.462Z,1629036908.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:15:08.869Z,1629036908.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7E,000,005F2,186,80,80,91,FF
2021-08-15T14:15:08.869Z,1629036908.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:15:08.869Z,1629036908.869 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:15:10.908Z,1629036910.908 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:15:12.226Z,1629036912.226 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:15:12.636Z,1629036912.636 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:15:13.037Z,1629036913.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC2,000,0062C,187,80,80,40,FF
2021-08-15T14:15:13.037Z,1629036913.037 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:15:13.482Z,1629036913.482 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141514.14*5F

2021-08-15T14:15:13.520Z,1629036913.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.299999 m, bearing: 184.764868 deg, deltaT: 15.572740 s, approachRate: 0.223467 m/s, LOS rate: 0.677567 deg/s, posRepo size: 4
2021-08-15T14:15:15.686Z,1629036915.686 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:15:16.066Z,1629036916.066 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:15:16.066Z,1629036916.066 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:15:16.066Z,1629036916.066 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:15:16.067Z,1629036916.067 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:15:16.421Z,1629036916.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC2,000,0062C,187,80,80,40,FF
2021-08-15T14:15:16.421Z,1629036916.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:15:16.421Z,1629036916.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:15:16.423Z,1629036916.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:15:16.839Z,1629036916.839 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:15:17.237Z,1629036917.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F49,000,0063B,186,80,80,73,FF
2021-08-15T14:15:17.238Z,1629036917.238 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:15:17.678Z,1629036917.678 [Micromodem](INFO): Nmea in: $SNTTA,0.048359,,,,141518.34*4C

2021-08-15T14:15:17.740Z,1629036917.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.200001 m, bearing: 177.112256 deg, deltaT: 4.232064 s, approachRate: 0.212663 m/s, LOS rate: -1.808246 deg/s, posRepo size: 4
2021-08-15T14:15:19.889Z,1629036919.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:15:20.245Z,1629036920.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:15:20.245Z,1629036920.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:15:20.246Z,1629036920.246 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:15:20.247Z,1629036920.247 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:15:20.837Z,1629036920.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F49,000,0063B,186,80,80,73,FF
2021-08-15T14:15:20.837Z,1629036920.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:15:20.837Z,1629036920.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:15:20.839Z,1629036920.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:15:21.234Z,1629036921.234 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:15:21.635Z,1629036921.635 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F55,000,00650,186,80,80,5D,FF
2021-08-15T14:15:21.635Z,1629036921.635 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:15:22.117Z,1629036922.117 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141522.75*5D

2021-08-15T14:15:22.206Z,1629036922.206 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.460003 m, bearing: 177.009967 deg, deltaT: 4.375355 s, approachRate: 0.287977 m/s, LOS rate: -0.023378 deg/s, posRepo size: 4
2021-08-15T14:15:24.750Z,1629036924.750 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:15:24.937Z,1629036924.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:15:24.937Z,1629036924.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:15:24.937Z,1629036924.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:15:24.938Z,1629036924.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:15:25.350Z,1629036925.350 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F55,000,00650,186,80,80,5D,FF
2021-08-15T14:15:25.351Z,1629036925.351 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:15:25.351Z,1629036925.351 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:15:25.353Z,1629036925.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:15:25.749Z,1629036925.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:15:26.154Z,1629036926.154 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F76,000,0065E,186,80,80,83,FF
2021-08-15T14:15:26.154Z,1629036926.154 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:15:26.602Z,1629036926.602 [Micromodem](INFO): Nmea in: $SNTTA,,0.039545,,,141527.26*4E

2021-08-15T14:15:26.876Z,1629036926.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.300003 m, bearing: 174.774337 deg, deltaT: 4.542511 s, approachRate: 0.184920 m/s, LOS rate: -0.492157 deg/s, posRepo size: 4
2021-08-15T14:15:29.094Z,1629036929.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:15:29.473Z,1629036929.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:15:29.473Z,1629036929.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:15:29.473Z,1629036929.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:15:29.474Z,1629036929.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:15:29.865Z,1629036929.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F76,000,0065E,186,80,80,83,FF
2021-08-15T14:15:29.865Z,1629036929.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:15:29.866Z,1629036929.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:15:29.867Z,1629036929.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:15:30.278Z,1629036930.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:15:30.669Z,1629036930.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD5,000,00670,185,80,80,63,FF
2021-08-15T14:15:30.669Z,1629036930.669 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:15:31.126Z,1629036931.126 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141531.78*52

2021-08-15T14:15:31.176Z,1629036931.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.380005 m, bearing: 169.629975 deg, deltaT: 4.644515 s, approachRate: 0.232533 m/s, LOS rate: -1.107621 deg/s, posRepo size: 4
2021-08-15T14:15:33.600Z,1629036933.600 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:15:33.933Z,1629036933.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:15:33.933Z,1629036933.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:15:33.933Z,1629036933.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:15:33.934Z,1629036933.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:15:34.351Z,1629036934.351 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD5,000,00670,185,80,80,63,FF
2021-08-15T14:15:34.351Z,1629036934.351 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:15:34.354Z,1629036934.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:15:34.357Z,1629036934.357 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:15:34.741Z,1629036934.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:15:35.137Z,1629036935.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F98,000,00684,187,80,80,36,FF
2021-08-15T14:15:35.138Z,1629036935.138 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:15:35.559Z,1629036935.559 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141536.27*5F

2021-08-15T14:15:35.616Z,1629036935.616 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.580006 m, bearing: 173.043184 deg, deltaT: 4.248221 s, approachRate: 0.282471 m/s, LOS rate: 0.803444 deg/s, posRepo size: 4
2021-08-15T14:15:37.669Z,1629036937.669 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:15:37.989Z,1629036937.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:15:37.989Z,1629036937.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:15:37.990Z,1629036937.990 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:15:37.991Z,1629036937.991 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:15:38.412Z,1629036938.412 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F98,000,00684,187,80,80,36,FF
2021-08-15T14:15:38.412Z,1629036938.412 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:15:38.413Z,1629036938.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:15:38.414Z,1629036938.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:15:38.852Z,1629036938.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:15:39.334Z,1629036939.334 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC0,000,00692,184,80,80,95,FF
2021-08-15T14:15:39.335Z,1629036939.335 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:15:39.726Z,1629036939.726 [Micromodem](INFO): Nmea in: $SNTTA,,0.041598,,,141540.33*44

2021-08-15T14:15:39.742Z,1629036939.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.420006 m, bearing: 171.113328 deg, deltaT: 4.255451 s, approachRate: 0.197394 m/s, LOS rate: -0.453502 deg/s, posRepo size: 4
2021-08-15T14:15:42.185Z,1629036942.185 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:15:42.546Z,1629036942.546 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:15:42.546Z,1629036942.546 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:15:42.547Z,1629036942.547 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:15:42.547Z,1629036942.547 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:15:42.941Z,1629036942.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC0,000,00692,184,80,80,95,FF
2021-08-15T14:15:42.941Z,1629036942.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:15:42.942Z,1629036942.942 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:15:42.943Z,1629036942.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:15:43.545Z,1629036943.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:15:43.925Z,1629036943.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01D,000,006A4,185,80,80,83,FF
2021-08-15T14:15:43.925Z,1629036943.925 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:15:44.361Z,1629036944.361 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141544.87*50

2021-08-15T14:15:44.446Z,1629036944.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.500008 m, bearing: 165.352733 deg, deltaT: 4.532920 s, approachRate: 0.238257 m/s, LOS rate: -1.270835 deg/s, posRepo size: 4
2021-08-15T14:15:46.494Z,1629036946.494 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:15:46.837Z,1629036946.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:15:46.837Z,1629036946.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:15:46.837Z,1629036946.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:15:46.838Z,1629036946.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:15:47.217Z,1629036947.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01D,000,006A4,185,80,80,83,FF
2021-08-15T14:15:47.217Z,1629036947.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:15:47.217Z,1629036947.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:15:47.219Z,1629036947.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:15:47.624Z,1629036947.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:15:48.069Z,1629036948.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAC,000,006B6,184,80,80,3F,FF
2021-08-15T14:15:48.070Z,1629036948.070 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:15:48.465Z,1629036948.465 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141549.13*50

2021-08-15T14:15:48.496Z,1629036948.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.580002 m, bearing: 171.515571 deg, deltaT: 4.192051 s, approachRate: 0.257629 m/s, LOS rate: 1.470125 deg/s, posRepo size: 4
2021-08-15T14:15:50.966Z,1629036950.966 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:15:51.321Z,1629036951.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:15:51.322Z,1629036951.322 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:15:51.322Z,1629036951.322 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:15:51.324Z,1629036951.324 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:15:51.717Z,1629036951.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAC,000,006B6,184,80,80,3F,FF
2021-08-15T14:15:51.717Z,1629036951.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:15:51.718Z,1629036951.718 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:15:51.719Z,1629036951.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:15:52.368Z,1629036952.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:15:52.717Z,1629036952.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F30,000,006C5,187,80,80,6C,FF
2021-08-15T14:15:52.718Z,1629036952.718 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:15:53.161Z,1629036953.161 [Micromodem](INFO): Nmea in: $SNTTA,0.049591,,,,141553.63*42

2021-08-15T14:15:53.204Z,1629036953.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.480003 m, bearing: 177.843851 deg, deltaT: 4.602061 s, approachRate: 0.195565 m/s, LOS rate: 1.375097 deg/s, posRepo size: 4
2021-08-15T14:15:55.618Z,1629036955.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:15:55.953Z,1629036955.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:15:55.953Z,1629036955.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:15:55.953Z,1629036955.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:15:55.954Z,1629036955.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:15:56.513Z,1629036956.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F30,000,006C5,187,80,80,6C,FF
2021-08-15T14:15:56.513Z,1629036956.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:15:56.513Z,1629036956.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:15:56.515Z,1629036956.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:15:56.925Z,1629036956.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:15:57.350Z,1629036957.350 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA7,000,006DA,184,80,80,39,FF
2021-08-15T14:15:57.351Z,1629036957.351 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:15:57.762Z,1629036957.762 [Micromodem](INFO): Nmea in: $SNTTA,0.047360,,,,141558.43*4D

2021-08-15T14:15:57.796Z,1629036957.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.740005 m, bearing: 171.137138 deg, deltaT: 4.688797 s, approachRate: 0.268726 m/s, LOS rate: -1.430370 deg/s, posRepo size: 4
2021-08-15T14:16:00.281Z,1629036960.281 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:16:00.645Z,1629036960.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:16:00.645Z,1629036960.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:16:00.645Z,1629036960.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:16:00.646Z,1629036960.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:16:01.045Z,1629036961.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA7,000,006DA,184,80,80,39,FF
2021-08-15T14:16:01.045Z,1629036961.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:16:01.045Z,1629036961.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:16:01.047Z,1629036961.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:16:01.449Z,1629036961.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:16:02.274Z,1629036962.274 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEE,000,00F46,184,80,80,47,FF
2021-08-15T14:16:02.274Z,1629036962.274 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:16:02.277Z,1629036962.277 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141602.96*51

2021-08-15T14:16:02.937Z,1629036962.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 197.099991 m, bearing: 167.473069 deg, deltaT: 4.970250 s, approachRate: 26.026857 m/s, LOS rate: -0.737200 deg/s, posRepo size: 4
2021-08-15T14:16:04.361Z,1629036964.361 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-15T14:16:04.924Z,1629036964.924 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 10181961150000005D00000400260000000000000000151D80030C5669C08C7998685B1006E6CEB5683E9BFAAD2CDFF390599DF53DEBD795C4C21800
2021-08-15T14:16:04.924Z,1629036964.924 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-15T14:16:05.188Z,1629036965.188 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:16:05.393Z,1629036965.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:16:05.393Z,1629036965.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:16:05.393Z,1629036965.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:16:05.394Z,1629036965.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:16:05.402Z,1629036965.402 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-15T14:16:05.761Z,1629036965.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEE,000,00F46,184,80,80,47,FF
2021-08-15T14:16:05.761Z,1629036965.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:16:05.761Z,1629036965.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:16:05.763Z,1629036965.763 [Micromodem](INFO): Nmea in: $CADRQ,141606,1,10,0,64,1*72

2021-08-15T14:16:05.764Z,1629036965.764 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,10181961150000005D00000400260000000000000000151D80030C5669C08C7998685B1006E6CEB5683E9BFAAD2CDFF390599DF53DEBD795C4C21800*49

2021-08-15T14:16:06.166Z,1629036966.166 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-15T14:16:06.166Z,1629036966.166 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:16:06.567Z,1629036966.567 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-15T14:16:06.572Z,1629036966.572 [Micromodem](ERROR): Response from modem unexpected: $CATXP,60*74

2021-08-15T14:16:07.814Z,1629036967.814 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-15T14:16:07.814Z,1629036967.814 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-15T14:16:07.839Z,1629036967.839 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:16:08.179Z,1629036968.179 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,141607.696677,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5F

2021-08-15T14:16:08.180Z,1629036968.180 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210815,141607.696677,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5F

2021-08-15T14:16:09.826Z,1629036969.826 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-15T14:16:09.827Z,1629036969.827 [Micromodem](INFO): Sent 52 bytes from file Logs/20210815T133512/Courier0021.lzma.parts
2021-08-15T14:16:09.828Z,1629036969.828 [Micromodem](INFO): Packets left to send: 0
2021-08-15T14:16:10.246Z,1629036970.246 [Micromodem](INFO): Nmea in: $CACST,6,0,20210815141610.610601,06,32767,45,0144,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,7.5,4.13,05,-1.13,-01,0.25,44,14500,4000*53

2021-08-15T14:16:10.246Z,1629036970.246 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210815141610.610601,06,32767,45,0144,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,7.5,4.13,05,-1.13,-01,0.25,44,14500,4000*53

2021-08-15T14:16:10.597Z,1629036970.597 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:16:10.598Z,1629036970.598 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-15T14:16:10.598Z,1629036970.598 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-15T14:16:10.598Z,1629036970.598 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-15T14:16:10.598Z,1629036970.598 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T14:16:10.598Z,1629036970.598 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-15T14:16:11.832Z,1629036971.832 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.437757
2021-08-15T14:16:13.469Z,1629036973.469 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:16:13.829Z,1629036973.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:16:13.829Z,1629036973.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:16:13.829Z,1629036973.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:16:13.830Z,1629036973.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:16:14.225Z,1629036974.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEE,000,00F46,184,80,80,47,FF
2021-08-15T14:16:14.225Z,1629036974.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:16:14.226Z,1629036974.226 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:16:16.346Z,1629036976.346 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:16:17.462Z,1629036977.462 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:16:17.869Z,1629036977.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:16:18.265Z,1629036978.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E5,000,00729,186,80,80,79,FF
2021-08-15T14:16:18.265Z,1629036978.265 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:16:18.717Z,1629036978.717 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141619.37*50

2021-08-15T14:16:18.753Z,1629036978.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.480003 m, bearing: 142.889456 deg, deltaT: 16.007517 s, approachRate: -7.785092 m/s, LOS rate: -1.535754 deg/s, posRepo size: 4
2021-08-15T14:16:21.114Z,1629036981.114 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:16:21.502Z,1629036981.502 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:16:21.502Z,1629036981.502 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:16:21.502Z,1629036981.502 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:16:21.503Z,1629036981.503 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:16:21.906Z,1629036981.906 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E5,000,00729,186,80,80,79,FF
2021-08-15T14:16:21.906Z,1629036981.906 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:16:21.906Z,1629036981.906 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:16:21.907Z,1629036981.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:16:22.345Z,1629036982.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:16:22.713Z,1629036982.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,147,000,0073E,185,80,80,91,FF
2021-08-15T14:16:22.713Z,1629036982.713 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:16:23.141Z,1629036983.141 [Micromodem](INFO): Nmea in: $SNTTA,0.052822,,,,141623.83*47

2021-08-15T14:16:23.188Z,1629036983.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.740005 m, bearing: 150.474245 deg, deltaT: 4.347509 s, approachRate: 0.289822 m/s, LOS rate: 1.744629 deg/s, posRepo size: 4
2021-08-15T14:16:25.595Z,1629036985.595 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:16:25.953Z,1629036985.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:16:25.953Z,1629036985.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:16:25.953Z,1629036985.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:16:25.954Z,1629036985.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:16:26.354Z,1629036986.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
147,000,0073E,185,80,80,91,FF
2021-08-15T14:16:26.354Z,1629036986.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:16:26.354Z,1629036986.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:16:26.364Z,1629036986.364 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:16:26.829Z,1629036986.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:16:27.217Z,1629036987.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12E,000,0074F,186,80,80,68,FF
2021-08-15T14:16:27.218Z,1629036987.218 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:16:27.641Z,1629036987.641 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141628.28*5C

2021-08-15T14:16:27.667Z,1629036987.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.760002 m, bearing: 151.287857 deg, deltaT: 4.510421 s, approachRate: 0.226142 m/s, LOS rate: 0.180385 deg/s, posRepo size: 4
2021-08-15T14:16:30.143Z,1629036990.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:16:30.453Z,1629036990.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:16:30.453Z,1629036990.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:16:30.453Z,1629036990.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:16:30.454Z,1629036990.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:16:30.857Z,1629036990.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
12E,000,0074F,186,80,80,68,FF
2021-08-15T14:16:30.857Z,1629036990.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:16:30.857Z,1629036990.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:16:30.859Z,1629036990.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:16:31.265Z,1629036991.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:16:31.669Z,1629036991.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,237,000,00764,188,80,80,7C,FF
2021-08-15T14:16:31.670Z,1629036991.670 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:16:32.122Z,1629036992.122 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141632.77*5D

2021-08-15T14:16:32.200Z,1629036992.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.020004 m, bearing: 137.815063 deg, deltaT: 4.480768 s, approachRate: 0.281202 m/s, LOS rate: -3.006805 deg/s, posRepo size: 4
2021-08-15T14:16:34.531Z,1629036994.531 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:16:34.897Z,1629036994.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:16:34.897Z,1629036994.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:16:34.897Z,1629036994.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:16:34.898Z,1629036994.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:16:35.297Z,1629036995.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
237,000,00764,188,80,80,7C,FF
2021-08-15T14:16:35.297Z,1629036995.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:16:35.298Z,1629036995.298 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:16:35.299Z,1629036995.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:16:35.719Z,1629036995.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:16:36.113Z,1629036996.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FB,000,00777,187,80,80,8A,FF
2021-08-15T14:16:36.114Z,1629036996.114 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:16:36.558Z,1629036996.558 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141637.21*5B

2021-08-15T14:16:36.594Z,1629036996.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.160004 m, bearing: 140.326182 deg, deltaT: 4.449515 s, approachRate: 0.256208 m/s, LOS rate: 0.564358 deg/s, posRepo size: 4
2021-08-15T14:16:38.955Z,1629036998.955 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:16:39.374Z,1629036999.374 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:16:39.374Z,1629036999.374 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:16:39.374Z,1629036999.374 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:16:39.375Z,1629036999.375 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:16:39.745Z,1629036999.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1FB,000,00777,187,80,80,8A,FF
2021-08-15T14:16:39.745Z,1629036999.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:16:39.745Z,1629036999.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:16:39.747Z,1629036999.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:16:40.161Z,1629037000.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:16:40.558Z,1629037000.558 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,195,000,00787,185,80,80,8E,FF
2021-08-15T14:16:40.559Z,1629037000.559 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:16:40.990Z,1629037000.990 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141641.66*59

2021-08-15T14:16:41.012Z,1629037001.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.119995 m, bearing: 144.879678 deg, deltaT: 4.435069 s, approachRate: 0.216455 m/s, LOS rate: 1.026702 deg/s, posRepo size: 4
2021-08-15T14:16:42.190Z,1629037002.190 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-15T14:16:43.425Z,1629037003.425 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:16:43.781Z,1629037003.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:16:43.781Z,1629037003.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:16:43.782Z,1629037003.782 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:16:43.783Z,1629037003.783 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:16:44.189Z,1629037004.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
195,000,00787,185,80,80,8E,FF
2021-08-15T14:16:44.190Z,1629037004.190 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:16:44.190Z,1629037004.190 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:16:44.191Z,1629037004.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:16:44.617Z,1629037004.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:16:45.017Z,1629037005.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25B,000,0079B,189,80,80,8E,FF
2021-08-15T14:16:45.017Z,1629037005.017 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:16:45.457Z,1629037005.457 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141646.10*5F

2021-08-15T14:16:45.503Z,1629037005.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.320007 m, bearing: 135.417735 deg, deltaT: 4.412612 s, approachRate: 0.271951 m/s, LOS rate: -2.144295 deg/s, posRepo size: 4
2021-08-15T14:16:47.858Z,1629037007.858 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:16:48.233Z,1629037008.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:16:48.233Z,1629037008.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:16:48.233Z,1629037008.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:16:48.234Z,1629037008.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:16:48.637Z,1629037008.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
25B,000,0079B,189,80,80,8E,FF
2021-08-15T14:16:48.637Z,1629037008.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:16:48.637Z,1629037008.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:16:48.639Z,1629037008.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:16:49.050Z,1629037009.050 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:16:49.443Z,1629037009.443 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,206,000,007AF,187,80,80,85,FF
2021-08-15T14:16:49.443Z,1629037009.443 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:16:49.889Z,1629037009.889 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141650.55*59

2021-08-15T14:16:49.912Z,1629037009.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.520004 m, bearing: 139.644789 deg, deltaT: 4.468703 s, approachRate: 0.268534 m/s, LOS rate: 0.945924 deg/s, posRepo size: 4
2021-08-15T14:16:52.397Z,1629037012.397 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:16:52.687Z,1629037012.687 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:16:52.687Z,1629037012.687 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:16:52.687Z,1629037012.687 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:16:52.688Z,1629037012.688 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:16:53.093Z,1629037013.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
206,000,007AF,187,80,80,85,FF
2021-08-15T14:16:53.093Z,1629037013.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:16:53.093Z,1629037013.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:16:53.095Z,1629037013.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:16:53.489Z,1629037013.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:16:53.889Z,1629037013.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01F,000,007BE,185,80,80,63,FF
2021-08-15T14:16:53.890Z,1629037013.890 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:16:54.318Z,1629037014.318 [Micromodem](INFO): Nmea in: $SNTTA,0.060407,0.406763,,,141655.01*58

2021-08-15T14:16:54.393Z,1629037014.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.419998 m, bearing: 164.412161 deg, deltaT: 4.403426 s, approachRate: 0.204385 m/s, LOS rate: 5.624569 deg/s, posRepo size: 4
2021-08-15T14:16:56.435Z,1629037016.435 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:16:56.721Z,1629037016.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:16:56.721Z,1629037016.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:16:56.721Z,1629037016.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:16:56.722Z,1629037016.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:16:57.125Z,1629037017.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01F,000,007BE,185,80,80,63,FF
2021-08-15T14:16:57.125Z,1629037017.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:16:57.125Z,1629037017.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:16:57.127Z,1629037017.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:16:57.540Z,1629037017.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:16:57.945Z,1629037017.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,16C,000,007D0,185,80,80,76,FF
2021-08-15T14:16:57.945Z,1629037017.945 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:16:58.397Z,1629037018.397 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141659.04*54

2021-08-15T14:16:58.458Z,1629037018.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.500000 m, bearing: 148.397867 deg, deltaT: 4.050462 s, approachRate: 0.266637 m/s, LOS rate: -3.953696 deg/s, posRepo size: 4
2021-08-15T14:17:00.786Z,1629037020.786 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:17:01.165Z,1629037021.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:17:01.165Z,1629037021.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:17:01.166Z,1629037021.166 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:17:01.167Z,1629037021.167 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:17:01.570Z,1629037021.570 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
16C,000,007D0,185,80,80,76,FF
2021-08-15T14:17:01.570Z,1629037021.570 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:17:01.570Z,1629037021.570 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:17:01.574Z,1629037021.574 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:17:01.986Z,1629037021.986 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:17:02.397Z,1629037022.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CD,000,007EA,186,80,80,8D,FF
2021-08-15T14:17:02.398Z,1629037022.398 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:17:02.814Z,1629037022.814 [Micromodem](INFO): Nmea in: $SNTTA,0.060394,,,,141703.48*44

2021-08-15T14:17:02.830Z,1629037022.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.060005 m, bearing: 143.637348 deg, deltaT: 4.514574 s, approachRate: 0.345549 m/s, LOS rate: -1.054478 deg/s, posRepo size: 4
2021-08-15T14:17:05.231Z,1629037025.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:17:05.621Z,1629037025.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:17:05.621Z,1629037025.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:17:05.621Z,1629037025.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:17:05.622Z,1629037025.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:17:06.025Z,1629037026.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CD,000,007EA,186,80,80,8D,FF
2021-08-15T14:17:06.025Z,1629037026.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:17:06.025Z,1629037026.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:17:06.031Z,1629037026.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:17:06.433Z,1629037026.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:17:06.821Z,1629037026.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F24,000,007FE,187,80,80,94,FF
2021-08-15T14:17:06.821Z,1629037026.821 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:17:07.269Z,1629037027.269 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141707.94*57

2021-08-15T14:17:07.293Z,1629037027.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.260002 m, bearing: 176.757263 deg, deltaT: 4.432201 s, approachRate: 0.270745 m/s, LOS rate: 7.472566 deg/s, posRepo size: 4
2021-08-15T14:17:09.693Z,1629037029.693 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:17:10.093Z,1629037030.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:17:10.093Z,1629037030.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:17:10.093Z,1629037030.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:17:10.094Z,1629037030.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:17:10.466Z,1629037030.466 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F24,000,007FE,187,80,80,94,FF
2021-08-15T14:17:10.466Z,1629037030.466 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:17:10.467Z,1629037030.467 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:17:10.469Z,1629037030.469 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:17:10.869Z,1629037030.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:17:11.285Z,1629037031.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E7,000,00809,186,80,80,96,FF
2021-08-15T14:17:11.286Z,1629037031.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:17:11.717Z,1629037031.717 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141712.38*55

2021-08-15T14:17:11.745Z,1629037031.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.920006 m, bearing: 140.547603 deg, deltaT: 4.461258 s, approachRate: 0.147941 m/s, LOS rate: -8.116468 deg/s, posRepo size: 4
2021-08-15T14:17:14.159Z,1629037034.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:17:14.496Z,1629037034.496 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:17:14.496Z,1629037034.496 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:17:14.497Z,1629037034.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:17:14.498Z,1629037034.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:17:14.906Z,1629037034.906 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E7,000,00809,186,80,80,96,FF
2021-08-15T14:17:14.906Z,1629037034.906 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:17:14.906Z,1629037034.906 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:17:14.907Z,1629037034.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:17:15.344Z,1629037035.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:17:16.140Z,1629037036.140 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141716.82*50

2021-08-15T14:17:16.971Z,1629037036.971 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:17:18.537Z,1629037038.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,96,FF
2021-08-15T14:17:18.537Z,1629037038.537 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,96,FF
2021-08-15T14:17:18.538Z,1629037038.538 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:17:19.781Z,1629037039.781 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:17:20.165Z,1629037040.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:17:20.165Z,1629037040.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:17:20.165Z,1629037040.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:17:20.166Z,1629037040.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:17:20.566Z,1629037040.566 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,96,FF
2021-08-15T14:17:20.566Z,1629037040.566 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:17:20.566Z,1629037040.566 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:17:20.569Z,1629037040.569 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:17:20.968Z,1629037040.968 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:17:21.389Z,1629037041.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,185,000,00833,186,80,80,8F,FF
2021-08-15T14:17:21.390Z,1629037041.390 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:17:21.806Z,1629037041.806 [Micromodem](INFO): Nmea in: $SNTTA,0.063620,,,,141722.48*4E

2021-08-15T14:17:21.886Z,1629037041.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.439995 m, bearing: 147.327699 deg, deltaT: 10.084014 s, approachRate: 0.249899 m/s, LOS rate: 0.672361 deg/s, posRepo size: 4
2021-08-15T14:17:24.252Z,1629037044.252 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:17:24.613Z,1629037044.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:17:24.613Z,1629037044.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:17:24.613Z,1629037044.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:17:24.614Z,1629037044.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:17:25.001Z,1629037045.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
185,000,00833,186,80,80,8F,FF
2021-08-15T14:17:25.001Z,1629037045.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:17:25.002Z,1629037045.002 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:17:25.003Z,1629037045.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:17:25.408Z,1629037045.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:17:25.809Z,1629037045.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FE,000,00843,186,80,80,7B,FF
2021-08-15T14:17:25.810Z,1629037045.810 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:17:26.254Z,1629037046.254 [Micromodem](INFO): Nmea in: $SNTTA,0.412275,,,,141726.91*48

2021-08-15T14:17:26.291Z,1629037046.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.400002 m, bearing: 142.286228 deg, deltaT: 4.372425 s, approachRate: 0.219559 m/s, LOS rate: -1.153015 deg/s, posRepo size: 4
2021-08-15T14:17:28.348Z,1629037048.348 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:17:28.641Z,1629037048.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:17:28.641Z,1629037048.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:17:28.641Z,1629037048.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:17:28.642Z,1629037048.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:17:29.041Z,1629037049.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1FE,000,00843,186,80,80,7B,FF
2021-08-15T14:17:29.041Z,1629037049.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:17:29.042Z,1629037049.042 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:17:29.043Z,1629037049.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:17:29.457Z,1629037049.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:17:29.846Z,1629037049.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,039,000,0084F,185,80,80,6F,FF
2021-08-15T14:17:29.846Z,1629037049.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:17:30.297Z,1629037050.297 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141730.95*52

2021-08-15T14:17:30.398Z,1629037050.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.119995 m, bearing: 164.764694 deg, deltaT: 4.075124 s, approachRate: 0.176680 m/s, LOS rate: 5.516020 deg/s, posRepo size: 4
2021-08-15T14:17:32.700Z,1629037052.700 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:17:33.077Z,1629037053.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:17:33.077Z,1629037053.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:17:33.077Z,1629037053.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:17:33.078Z,1629037053.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:17:33.485Z,1629037053.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
039,000,0084F,185,80,80,6F,FF
2021-08-15T14:17:33.486Z,1629037053.486 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:17:33.486Z,1629037053.486 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:17:33.487Z,1629037053.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:17:33.896Z,1629037053.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:17:34.301Z,1629037054.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F26,000,00861,186,80,80,75,FF
2021-08-15T14:17:34.302Z,1629037054.302 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:17:34.733Z,1629037054.733 [Micromodem](INFO): Nmea in: $SNTTA,0.062775,,,,141735.40*40

2021-08-15T14:17:34.756Z,1629037054.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.200005 m, bearing: 178.076965 deg, deltaT: 4.518117 s, approachRate: 0.239040 m/s, LOS rate: 2.946420 deg/s, posRepo size: 4
2021-08-15T14:17:37.139Z,1629037057.139 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:17:37.533Z,1629037057.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:17:37.533Z,1629037057.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:17:37.534Z,1629037057.534 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:17:37.534Z,1629037057.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:17:37.929Z,1629037057.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F26,000,00861,186,80,80,75,FF
2021-08-15T14:17:37.929Z,1629037057.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:17:37.929Z,1629037057.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:17:37.931Z,1629037057.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:17:38.357Z,1629037058.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:17:38.733Z,1629037058.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F3,000,00872,186,80,80,82,FF
2021-08-15T14:17:38.734Z,1629037058.734 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:17:39.181Z,1629037059.181 [Micromodem](INFO): Nmea in: $SNTTA,0.066921,,,,141739.84*4F

2021-08-15T14:17:39.204Z,1629037059.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.220001 m, bearing: 154.394787 deg, deltaT: 4.359155 s, approachRate: 0.233990 m/s, LOS rate: -5.432745 deg/s, posRepo size: 4
2021-08-15T14:17:41.607Z,1629037061.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:17:41.973Z,1629037061.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:17:41.973Z,1629037061.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:17:41.973Z,1629037061.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:17:41.974Z,1629037061.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:17:42.389Z,1629037062.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F3,000,00872,186,80,80,82,FF
2021-08-15T14:17:42.389Z,1629037062.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:17:42.389Z,1629037062.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:17:42.391Z,1629037062.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:17:42.793Z,1629037062.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:17:43.181Z,1629037063.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6E,000,00880,186,80,80,69,FF
2021-08-15T14:17:43.182Z,1629037063.182 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:17:43.613Z,1629037063.613 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141744.30*5E

2021-08-15T14:17:43.671Z,1629037063.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.060005 m, bearing: 174.328202 deg, deltaT: 4.472111 s, approachRate: 0.187832 m/s, LOS rate: 4.457272 deg/s, posRepo size: 4
2021-08-15T14:17:46.098Z,1629037066.098 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:17:46.413Z,1629037066.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:17:46.413Z,1629037066.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:17:46.413Z,1629037066.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:17:46.414Z,1629037066.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:17:46.817Z,1629037066.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6E,000,00880,186,80,80,69,FF
2021-08-15T14:17:46.817Z,1629037066.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:17:46.817Z,1629037066.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:17:46.819Z,1629037066.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:17:47.233Z,1629037067.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:17:47.629Z,1629037067.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,058,000,00890,187,80,80,79,FF
2021-08-15T14:17:47.629Z,1629037067.629 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:17:48.101Z,1629037068.101 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141748.73*55

2021-08-15T14:17:48.148Z,1629037068.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.019997 m, bearing: 163.142661 deg, deltaT: 4.456471 s, approachRate: 0.215415 m/s, LOS rate: -2.509955 deg/s, posRepo size: 4
2021-08-15T14:17:50.494Z,1629037070.494 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:17:50.865Z,1629037070.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:17:50.865Z,1629037070.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:17:50.865Z,1629037070.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:17:50.866Z,1629037070.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:17:51.257Z,1629037071.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
058,000,00890,187,80,80,79,FF
2021-08-15T14:17:51.257Z,1629037071.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:17:51.258Z,1629037071.258 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:17:51.259Z,1629037071.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:17:51.669Z,1629037071.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:17:52.109Z,1629037072.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD0,000,0089D,185,80,80,93,FF
2021-08-15T14:17:52.109Z,1629037072.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:17:52.514Z,1629037072.514 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141753.17*5D

2021-08-15T14:17:52.540Z,1629037072.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.800003 m, bearing: 170.118743 deg, deltaT: 4.470892 s, approachRate: 0.174463 m/s, LOS rate: 1.560333 deg/s, posRepo size: 4
2021-08-15T14:17:54.931Z,1629037074.931 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:17:55.335Z,1629037075.335 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:17:55.335Z,1629037075.335 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:17:55.336Z,1629037075.336 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:17:55.338Z,1629037075.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:17:55.706Z,1629037075.707 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD0,000,0089D,185,80,80,93,FF
2021-08-15T14:17:55.707Z,1629037075.707 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:17:55.707Z,1629037075.707 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:17:55.709Z,1629037075.709 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:17:56.121Z,1629037076.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:17:56.529Z,1629037076.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F89,000,0020F,186,80,80,48,FF
2021-08-15T14:17:56.529Z,1629037076.529 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2021-08-15T14:17:56.981Z,1629037076.981 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141757.62*5B

2021-08-15T14:17:57.350Z,1629037077.350 [Micromodem](INFO): Nmea in: $CAR8,COPROC,0.20.0.39330*75

2021-08-15T14:17:57.350Z,1629037077.350 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAR8,COPROC,0.20.0.39330*75
 expected 7C
2021-08-15T14:17:57.790Z,1629037077.790 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:18:00.604Z,1629037080.604 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:18:00.969Z,1629037080.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:18:00.969Z,1629037080.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:18:00.969Z,1629037080.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:18:00.970Z,1629037080.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:18:01.381Z,1629037081.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F89,000,0020F,186,80,80,48,FF
2021-08-15T14:18:01.381Z,1629037081.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:18:01.382Z,1629037081.382 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:18:01.383Z,1629037081.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:18:01.794Z,1629037081.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:18:02.169Z,1629037082.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBE,000,008BF,185,80,80,83,FF
2021-08-15T14:18:02.170Z,1629037082.170 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:18:02.613Z,1629037082.613 [Micromodem](INFO): Nmea in: $SNTTA,0.070235,,,,141803.29*47

2021-08-15T14:18:02.639Z,1629037082.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.840004 m, bearing: 170.187796 deg, deltaT: 10.049784 s, approachRate: 0.202990 m/s, LOS rate: 0.006871 deg/s, posRepo size: 4
2021-08-15T14:18:05.031Z,1629037085.031 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:18:05.409Z,1629037085.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:18:05.410Z,1629037085.410 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:18:05.410Z,1629037085.410 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:18:05.411Z,1629037085.411 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:18:05.833Z,1629037085.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBE,000,008BF,185,80,80,83,FF
2021-08-15T14:18:05.833Z,1629037085.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:18:05.833Z,1629037085.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:18:05.835Z,1629037085.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:18:06.212Z,1629037086.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:18:06.626Z,1629037086.626 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,066,000,008D0,186,80,80,90,FF
2021-08-15T14:18:06.627Z,1629037086.626 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:18:07.042Z,1629037087.042 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141807.75*57

2021-08-15T14:18:07.064Z,1629037087.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.860008 m, bearing: 161.507022 deg, deltaT: 4.452591 s, approachRate: 0.229081 m/s, LOS rate: -1.949601 deg/s, posRepo size: 4
2021-08-15T14:18:09.490Z,1629037089.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:18:09.856Z,1629037089.856 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:18:09.856Z,1629037089.856 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:18:09.856Z,1629037089.856 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:18:09.857Z,1629037089.857 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:18:10.249Z,1629037090.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
066,000,008D0,186,80,80,90,FF
2021-08-15T14:18:10.249Z,1629037090.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:18:10.249Z,1629037090.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:18:10.251Z,1629037090.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:18:10.659Z,1629037090.659 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:18:11.057Z,1629037091.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F76,000,008DD,187,80,80,79,FF
2021-08-15T14:18:11.057Z,1629037091.057 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:18:11.502Z,1629037091.502 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141812.16*56

2021-08-15T14:18:11.550Z,1629037091.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.639999 m, bearing: 173.818943 deg, deltaT: 4.456756 s, approachRate: 0.175013 m/s, LOS rate: 2.762530 deg/s, posRepo size: 4
2021-08-15T14:18:13.938Z,1629037093.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:18:14.297Z,1629037094.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:18:14.298Z,1629037094.298 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:18:14.298Z,1629037094.298 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:18:14.299Z,1629037094.299 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:18:14.693Z,1629037094.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F76,000,008DD,187,80,80,79,FF
2021-08-15T14:18:14.693Z,1629037094.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:18:14.693Z,1629037094.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:18:14.695Z,1629037094.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:18:15.100Z,1629037095.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:18:15.509Z,1629037095.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19A,000,008E8,185,80,80,81,FF
2021-08-15T14:18:15.510Z,1629037095.510 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:18:15.937Z,1629037095.937 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141816.61*52

2021-08-15T14:18:15.971Z,1629037095.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.300003 m, bearing: 146.141241 deg, deltaT: 4.453731 s, approachRate: 0.148191 m/s, LOS rate: -6.214498 deg/s, posRepo size: 4
2021-08-15T14:18:18.442Z,1629037098.442 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:18:18.753Z,1629037098.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:18:18.753Z,1629037098.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:18:18.753Z,1629037098.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:18:18.754Z,1629037098.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:18:19.153Z,1629037099.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19A,000,008E8,185,80,80,81,FF
2021-08-15T14:18:19.153Z,1629037099.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:18:19.153Z,1629037099.153 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:18:19.155Z,1629037099.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:18:19.563Z,1629037099.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:18:19.965Z,1629037099.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A3,000,008F2,189,80,80,86,FF
2021-08-15T14:18:19.965Z,1629037099.965 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:18:20.411Z,1629037100.411 [Micromodem](INFO): Nmea in: $SNTTA,0.068422,,,,141821.07*42

2021-08-15T14:18:20.504Z,1629037100.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.900002 m, bearing: 132.364381 deg, deltaT: 4.431183 s, approachRate: 0.135404 m/s, LOS rate: -3.109071 deg/s, posRepo size: 4
2021-08-15T14:18:22.814Z,1629037102.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:18:23.193Z,1629037103.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:18:23.193Z,1629037103.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:18:23.193Z,1629037103.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:18:23.194Z,1629037103.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:18:23.609Z,1629037103.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A3,000,008F2,189,80,80,86,FF
2021-08-15T14:18:23.609Z,1629037103.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:18:23.609Z,1629037103.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:18:23.611Z,1629037103.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:18:24.040Z,1629037104.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:18:24.417Z,1629037104.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,237,000,008FB,189,80,80,99,FF
2021-08-15T14:18:24.418Z,1629037104.418 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:18:24.846Z,1629037104.846 [Micromodem](INFO): Nmea in: $SNTTA,0.069014,,,,141825.52*46

2021-08-15T14:18:24.886Z,1629037104.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.440002 m, bearing: 137.314519 deg, deltaT: 4.449096 s, approachRate: 0.121373 m/s, LOS rate: 1.112617 deg/s, posRepo size: 4
2021-08-15T14:18:27.273Z,1629037107.273 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:18:27.641Z,1629037107.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:18:27.641Z,1629037107.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:18:27.642Z,1629037107.642 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:18:27.643Z,1629037107.643 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:18:28.095Z,1629037108.095 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
237,000,008FB,189,80,80,99,FF
2021-08-15T14:18:28.095Z,1629037108.095 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:18:28.096Z,1629037108.096 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:18:28.097Z,1629037108.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:18:28.452Z,1629037108.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:18:28.873Z,1629037108.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F4,000,00907,186,80,80,79,FF
2021-08-15T14:18:28.874Z,1629037108.874 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:18:29.279Z,1629037109.279 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141830.01*50

2021-08-15T14:18:29.369Z,1629037109.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.160004 m, bearing: 141.172770 deg, deltaT: 4.438420 s, approachRate: 0.162220 m/s, LOS rate: 0.869285 deg/s, posRepo size: 4
2021-08-15T14:18:31.721Z,1629037111.721 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:18:32.113Z,1629037112.113 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:18:32.113Z,1629037112.113 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:18:32.113Z,1629037112.113 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:18:32.114Z,1629037112.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:18:32.485Z,1629037112.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F4,000,00907,186,80,80,79,FF
2021-08-15T14:18:32.485Z,1629037112.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:18:32.485Z,1629037112.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:18:32.487Z,1629037112.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:18:32.904Z,1629037112.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:18:33.290Z,1629037113.290 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,128,000,00910,186,80,80,8B,FF
2021-08-15T14:18:33.290Z,1629037113.290 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:18:33.730Z,1629037113.730 [Micromodem](INFO): Nmea in: $SNTTA,0.076662,,,,141834.40*4C

2021-08-15T14:18:33.756Z,1629037113.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.699997 m, bearing: 151.226945 deg, deltaT: 4.447962 s, approachRate: 0.121402 m/s, LOS rate: 2.260400 deg/s, posRepo size: 4
2021-08-15T14:18:36.183Z,1629037116.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:18:36.521Z,1629037116.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:18:36.521Z,1629037116.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:18:36.521Z,1629037116.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:18:36.522Z,1629037116.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:18:36.938Z,1629037116.938 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
128,000,00910,186,80,80,8B,FF
2021-08-15T14:18:36.940Z,1629037116.940 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:18:36.940Z,1629037116.940 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:18:36.942Z,1629037116.942 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:18:37.359Z,1629037117.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:18:37.741Z,1629037117.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,263,000,0091E,188,80,80,95,FF
2021-08-15T14:18:37.741Z,1629037117.741 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:18:38.185Z,1629037118.185 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141838.85*54

2021-08-15T14:18:38.245Z,1629037118.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.540001 m, bearing: 135.019453 deg, deltaT: 4.459789 s, approachRate: 0.188351 m/s, LOS rate: -3.634139 deg/s, posRepo size: 4
2021-08-15T14:18:40.604Z,1629037120.604 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:18:40.969Z,1629037120.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:18:40.969Z,1629037120.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:18:40.969Z,1629037120.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:18:40.970Z,1629037120.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:18:41.393Z,1629037121.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
263,000,0091E,188,80,80,95,FF
2021-08-15T14:18:41.393Z,1629037121.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:18:41.393Z,1629037121.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:18:41.395Z,1629037121.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:18:41.785Z,1629037121.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:18:42.185Z,1629037122.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26D,000,00926,189,80,80,8C,FF
2021-08-15T14:18:42.185Z,1629037122.185 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:18:42.618Z,1629037122.618 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141843.31*57

2021-08-15T14:18:42.644Z,1629037122.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.020004 m, bearing: 133.641134 deg, deltaT: 4.445681 s, approachRate: 0.107971 m/s, LOS rate: -0.310035 deg/s, posRepo size: 4
2021-08-15T14:18:45.031Z,1629037125.031 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:18:45.421Z,1629037125.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:18:45.421Z,1629037125.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:18:45.421Z,1629037125.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:18:45.422Z,1629037125.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:18:45.817Z,1629037125.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26D,000,00926,189,80,80,8C,FF
2021-08-15T14:18:45.817Z,1629037125.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:18:45.817Z,1629037125.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:18:45.819Z,1629037125.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:18:46.233Z,1629037126.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:18:46.633Z,1629037126.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A8,000,0092F,188,80,80,7D,FF
2021-08-15T14:18:46.633Z,1629037126.633 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:18:47.073Z,1629037127.073 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141847.73*55

2021-08-15T14:18:47.096Z,1629037127.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.559998 m, bearing: 130.428268 deg, deltaT: 4.433890 s, approachRate: 0.121788 m/s, LOS rate: -0.724616 deg/s, posRepo size: 4
2021-08-15T14:18:49.486Z,1629037129.486 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:18:49.868Z,1629037129.868 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:18:49.868Z,1629037129.868 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:18:49.869Z,1629037129.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:18:49.870Z,1629037129.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:18:50.269Z,1629037130.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A8,000,0092F,188,80,80,7D,FF
2021-08-15T14:18:50.269Z,1629037130.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:18:50.269Z,1629037130.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:18:50.271Z,1629037130.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:18:50.677Z,1629037130.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:18:51.073Z,1629037131.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BB,000,0093D,187,80,80,3E,FF
2021-08-15T14:18:51.073Z,1629037131.073 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:18:51.521Z,1629037131.521 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141852.19*5D

2021-08-15T14:18:51.579Z,1629037131.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.400002 m, bearing: 155.710937 deg, deltaT: 4.417759 s, approachRate: 0.190143 m/s, LOS rate: 5.722963 deg/s, posRepo size: 4
2021-08-15T14:18:53.927Z,1629037133.927 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:18:54.310Z,1629037134.310 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:18:54.311Z,1629037134.311 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:18:54.311Z,1629037134.311 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:18:54.313Z,1629037134.313 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:18:54.717Z,1629037134.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BB,000,0093D,187,80,80,3E,FF
2021-08-15T14:18:54.718Z,1629037134.718 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:18:54.718Z,1629037134.718 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:18:54.719Z,1629037134.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:18:55.121Z,1629037135.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:18:55.958Z,1629037135.958 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141856.63*54

2021-08-15T14:18:56.436Z,1629037136.436 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:18:58.361Z,1629037138.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,187,80,80,3E,FF
2021-08-15T14:18:58.361Z,1629037138.361 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,187,80,80,3E,FF
2021-08-15T14:18:58.361Z,1629037138.361 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:18:59.204Z,1629037139.204 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:18:59.566Z,1629037139.566 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:18:59.566Z,1629037139.566 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:18:59.566Z,1629037139.566 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:18:59.567Z,1629037139.567 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:18:59.965Z,1629037139.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,187,80,80,3E,FF
2021-08-15T14:18:59.965Z,1629037139.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:18:59.965Z,1629037139.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:18:59.967Z,1629037139.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:19:00.407Z,1629037140.407 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:19:00.770Z,1629037140.770 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,263,000,00954,188,80,80,84,FF
2021-08-15T14:19:00.770Z,1629037140.770 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:19:01.217Z,1629037141.217 [Micromodem](INFO): Nmea in: $SNTTA,0.405579,,,,141901.88*46

2021-08-15T14:19:01.248Z,1629037141.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.779999 m, bearing: 135.089339 deg, deltaT: 9.671633 s, approachRate: 0.142685 m/s, LOS rate: -2.132173 deg/s, posRepo size: 4
2021-08-15T14:19:03.652Z,1629037143.652 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:19:04.011Z,1629037144.011 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:19:04.012Z,1629037144.012 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:19:04.013Z,1629037144.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:19:04.014Z,1629037144.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:19:04.410Z,1629037144.410 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
263,000,00954,188,80,80,84,FF
2021-08-15T14:19:04.410Z,1629037144.410 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:19:04.410Z,1629037144.410 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:19:04.432Z,1629037144.432 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:19:04.815Z,1629037144.815 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:19:05.642Z,1629037145.642 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141906.35*53

2021-08-15T14:19:06.457Z,1629037146.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:19:08.081Z,1629037148.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,188,80,80,84,FF
2021-08-15T14:19:08.081Z,1629037148.081 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,188,80,80,84,FF
2021-08-15T14:19:08.082Z,1629037148.082 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:19:09.279Z,1629037149.279 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:19:09.661Z,1629037149.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:19:09.661Z,1629037149.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:19:09.661Z,1629037149.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:19:09.662Z,1629037149.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:19:10.105Z,1629037150.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,188,80,80,84,FF
2021-08-15T14:19:10.106Z,1629037150.106 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:19:10.106Z,1629037150.106 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:19:10.109Z,1629037150.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:19:10.466Z,1629037150.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:19:11.678Z,1629037151.678 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141912.02*52

2021-08-15T14:19:12.149Z,1629037152.149 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:19:14.121Z,1629037154.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A3,000,09686,186,80,80,43,FF
2021-08-15T14:19:14.121Z,1629037154.121 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:19:14.544Z,1629037154.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2274.540039 m, bearing: 157.489300 deg, deltaT: 13.430262 s, approachRate: 161.483078 m/s, LOS rate: 1.667872 deg/s, posRepo size: 4
2021-08-15T14:19:14.545Z,1629037154.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 2274.54 m. Resuming terminal guidance.
2021-08-15T14:19:14.545Z,1629037154.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-15T14:19:16.971Z,1629037156.971 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:19:17.350Z,1629037157.350 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:19:17.350Z,1629037157.350 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:19:17.350Z,1629037157.350 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:19:17.351Z,1629037157.351 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:19:17.729Z,1629037157.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A3,000,09686,186,80,80,43,FF
2021-08-15T14:19:17.729Z,1629037157.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:19:17.729Z,1629037157.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:19:17.731Z,1629037157.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:19:18.136Z,1629037158.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:19:18.542Z,1629037158.542 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF8,000,00988,183,80,80,3B,FF
2021-08-15T14:19:18.543Z,1629037158.543 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:19:18.977Z,1629037158.977 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141919.64*59

2021-08-15T14:19:19.014Z,1629037159.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.900002 m, bearing: 166.969329 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-15T14:19:19.014Z,1629037159.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 166.969329deg and heading rate command to 0 deg/s.
2021-08-15T14:19:21.426Z,1629037161.426 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:19:21.777Z,1629037161.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:19:21.777Z,1629037161.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:19:21.778Z,1629037161.778 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:19:21.779Z,1629037161.779 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:19:22.189Z,1629037162.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF8,000,00988,183,80,80,3B,FF
2021-08-15T14:19:22.189Z,1629037162.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:19:22.189Z,1629037162.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:19:22.190Z,1629037162.190 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:19:22.592Z,1629037162.592 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:19:23.418Z,1629037163.418 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141924.11*55

2021-08-15T14:19:24.234Z,1629037164.234 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:19:25.814Z,1629037165.814 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,183,80,80,3B,FF
2021-08-15T14:19:25.814Z,1629037165.814 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,183,80,80,3B,FF
2021-08-15T14:19:25.814Z,1629037165.814 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:19:27.058Z,1629037167.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:19:27.436Z,1629037167.436 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:19:27.437Z,1629037167.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:19:27.437Z,1629037167.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:19:27.438Z,1629037167.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:19:27.837Z,1629037167.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,183,80,80,3B,FF
2021-08-15T14:19:27.837Z,1629037167.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:19:27.837Z,1629037167.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:19:27.839Z,1629037167.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:19:28.245Z,1629037168.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:19:28.641Z,1629037168.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAB,000,009C1,185,80,80,7D,FF
2021-08-15T14:19:28.641Z,1629037168.641 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:19:29.093Z,1629037169.093 [Micromodem](INFO): Nmea in: $SNTTA,,0.033151,,,141929.75*41

2021-08-15T14:19:29.116Z,1629037169.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.320007 m, bearing: 173.978210 deg, deltaT: 10.094358 s, approachRate: 0.338804 m/s, LOS rate: 0.694336 deg/s, posRepo size: 2
2021-08-15T14:19:29.118Z,1629037169.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.320007 m,
      bearing: 173.978210 deg,
      approachRate: 0.338804 m/s,
      LOS rate: 0.694336 deg/s,
      cmd update: 2.777346 deg/s,
      cmd heading: 166.969329 deg,
      new cmd heading: 166.969329 deg.

2021-08-15T14:19:31.518Z,1629037171.518 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:19:31.869Z,1629037171.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:19:31.869Z,1629037171.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:19:31.869Z,1629037171.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:19:31.870Z,1629037171.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:19:32.278Z,1629037172.278 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAB,000,009C1,185,80,80,7D,FF
2021-08-15T14:19:32.278Z,1629037172.278 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:19:32.278Z,1629037172.278 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:19:32.280Z,1629037172.280 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:19:32.685Z,1629037172.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:19:33.089Z,1629037173.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EED,000,009EB,186,80,80,44,FF
2021-08-15T14:19:33.089Z,1629037173.089 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:19:33.517Z,1629037173.517 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141934.19*5C

2021-08-15T14:19:33.567Z,1629037173.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.839996 m, bearing: 185.077049 deg, deltaT: 4.397511 s, approachRate: 0.573049 m/s, LOS rate: 2.523891 deg/s, posRepo size: 3
2021-08-15T14:19:33.571Z,1629037173.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.839996 m,
      bearing: 185.077049 deg,
      approachRate: 0.573049 m/s,
      LOS rate: 2.523891 deg/s,
      cmd update: 10.095564 deg/s,
      cmd heading: 179.206098 deg,
      new cmd heading: 180.483555 deg.

2021-08-15T14:19:35.961Z,1629037175.961 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:19:36.320Z,1629037176.320 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:19:36.321Z,1629037176.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:19:36.321Z,1629037176.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:19:36.323Z,1629037176.323 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:19:36.721Z,1629037176.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EED,000,009EB,186,80,80,44,FF
2021-08-15T14:19:36.722Z,1629037176.722 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:19:36.722Z,1629037176.722 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:19:36.723Z,1629037176.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:19:37.147Z,1629037177.147 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:19:37.529Z,1629037177.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E53,000,00A08,186,80,80,B1,FF
2021-08-15T14:19:37.530Z,1629037177.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:19:37.974Z,1629037177.974 [Micromodem](INFO): Nmea in: $SNTTA,0.079615,,,,141938.64*48

2021-08-15T14:19:38.059Z,1629037178.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.580002 m, bearing: 204.050713 deg, deltaT: 4.502731 s, approachRate: 0.386433 m/s, LOS rate: 4.213813 deg/s, posRepo size: 4
2021-08-15T14:19:38.066Z,1629037178.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.580002 m,
      bearing: 204.050713 deg,
      approachRate: 0.386433 m/s,
      LOS rate: 4.213813 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 224.576886 deg,
      new cmd heading: 228.789644 deg.

2021-08-15T14:19:40.453Z,1629037180.453 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:19:40.769Z,1629037180.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:19:40.769Z,1629037180.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:19:40.769Z,1629037180.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:19:40.770Z,1629037180.770 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:19:41.165Z,1629037181.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E53,000,00A08,186,80,80,B1,FF
2021-08-15T14:19:41.165Z,1629037181.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:19:41.165Z,1629037181.165 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:19:41.167Z,1629037181.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:19:41.571Z,1629037181.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:19:42.019Z,1629037182.019 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E94,000,00A1C,186,80,80,AF,FF
2021-08-15T14:19:42.040Z,1629037182.040 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:19:42.059Z,1629037182.059 [Micromodem](INFO): Nmea in: $SNTTA,0.329338,0.329856,,,141943.08*5F

2021-08-15T14:19:42.091Z,1629037182.091 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-15T14:19:42.439Z,1629037182.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.779999 m, bearing: 215.960077 deg, deltaT: 4.535398 s, approachRate: 0.264585 m/s, LOS rate: 2.625870 deg/s, posRepo size: 4
2021-08-15T14:19:42.441Z,1629037182.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.779999 m,
      bearing: 215.960077 deg,
      approachRate: 0.264585 m/s,
      LOS rate: 2.625870 deg/s,
      cmd update: 10.503479 deg/s,
      cmd heading: 279.006559 deg,
      new cmd heading: 282.635479 deg.

2021-08-15T14:19:44.834Z,1629037184.834 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:19:45.213Z,1629037185.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:19:45.213Z,1629037185.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:19:45.213Z,1629037185.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:19:45.214Z,1629037185.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:19:45.625Z,1629037185.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E94,000,00A1C,186,80,80,AF,FF
2021-08-15T14:19:45.625Z,1629037185.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:19:45.625Z,1629037185.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:19:45.627Z,1629037185.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:19:46.061Z,1629037186.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:19:46.429Z,1629037186.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B9,000,00A2B,189,80,80,74,FF
2021-08-15T14:19:46.429Z,1629037186.429 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:19:46.862Z,1629037186.862 [Micromodem](INFO): Nmea in: $SNTTA,,,,,141947.54*51

2021-08-15T14:19:46.884Z,1629037186.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.680000 m, bearing: 182.069566 deg, deltaT: 4.335351 s, approachRate: 0.207596 m/s, LOS rate: -7.817247 deg/s, posRepo size: 4
2021-08-15T14:19:46.886Z,1629037186.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.680000 m,
      bearing: 182.069566 deg,
      approachRate: 0.207596 m/s,
      LOS rate: -7.817247 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 324.629111 deg,
      new cmd heading: 328.866393 deg.

2021-08-15T14:19:49.283Z,1629037189.283 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:19:49.653Z,1629037189.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:19:49.653Z,1629037189.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:19:49.653Z,1629037189.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:19:49.654Z,1629037189.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:19:50.097Z,1629037190.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B9,000,00A2B,189,80,80,74,FF
2021-08-15T14:19:50.097Z,1629037190.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:19:50.098Z,1629037190.098 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:19:50.099Z,1629037190.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:19:50.473Z,1629037190.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:19:50.873Z,1629037190.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFB,000,00A2A,186,80,80,9F,FF
2021-08-15T14:19:50.874Z,1629037190.874 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:19:51.289Z,1629037191.289 [Micromodem](INFO): Nmea in: $SNTTA,0.088977,,,,141952.01*42

2021-08-15T14:19:51.359Z,1629037191.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.620003 m, bearing: 259.565329 deg, deltaT: 4.438354 s, approachRate: -0.013518 m/s, LOS rate: 17.460474 deg/s, posRepo size: 4
2021-08-15T14:19:51.359Z,1629037191.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.460474 deg/s. Setting heading cmd to target bearing of 259.565329deg and heading rate command to 0 deg/s.
2021-08-15T14:19:52.523Z,1629037192.523 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T14:19:53.722Z,1629037193.722 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:19:54.117Z,1629037194.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:19:54.117Z,1629037194.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:19:54.117Z,1629037194.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:19:54.118Z,1629037194.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:19:54.509Z,1629037194.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFB,000,00A2A,186,80,80,9F,FF
2021-08-15T14:19:54.509Z,1629037194.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:19:54.509Z,1629037194.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:19:54.511Z,1629037194.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:19:54.917Z,1629037194.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:19:55.329Z,1629037195.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00A21,18A,80,80,61,FF
2021-08-15T14:19:55.330Z,1629037195.330 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:19:55.753Z,1629037195.753 [Micromodem](INFO): Nmea in: $SNTTA,0.078356,,,,141956.42*47

2021-08-15T14:19:55.776Z,1629037195.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.080002 m, bearing: 313.725642 deg, deltaT: 4.469056 s, approachRate: -0.120831 m/s, LOS rate: 12.118960 deg/s, posRepo size: 4
2021-08-15T14:19:55.777Z,1629037195.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.118960 deg/s. Setting heading cmd to target bearing of 313.725642deg and heading rate command to 0 deg/s.
2021-08-15T14:19:58.204Z,1629037198.204 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:19:58.550Z,1629037198.550 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:19:58.550Z,1629037198.550 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:19:58.550Z,1629037198.550 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:19:58.551Z,1629037198.551 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:19:58.966Z,1629037198.966 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00A21,18A,80,80,61,FF
2021-08-15T14:19:58.966Z,1629037198.966 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:19:58.966Z,1629037198.966 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:19:58.969Z,1629037198.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:19:59.384Z,1629037199.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:19:59.766Z,1629037199.766 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00A09,189,80,80,96,FF
2021-08-15T14:19:59.766Z,1629037199.766 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:20:00.189Z,1629037200.189 [Micromodem](INFO): Nmea in: $SNTTA,0.079859,,,,142000.88*4D

2021-08-15T14:20:00.243Z,1629037200.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.640007 m, bearing: 329.775603 deg, deltaT: 4.434967 s, approachRate: -0.324691 m/s, LOS rate: 3.618958 deg/s, posRepo size: 4
2021-08-15T14:20:00.245Z,1629037200.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.640007 m,
      bearing: 329.775603 deg,
      approachRate: -0.324691 m/s,
      LOS rate: 3.618958 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 313.725642 deg,
      new cmd heading: 313.725642 deg.

2021-08-15T14:20:02.215Z,1629037202.215 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T14:20:02.625Z,1629037202.625 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:20:02.985Z,1629037202.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:20:02.985Z,1629037202.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:20:02.985Z,1629037202.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:20:02.986Z,1629037202.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:20:03.393Z,1629037203.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00A09,189,80,80,96,FF
2021-08-15T14:20:03.393Z,1629037203.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:20:03.393Z,1629037203.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:20:03.395Z,1629037203.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:20:03.815Z,1629037203.815 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:20:04.216Z,1629037204.216 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CAD,000,009E6,188,80,80,B8,FF
2021-08-15T14:20:04.217Z,1629037204.217 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:20:04.654Z,1629037204.654 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142005.31*5E

2021-08-15T14:20:04.703Z,1629037204.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.540001 m, bearing: 322.250511 deg, deltaT: 4.431495 s, approachRate: -0.473882 m/s, LOS rate: -1.698093 deg/s, posRepo size: 4
2021-08-15T14:20:04.706Z,1629037204.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.540001 m,
      bearing: 322.250511 deg,
      approachRate: -0.473882 m/s,
      LOS rate: -1.698093 deg/s,
      cmd update: -6.792374 deg/s,
      cmd heading: 6.954104 deg,
      new cmd heading: 12.346112 deg.

2021-08-15T14:20:07.065Z,1629037207.065 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:20:07.429Z,1629037207.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:20:07.429Z,1629037207.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:20:07.429Z,1629037207.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:20:07.430Z,1629037207.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:20:07.833Z,1629037207.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CAD,000,009E6,188,80,80,B8,FF
2021-08-15T14:20:07.833Z,1629037207.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:20:07.833Z,1629037207.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:20:07.835Z,1629037207.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:20:08.251Z,1629037208.251 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:20:08.653Z,1629037208.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BD,000,009B9,186,80,80,94,FF
2021-08-15T14:20:08.654Z,1629037208.654 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:20:09.081Z,1629037209.081 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142009.75*52

2021-08-15T14:20:09.100Z,1629037209.100 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.840004 m, bearing: 274.960740 deg, deltaT: 4.505232 s, approachRate: -0.599303 m/s, LOS rate: -10.496634 deg/s, posRepo size: 4
2021-08-15T14:20:09.102Z,1629037209.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.840004 m,
      bearing: 274.960740 deg,
      approachRate: -0.599303 m/s,
      LOS rate: -10.496634 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 336.380326 deg,
      new cmd heading: 334.038030 deg.

2021-08-15T14:20:11.506Z,1629037211.506 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:20:11.873Z,1629037211.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:20:11.873Z,1629037211.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:20:11.873Z,1629037211.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:20:11.874Z,1629037211.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:20:12.285Z,1629037212.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BD,000,009B9,186,80,80,94,FF
2021-08-15T14:20:12.285Z,1629037212.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:20:12.285Z,1629037212.285 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:20:12.287Z,1629037212.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:20:12.353Z,1629037212.353 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T14:20:12.693Z,1629037212.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:20:13.089Z,1629037213.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2E,000,00988,187,80,80,97,FF
2021-08-15T14:20:13.089Z,1629037213.089 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:20:13.526Z,1629037213.526 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142014.21*5F

2021-08-15T14:20:13.560Z,1629037213.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.900002 m, bearing: 329.095508 deg, deltaT: 4.379346 s, approachRate: -0.671334 m/s, LOS rate: 12.361382 deg/s, posRepo size: 4
2021-08-15T14:20:13.562Z,1629037213.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.361382 deg/s. Setting heading cmd to target bearing of 329.095508deg and heading rate command to 0 deg/s.
2021-08-15T14:20:15.959Z,1629037215.959 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:20:16.325Z,1629037216.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:20:16.325Z,1629037216.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:20:16.325Z,1629037216.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:20:16.326Z,1629037216.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:20:16.721Z,1629037216.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2E,000,00988,187,80,80,97,FF
2021-08-15T14:20:16.721Z,1629037216.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:20:16.721Z,1629037216.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:20:16.723Z,1629037216.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:20:17.129Z,1629037217.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:20:17.533Z,1629037217.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F98,000,00955,186,80,80,B5,FF
2021-08-15T14:20:17.534Z,1629037217.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:20:17.987Z,1629037217.987 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142018.64*52

2021-08-15T14:20:18.068Z,1629037218.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.840004 m, bearing: 330.291966 deg, deltaT: 4.461939 s, approachRate: -0.685800 m/s, LOS rate: 0.268148 deg/s, posRepo size: 4
2021-08-15T14:20:18.070Z,1629037218.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.840004 m,
      bearing: 330.291966 deg,
      approachRate: -0.685800 m/s,
      LOS rate: 0.268148 deg/s,
      cmd update: 1.072590 deg/s,
      cmd heading: 329.095508 deg,
      new cmd heading: 329.095508 deg.

2021-08-15T14:20:20.457Z,1629037220.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:20:20.773Z,1629037220.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:20:20.773Z,1629037220.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:20:20.773Z,1629037220.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:20:20.774Z,1629037220.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:20:21.169Z,1629037221.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F98,000,00955,186,80,80,B5,FF
2021-08-15T14:20:21.169Z,1629037221.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:20:21.169Z,1629037221.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:20:21.171Z,1629037221.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:20:21.574Z,1629037221.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:20:21.985Z,1629037221.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5D,000,00922,186,80,80,A0,FF
2021-08-15T14:20:21.986Z,1629037221.986 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:20:22.441Z,1629037222.441 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142023.09*51

2021-08-15T14:20:22.452Z,1629037222.452 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T14:20:22.476Z,1629037222.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.780006 m, bearing: 331.491729 deg, deltaT: 4.481019 s, approachRate: -0.682880 m/s, LOS rate: 0.267743 deg/s, posRepo size: 4
2021-08-15T14:20:22.478Z,1629037222.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.780006 m,
      bearing: 331.491729 deg,
      approachRate: -0.682880 m/s,
      LOS rate: 0.267743 deg/s,
      cmd update: 1.070974 deg/s,
      cmd heading: 333.906317 deg,
      new cmd heading: 334.333897 deg.

2021-08-15T14:20:24.831Z,1629037224.831 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:20:25.215Z,1629037225.215 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:20:25.215Z,1629037225.215 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:20:25.215Z,1629037225.215 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:20:25.216Z,1629037225.216 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:20:25.626Z,1629037225.626 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5D,000,00922,186,80,80,A0,FF
2021-08-15T14:20:25.626Z,1629037225.626 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:20:25.626Z,1629037225.626 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:20:25.628Z,1629037225.628 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:20:26.101Z,1629037226.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:20:26.493Z,1629037226.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F92,000,008EA,187,80,80,B0,FF
2021-08-15T14:20:26.494Z,1629037226.494 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:20:26.905Z,1629037226.905 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142027.60*5A

2021-08-15T14:20:26.921Z,1629037226.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.419998 m, bearing: 330.156864 deg, deltaT: 4.438722 s, approachRate: -0.756976 m/s, LOS rate: -0.300732 deg/s, posRepo size: 4
2021-08-15T14:20:26.923Z,1629037226.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.419998 m,
      bearing: 330.156864 deg,
      approachRate: -0.756976 m/s,
      LOS rate: -0.300732 deg/s,
      cmd update: -1.202927 deg/s,
      cmd heading: 338.664405 deg,
      new cmd heading: 339.093003 deg.

2021-08-15T14:20:29.330Z,1629037229.330 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:20:29.697Z,1629037229.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:20:29.697Z,1629037229.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:20:29.697Z,1629037229.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:20:29.698Z,1629037229.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:20:30.117Z,1629037230.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F92,000,008EA,187,80,80,B0,FF
2021-08-15T14:20:30.117Z,1629037230.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:20:30.117Z,1629037230.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:20:30.119Z,1629037230.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:20:30.521Z,1629037230.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:20:30.913Z,1629037230.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B5,000,008B8,185,80,80,B3,FF
2021-08-15T14:20:30.914Z,1629037230.914 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:20:31.373Z,1629037231.373 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142032.03*5B

2021-08-15T14:20:31.428Z,1629037231.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.420006 m, bearing: 331.437907 deg, deltaT: 4.438806 s, approachRate: -0.675856 m/s, LOS rate: 0.288601 deg/s, posRepo size: 4
2021-08-15T14:20:31.430Z,1629037231.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 96.420006 m,
      bearing: 331.437907 deg,
      approachRate: -0.675856 m/s,
      LOS rate: 0.288601 deg/s,
      cmd update: 1.154403 deg/s,
      cmd heading: 333.329770 deg,
      new cmd heading: 332.766162 deg.

2021-08-15T14:20:33.802Z,1629037233.802 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:20:34.153Z,1629037234.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:20:34.153Z,1629037234.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:20:34.153Z,1629037234.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:20:34.154Z,1629037234.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:20:34.189Z,1629037234.189 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-15T14:20:34.563Z,1629037234.563 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B5,000,008B8,185,80,80,B3,FF
2021-08-15T14:20:34.563Z,1629037234.563 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:20:34.563Z,1629037234.563 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:20:34.566Z,1629037234.566 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:20:34.961Z,1629037234.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:20:35.365Z,1629037235.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,096,000,00882,186,80,80,AD,FF
2021-08-15T14:20:35.366Z,1629037235.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:20:35.789Z,1629037235.789 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142036.48*50

2021-08-15T14:20:35.835Z,1629037235.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.180000 m, bearing: 333.027975 deg, deltaT: 4.470127 s, approachRate: -0.724813 m/s, LOS rate: 0.355710 deg/s, posRepo size: 4
2021-08-15T14:20:35.837Z,1629037235.837 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.180000 m,
      bearing: 333.027975 deg,
      approachRate: -0.724813 m/s,
      LOS rate: 0.355710 deg/s,
      cmd update: 1.422839 deg/s,
      cmd heading: 338.447966 deg,
      new cmd heading: 338.963124 deg.

2021-08-15T14:20:38.234Z,1629037238.234 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:20:38.601Z,1629037238.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:20:38.601Z,1629037238.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:20:38.601Z,1629037238.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:20:38.602Z,1629037238.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:20:38.989Z,1629037238.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
096,000,00882,186,80,80,AD,FF
2021-08-15T14:20:38.989Z,1629037238.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:20:38.990Z,1629037238.990 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:20:38.991Z,1629037238.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:20:39.405Z,1629037239.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:20:39.809Z,1629037239.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0EE,000,0084A,186,80,80,AC,FF
2021-08-15T14:20:39.809Z,1629037239.809 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:20:40.241Z,1629037240.241 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142040.91*55

2021-08-15T14:20:40.294Z,1629037240.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.820007 m, bearing: 330.375431 deg, deltaT: 4.396969 s, approachRate: -0.764161 m/s, LOS rate: -0.603267 deg/s, posRepo size: 4
2021-08-15T14:20:40.298Z,1629037240.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.820007 m,
      bearing: 330.375431 deg,
      approachRate: -0.764161 m/s,
      LOS rate: -0.603267 deg/s,
      cmd update: -2.413067 deg/s,
      cmd heading: 344.761876 deg,
      new cmd heading: 345.427417 deg.

2021-08-15T14:20:42.657Z,1629037242.657 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:20:43.037Z,1629037243.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:20:43.037Z,1629037243.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:20:43.038Z,1629037243.038 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:20:43.039Z,1629037243.039 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:20:43.445Z,1629037243.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0EE,000,0084A,186,80,80,AC,FF
2021-08-15T14:20:43.445Z,1629037243.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:20:43.445Z,1629037243.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:20:43.447Z,1629037243.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:20:43.844Z,1629037243.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:20:44.245Z,1629037244.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,144,000,00813,186,80,80,99,FF
2021-08-15T14:20:44.246Z,1629037244.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:20:44.689Z,1629037244.689 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142045.36*5D

2021-08-15T14:20:44.743Z,1629037244.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.520004 m, bearing: 329.385108 deg, deltaT: 4.527558 s, approachRate: -0.728870 m/s, LOS rate: -0.218732 deg/s, posRepo size: 4
2021-08-15T14:20:44.745Z,1629037244.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.520004 m,
      bearing: 329.385108 deg,
      approachRate: -0.728870 m/s,
      LOS rate: -0.218732 deg/s,
      cmd update: -0.874929 deg/s,
      cmd heading: 333.841128 deg,
      new cmd heading: 332.897175 deg.

2021-08-15T14:20:47.128Z,1629037247.128 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:20:47.477Z,1629037247.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:20:47.478Z,1629037247.478 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:20:47.478Z,1629037247.478 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:20:47.479Z,1629037247.479 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:20:47.881Z,1629037247.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
144,000,00813,186,80,80,99,FF
2021-08-15T14:20:47.881Z,1629037247.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:20:47.881Z,1629037247.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:20:47.883Z,1629037247.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:20:48.310Z,1629037248.310 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:20:48.689Z,1629037248.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,084,000,007E4,186,80,80,A0,FF
2021-08-15T14:20:48.689Z,1629037248.689 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:20:49.137Z,1629037249.137 [Micromodem](INFO): Nmea in: $SNTTA,0.068276,,,,142049.80*4F

2021-08-15T14:20:49.160Z,1629037249.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.699997 m, bearing: 332.869515 deg, deltaT: 4.456526 s, approachRate: -0.632782 m/s, LOS rate: 0.781866 deg/s, posRepo size: 4
2021-08-15T14:20:49.162Z,1629037249.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.699997 m,
      bearing: 332.869515 deg,
      approachRate: -0.632782 m/s,
      LOS rate: 0.781866 deg/s,
      cmd update: 3.127465 deg/s,
      cmd heading: 329.940353 deg,
      new cmd heading: 329.634754 deg.

2021-08-15T14:20:51.562Z,1629037251.562 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:20:51.933Z,1629037251.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:20:51.933Z,1629037251.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:20:51.933Z,1629037251.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:20:51.934Z,1629037251.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:20:52.345Z,1629037252.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
084,000,007E4,186,80,80,A0,FF
2021-08-15T14:20:52.345Z,1629037252.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:20:52.345Z,1629037252.345 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:20:52.347Z,1629037252.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:20:52.740Z,1629037252.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:20:53.138Z,1629037253.138 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03D,000,007A8,184,80,80,A6,FF
2021-08-15T14:20:53.138Z,1629037253.138 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:20:53.581Z,1629037253.581 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142054.26*5C

2021-08-15T14:20:53.631Z,1629037253.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.100006 m, bearing: 331.451513 deg, deltaT: 4.349234 s, approachRate: -0.827730 m/s, LOS rate: -0.326035 deg/s, posRepo size: 4
2021-08-15T14:20:53.638Z,1629037253.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.100006 m,
      bearing: 331.451513 deg,
      approachRate: -0.827730 m/s,
      LOS rate: -0.326035 deg/s,
      cmd update: -1.304139 deg/s,
      cmd heading: 343.542449 deg,
      new cmd heading: 345.018065 deg.

2021-08-15T14:20:56.029Z,1629037256.029 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:20:56.385Z,1629037256.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:20:56.385Z,1629037256.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:20:56.385Z,1629037256.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:20:56.386Z,1629037256.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:20:56.781Z,1629037256.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03D,000,007A8,184,80,80,A6,FF
2021-08-15T14:20:56.782Z,1629037256.782 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:20:56.782Z,1629037256.782 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:20:56.783Z,1629037256.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:20:57.180Z,1629037257.180 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:20:57.593Z,1629037257.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,144,000,00770,186,80,80,BA,FF
2021-08-15T14:20:57.593Z,1629037257.593 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:20:58.016Z,1629037258.016 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142058.70*53

2021-08-15T14:20:58.081Z,1629037258.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.739998 m, bearing: 327.164203 deg, deltaT: 4.497198 s, approachRate: -0.747134 m/s, LOS rate: -0.953329 deg/s, posRepo size: 4
2021-08-15T14:20:58.083Z,1629037258.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.739998 m,
      bearing: 327.164203 deg,
      approachRate: -0.747134 m/s,
      LOS rate: -0.953329 deg/s,
      cmd update: -3.813316 deg/s,
      cmd heading: 337.698223 deg,
      new cmd heading: 337.130173 deg.

2021-08-15T14:21:00.453Z,1629037260.453 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:21:00.829Z,1629037260.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:21:00.829Z,1629037260.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:21:00.830Z,1629037260.830 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:21:00.831Z,1629037260.831 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:21:01.221Z,1629037261.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
144,000,00770,186,80,80,BA,FF
2021-08-15T14:21:01.222Z,1629037261.222 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:21:01.222Z,1629037261.222 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:21:01.223Z,1629037261.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:21:01.631Z,1629037261.631 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:21:02.082Z,1629037262.082 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,112,000,0073F,186,80,80,A0,FF
2021-08-15T14:21:02.082Z,1629037262.082 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:21:02.481Z,1629037262.481 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142103.14*5E

2021-08-15T14:21:02.517Z,1629037262.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.799995 m, bearing: 329.332351 deg, deltaT: 4.492533 s, approachRate: -0.654420 m/s, LOS rate: 0.482611 deg/s, posRepo size: 4
2021-08-15T14:21:02.519Z,1629037262.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.799995 m,
      bearing: 329.332351 deg,
      approachRate: -0.654420 m/s,
      LOS rate: 0.482611 deg/s,
      cmd update: 1.930446 deg/s,
      cmd heading: 320.537750 deg,
      new cmd heading: 319.103531 deg.

2021-08-15T14:21:04.895Z,1629037264.895 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:21:05.249Z,1629037265.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:21:05.250Z,1629037265.250 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:21:05.250Z,1629037265.250 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:21:05.251Z,1629037265.251 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:21:05.659Z,1629037265.659 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
112,000,0073F,186,80,80,A0,FF
2021-08-15T14:21:05.659Z,1629037265.659 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:21:05.659Z,1629037265.659 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:21:05.662Z,1629037265.662 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:21:06.093Z,1629037266.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:21:06.468Z,1629037266.468 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDC,000,00706,184,80,80,88,FF
2021-08-15T14:21:06.469Z,1629037266.469 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:21:06.910Z,1629037266.910 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142107.58*52

2021-08-15T14:21:06.932Z,1629037266.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.380005 m, bearing: 330.126538 deg, deltaT: 4.414750 s, approachRate: -0.774674 m/s, LOS rate: 0.179894 deg/s, posRepo size: 4
2021-08-15T14:21:06.934Z,1629037266.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.380005 m,
      bearing: 330.126538 deg,
      approachRate: -0.774674 m/s,
      LOS rate: 0.179894 deg/s,
      cmd update: 0.719576 deg/s,
      cmd heading: 329.063404 deg,
      new cmd heading: 329.785713 deg.

2021-08-15T14:21:09.361Z,1629037269.361 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:21:09.693Z,1629037269.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:21:09.693Z,1629037269.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:21:09.693Z,1629037269.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:21:09.694Z,1629037269.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:21:10.110Z,1629037270.110 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDC,000,00706,184,80,80,88,FF
2021-08-15T14:21:10.110Z,1629037270.110 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:21:10.110Z,1629037270.110 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:21:10.112Z,1629037270.112 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:21:10.512Z,1629037270.512 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:21:10.909Z,1629037270.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,012,000,006CA,184,80,80,81,FF
2021-08-15T14:21:10.909Z,1629037270.909 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:21:11.373Z,1629037271.373 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142112.03*58

2021-08-15T14:21:11.413Z,1629037271.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.779999 m, bearing: 327.553306 deg, deltaT: 4.362426 s, approachRate: -0.825230 m/s, LOS rate: -0.589863 deg/s, posRepo size: 4
2021-08-15T14:21:11.415Z,1629037271.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.779999 m,
      bearing: 327.553306 deg,
      approachRate: -0.825230 m/s,
      LOS rate: -0.589863 deg/s,
      cmd update: -2.359451 deg/s,
      cmd heading: 332.207268 deg,
      new cmd heading: 332.556408 deg.

2021-08-15T14:21:13.767Z,1629037273.767 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:21:14.141Z,1629037274.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:21:14.141Z,1629037274.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:21:14.141Z,1629037274.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:21:14.142Z,1629037274.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:21:14.558Z,1629037274.558 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
012,000,006CA,184,80,80,81,FF
2021-08-15T14:21:14.558Z,1629037274.558 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:21:14.558Z,1629037274.558 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:21:14.561Z,1629037274.561 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:21:14.965Z,1629037274.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:21:15.381Z,1629037275.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BD,000,00693,186,80,80,B9,FF
2021-08-15T14:21:15.381Z,1629037275.381 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:21:15.784Z,1629037275.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.479996 m, bearing: 326.454301 deg, deltaT: 4.481729 s, approachRate: -0.736324 m/s, LOS rate: -0.245219 deg/s, posRepo size: 4
2021-08-15T14:21:15.786Z,1629037275.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.479996 m,
      bearing: 326.454301 deg,
      approachRate: -0.736324 m/s,
      LOS rate: -0.245219 deg/s,
      cmd update: -0.980876 deg/s,
      cmd heading: 321.633244 deg,
      new cmd heading: 320.746999 deg.

2021-08-15T14:21:18.281Z,1629037278.281 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:21:18.597Z,1629037278.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:21:18.597Z,1629037278.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:21:18.597Z,1629037278.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:21:18.598Z,1629037278.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:21:18.985Z,1629037278.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BD,000,00693,186,80,80,B9,FF
2021-08-15T14:21:18.985Z,1629037278.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:21:18.985Z,1629037278.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:21:18.987Z,1629037278.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:21:19.393Z,1629037279.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:21:19.797Z,1629037279.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD6,000,00658,184,80,80,84,FF
2021-08-15T14:21:19.798Z,1629037279.798 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:21:20.235Z,1629037280.235 [Micromodem](INFO): Nmea in: $SNTTA,0.061160,,,,142120.90*4D

2021-08-15T14:21:20.380Z,1629037280.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.940006 m, bearing: 330.132959 deg, deltaT: 4.450402 s, approachRate: -0.795431 m/s, LOS rate: 0.826590 deg/s, posRepo size: 4
2021-08-15T14:21:20.382Z,1629037280.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.940006 m,
      bearing: 330.132959 deg,
      approachRate: -0.795431 m/s,
      LOS rate: 0.826590 deg/s,
      cmd update: 3.306360 deg/s,
      cmd heading: 317.297492 deg,
      new cmd heading: 316.764465 deg.

2021-08-15T14:21:22.363Z,1629037282.363 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:21:22.621Z,1629037282.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:21:22.621Z,1629037282.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:21:22.621Z,1629037282.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:21:22.622Z,1629037282.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:21:23.037Z,1629037283.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD6,000,00658,184,80,80,84,FF
2021-08-15T14:21:23.037Z,1629037283.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:21:23.038Z,1629037283.038 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:21:23.039Z,1629037283.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:21:23.441Z,1629037283.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:21:23.841Z,1629037283.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8B,000,0061D,187,80,80,B8,FF
2021-08-15T14:21:23.842Z,1629037283.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:21:24.290Z,1629037284.290 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142124.95*52

2021-08-15T14:21:24.470Z,1629037284.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.400005 m, bearing: 327.823645 deg, deltaT: 4.038300 s, approachRate: -0.876607 m/s, LOS rate: -0.571853 deg/s, posRepo size: 4
2021-08-15T14:21:24.481Z,1629037284.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.400005 m,
      bearing: 327.823645 deg,
      approachRate: -0.876607 m/s,
      LOS rate: -0.571853 deg/s,
      cmd update: -2.287412 deg/s,
      cmd heading: 330.668561 deg,
      new cmd heading: 332.645398 deg.

2021-08-15T14:21:26.420Z,1629037286.420 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:21:26.665Z,1629037286.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:21:26.665Z,1629037286.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:21:26.665Z,1629037286.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:21:26.666Z,1629037286.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:21:27.076Z,1629037287.076 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8B,000,0061D,187,80,80,B8,FF
2021-08-15T14:21:27.078Z,1629037287.078 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:21:27.079Z,1629037287.079 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:21:27.094Z,1629037287.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:21:27.477Z,1629037287.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:21:27.873Z,1629037287.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,077,000,005EC,186,80,80,85,FF
2021-08-15T14:21:27.874Z,1629037287.874 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:21:28.311Z,1629037288.311 [Micromodem](INFO): Nmea in: $SNTTA,0.050821,0.365225,,,142129.01*59

2021-08-15T14:21:28.478Z,1629037288.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.460003 m, bearing: 324.251592 deg, deltaT: 4.039873 s, approachRate: -0.727746 m/s, LOS rate: -0.884199 deg/s, posRepo size: 4
2021-08-15T14:21:28.490Z,1629037288.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.460003 m,
      bearing: 324.251592 deg,
      approachRate: -0.727746 m/s,
      LOS rate: -0.884199 deg/s,
      cmd update: -3.536797 deg/s,
      cmd heading: 321.445855 deg,
      new cmd heading: 320.192454 deg.

2021-08-15T14:21:30.446Z,1629037290.446 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:21:30.697Z,1629037290.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:21:30.697Z,1629037290.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:21:30.697Z,1629037290.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:21:30.698Z,1629037290.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:21:31.109Z,1629037291.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
077,000,005EC,186,80,80,85,FF
2021-08-15T14:21:31.110Z,1629037291.110 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:21:31.110Z,1629037291.110 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:21:31.111Z,1629037291.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:21:31.508Z,1629037291.508 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:21:31.909Z,1629037291.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,006,000,005AF,183,80,80,9B,FF
2021-08-15T14:21:31.910Z,1629037291.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:21:32.377Z,1629037292.377 [Micromodem](INFO): Nmea in: $SNTTA,0.394471,,,,142133.03*49

2021-08-15T14:21:32.450Z,1629037292.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.800003 m, bearing: 326.862746 deg, deltaT: 4.046797 s, approachRate: -0.904419 m/s, LOS rate: 0.645240 deg/s, posRepo size: 4
2021-08-15T14:21:32.456Z,1629037292.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.800003 m,
      bearing: 326.862746 deg,
      approachRate: -0.904419 m/s,
      LOS rate: 0.645240 deg/s,
      cmd update: 2.580959 deg/s,
      cmd heading: 307.157706 deg,
      new cmd heading: 305.368172 deg.

2021-08-15T14:21:34.767Z,1629037294.767 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:21:35.149Z,1629037295.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:21:35.149Z,1629037295.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:21:35.150Z,1629037295.150 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:21:35.151Z,1629037295.151 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:21:35.550Z,1629037295.550 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
006,000,005AF,183,80,80,9B,FF
2021-08-15T14:21:35.550Z,1629037295.550 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:21:35.551Z,1629037295.551 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:21:35.589Z,1629037295.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:21:35.961Z,1629037295.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:21:36.385Z,1629037296.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE0,000,00578,186,80,80,80,FF
2021-08-15T14:21:36.385Z,1629037296.385 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:21:36.807Z,1629037296.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.500004 m, bearing: 327.991886 deg, deltaT: 4.485454 s, approachRate: -0.735711 m/s, LOS rate: 0.251734 deg/s, posRepo size: 4
2021-08-15T14:21:36.809Z,1629037296.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.500004 m,
      bearing: 327.991886 deg,
      approachRate: -0.735711 m/s,
      LOS rate: 0.251734 deg/s,
      cmd update: 1.006934 deg/s,
      cmd heading: 318.814795 deg,
      new cmd heading: 319.708201 deg.

2021-08-15T14:21:39.214Z,1629037299.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:21:39.597Z,1629037299.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:21:39.597Z,1629037299.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:21:39.597Z,1629037299.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:21:39.598Z,1629037299.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:21:40.006Z,1629037300.006 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE0,000,00578,186,80,80,80,FF
2021-08-15T14:21:40.006Z,1629037300.006 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:21:40.007Z,1629037300.007 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:21:40.013Z,1629037300.013 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:21:40.409Z,1629037300.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:21:40.801Z,1629037300.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA9,000,0053D,184,80,80,83,FF
2021-08-15T14:21:40.802Z,1629037300.802 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:21:41.241Z,1629037301.241 [Micromodem](INFO): Nmea in: $SNTTA,0.053965,,,,142141.93*45

2021-08-15T14:21:41.264Z,1629037301.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.959999 m, bearing: 323.533193 deg, deltaT: 4.406593 s, approachRate: -0.803343 m/s, LOS rate: -1.011823 deg/s, posRepo size: 4
2021-08-15T14:21:41.266Z,1629037301.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.959999 m,
      bearing: 323.533193 deg,
      approachRate: -0.803343 m/s,
      LOS rate: -1.011823 deg/s,
      cmd update: -4.047293 deg/s,
      cmd heading: 323.252231 deg,
      new cmd heading: 323.650940 deg.

2021-08-15T14:21:43.674Z,1629037303.674 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:21:44.073Z,1629037304.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:21:44.073Z,1629037304.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:21:44.073Z,1629037304.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:21:44.074Z,1629037304.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:21:44.441Z,1629037304.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA9,000,0053D,184,80,80,83,FF
2021-08-15T14:21:44.441Z,1629037304.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:21:44.441Z,1629037304.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:21:44.443Z,1629037304.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:21:44.854Z,1629037304.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:21:45.242Z,1629037305.242 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,024,000,004FF,185,80,80,82,FF
2021-08-15T14:21:45.242Z,1629037305.242 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:21:45.695Z,1629037305.695 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142146.36*5F

2021-08-15T14:21:45.721Z,1629037305.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.240002 m, bearing: 324.249434 deg, deltaT: 4.421461 s, approachRate: -0.841350 m/s, LOS rate: 0.161992 deg/s, posRepo size: 4
2021-08-15T14:21:45.721Z,1629037305.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.24 m.
2021-08-15T14:21:45.723Z,1629037305.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.240002 m,
      bearing: 324.249434 deg,
      approachRate: -0.841350 m/s,
      LOS rate: 0.161992 deg/s,
      cmd update: 0.647968 deg/s,
      cmd heading: 305.363254 deg,
      new cmd heading: 303.610538 deg.

2021-08-15T14:21:46.134Z,1629037306.134 [PowerOnly](INFO): Powering up loadControl
2021-08-15T14:21:46.188Z,1629037306.188 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T14:21:46.189Z,1629037306.189 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T14:21:46.189Z,1629037306.189 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T14:21:46.190Z,1629037306.190 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T14:21:46.190Z,1629037306.190 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T14:21:46.190Z,1629037306.190 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T14:21:46.530Z,1629037306.530 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T14:21:46.530Z,1629037306.530 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T14:21:46.530Z,1629037306.530 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T14:21:46.530Z,1629037306.530 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T14:21:48.174Z,1629037308.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:21:48.485Z,1629037308.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:21:48.485Z,1629037308.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:21:48.485Z,1629037308.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:21:48.486Z,1629037308.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:21:48.897Z,1629037308.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
024,000,004FF,185,80,80,82,FF
2021-08-15T14:21:48.897Z,1629037308.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:21:48.897Z,1629037308.897 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:21:48.899Z,1629037308.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:21:49.289Z,1629037309.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:21:49.716Z,1629037309.716 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0A,000,004C5,186,80,80,89,FF
2021-08-15T14:21:49.717Z,1629037309.717 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:21:49.748Z,1629037309.748 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:21:50.145Z,1629037310.145 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142150.81*54

2021-08-15T14:21:50.209Z,1629037310.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.760002 m, bearing: 328.310610 deg, deltaT: 4.448617 s, approachRate: -0.782265 m/s, LOS rate: 0.912908 deg/s, posRepo size: 4
2021-08-15T14:21:50.209Z,1629037310.209 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.76 m.
2021-08-15T14:21:50.211Z,1629037310.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.760002 m,
      bearing: 328.310610 deg,
      approachRate: -0.782265 m/s,
      LOS rate: 0.912908 deg/s,
      cmd update: 3.651630 deg/s,
      cmd heading: 308.251363 deg,
      new cmd heading: 308.533726 deg.

2021-08-15T14:21:52.591Z,1629037312.591 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:21:52.941Z,1629037312.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:21:52.941Z,1629037312.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:21:52.941Z,1629037312.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:21:52.942Z,1629037312.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:21:53.340Z,1629037313.340 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0A,000,004C5,186,80,80,89,FF
2021-08-15T14:21:53.341Z,1629037313.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:21:53.341Z,1629037313.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:21:53.347Z,1629037313.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:21:53.761Z,1629037313.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:21:54.133Z,1629037314.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9C,000,0048E,186,80,80,8E,FF
2021-08-15T14:21:54.134Z,1629037314.134 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:21:54.248Z,1629037314.248 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:21:54.574Z,1629037314.574 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142155.27*5D

2021-08-15T14:21:54.620Z,1629037314.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.460003 m, bearing: 329.418548 deg, deltaT: 4.499324 s, approachRate: -0.733443 m/s, LOS rate: 0.246246 deg/s, posRepo size: 4
2021-08-15T14:21:54.621Z,1629037314.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 32.46 m.
2021-08-15T14:21:54.623Z,1629037314.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.460003 m,
      bearing: 329.418548 deg,
      approachRate: -0.733443 m/s,
      LOS rate: 0.246246 deg/s,
      cmd update: 0.984982 deg/s,
      cmd heading: 324.609007 deg,
      new cmd heading: 326.053566 deg.

2021-08-15T14:21:57.008Z,1629037317.008 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:21:57.393Z,1629037317.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:21:57.393Z,1629037317.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:21:57.393Z,1629037317.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:21:57.394Z,1629037317.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:21:57.774Z,1629037317.774 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9C,000,0048E,186,80,80,8E,FF
2021-08-15T14:21:57.774Z,1629037317.774 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:21:57.774Z,1629037317.774 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:21:57.778Z,1629037317.778 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:21:58.183Z,1629037318.183 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:21:58.578Z,1629037318.578 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF3,000,00458,183,80,80,86,FF
2021-08-15T14:21:58.579Z,1629037318.579 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:21:58.667Z,1629037318.667 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:21:59.037Z,1629037319.037 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142159.70*53

2021-08-15T14:21:59.086Z,1629037319.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.219999 m, bearing: 324.192252 deg, deltaT: 4.423618 s, approachRate: -0.732433 m/s, LOS rate: -1.181453 deg/s, posRepo size: 4
2021-08-15T14:21:59.086Z,1629037319.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 29.22 m.
2021-08-15T14:21:59.087Z,1629037319.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 29.22 m.
2021-08-15T14:21:59.087Z,1629037319.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-15T14:21:59.089Z,1629037319.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.219999 m,
      bearing: 324.192252 deg,
      approachRate: -0.732433 m/s,
      LOS rate: -1.181453 deg/s,
      cmd update: -4.725812 deg/s,
      cmd heading: 328.977992 deg,
      new cmd heading: 329.395352 deg.

2021-08-15T14:22:01.443Z,1629037321.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:22:01.809Z,1629037321.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:22:01.809Z,1629037321.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:22:01.809Z,1629037321.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:22:01.810Z,1629037321.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:22:02.225Z,1629037322.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF3,000,00458,183,80,80,86,FF
2021-08-15T14:22:02.225Z,1629037322.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:22:02.225Z,1629037322.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:22:02.227Z,1629037322.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:22:02.629Z,1629037322.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:22:03.041Z,1629037323.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,089,000,0041D,186,80,80,AF,FF
2021-08-15T14:22:03.042Z,1629037323.042 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:22:03.062Z,1629037323.062 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:22:03.466Z,1629037323.466 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142204.14*5A

2021-08-15T14:22:03.523Z,1629037323.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.679996 m, bearing: 325.411686 deg, deltaT: 4.390272 s, approachRate: -0.806329 m/s, LOS rate: 0.277758 deg/s, posRepo size: 4
2021-08-15T14:22:03.525Z,1629037323.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.679996 m,
      bearing: 325.411686 deg,
      approachRate: -0.806329 m/s,
      LOS rate: 0.277758 deg/s,
      cmd update: 1.111033 deg/s,
      cmd heading: 308.190671 deg,
      new cmd heading: 305.997464 deg.

2021-08-15T14:22:05.883Z,1629037325.883 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:22:06.257Z,1629037326.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:22:06.257Z,1629037326.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:22:06.257Z,1629037326.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:22:06.258Z,1629037326.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:22:06.661Z,1629037326.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
089,000,0041D,186,80,80,AF,FF
2021-08-15T14:22:06.662Z,1629037326.662 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:22:06.662Z,1629037326.662 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:22:06.663Z,1629037326.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:22:07.065Z,1629037327.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:22:07.473Z,1629037327.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9D,000,003E7,186,80,80,75,FF
2021-08-15T14:22:07.474Z,1629037327.474 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:22:07.592Z,1629037327.592 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:22:07.901Z,1629037327.901 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142208.58*5E

2021-08-15T14:22:07.938Z,1629037327.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.440001 m, bearing: 323.757933 deg, deltaT: 4.530284 s, approachRate: -0.715186 m/s, LOS rate: -0.365044 deg/s, posRepo size: 4
2021-08-15T14:22:07.940Z,1629037327.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.440001 m,
      bearing: 323.757933 deg,
      approachRate: -0.715186 m/s,
      LOS rate: -0.365044 deg/s,
      cmd update: -1.460176 deg/s,
      cmd heading: 313.213169 deg,
      new cmd heading: 313.611495 deg.

2021-08-15T14:22:10.382Z,1629037330.382 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:22:10.697Z,1629037330.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:22:10.697Z,1629037330.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:22:10.697Z,1629037330.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:22:10.698Z,1629037330.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:22:11.101Z,1629037331.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9D,000,003E7,186,80,80,75,FF
2021-08-15T14:22:11.101Z,1629037331.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:22:11.101Z,1629037331.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:22:11.103Z,1629037331.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:22:11.513Z,1629037331.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:22:11.909Z,1629037331.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDF,000,003B1,187,80,80,A2,FF
2021-08-15T14:22:11.909Z,1629037331.909 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:22:11.954Z,1629037331.954 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:22:12.369Z,1629037332.369 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142213.02*5B

2021-08-15T14:22:12.473Z,1629037332.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.199999 m, bearing: 323.105159 deg, deltaT: 4.362041 s, approachRate: -0.742772 m/s, LOS rate: -0.149649 deg/s, posRepo size: 4
2021-08-15T14:22:12.475Z,1629037332.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.199999 m,
      bearing: 323.105159 deg,
      approachRate: -0.742772 m/s,
      LOS rate: -0.149649 deg/s,
      cmd update: -0.598596 deg/s,
      cmd heading: 306.835735 deg,
      new cmd heading: 306.073882 deg.

2021-08-15T14:22:14.759Z,1629037334.759 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:22:15.149Z,1629037335.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:22:15.149Z,1629037335.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:22:15.149Z,1629037335.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:22:15.150Z,1629037335.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:22:15.543Z,1629037335.543 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDF,000,003B1,187,80,80,A2,FF
2021-08-15T14:22:15.543Z,1629037335.543 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:22:15.543Z,1629037335.543 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:22:15.546Z,1629037335.546 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:22:15.959Z,1629037335.959 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:22:16.375Z,1629037336.375 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0C,000,00380,186,80,80,64,FF
2021-08-15T14:22:16.375Z,1629037336.375 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:22:16.454Z,1629037336.454 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:22:16.809Z,1629037336.809 [Micromodem](INFO): Nmea in: $SNTTA,0.010611,,,,142217.46*46

2021-08-15T14:22:16.855Z,1629037336.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.260000 m, bearing: 321.216529 deg, deltaT: 4.499748 s, approachRate: -0.653370 m/s, LOS rate: -0.419719 deg/s, posRepo size: 4
2021-08-15T14:22:16.857Z,1629037336.857 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.260000 m,
      bearing: 321.216529 deg,
      approachRate: -0.653370 m/s,
      LOS rate: -0.419719 deg/s,
      cmd update: -1.678876 deg/s,
      cmd heading: 304.142117 deg,
      new cmd heading: 303.911658 deg.

2021-08-15T14:22:19.210Z,1629037339.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:22:19.593Z,1629037339.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:22:19.593Z,1629037339.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:22:19.593Z,1629037339.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:22:19.594Z,1629037339.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:22:19.996Z,1629037339.996 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0C,000,00380,186,80,80,64,FF
2021-08-15T14:22:19.997Z,1629037339.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:22:19.997Z,1629037339.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:22:20.003Z,1629037340.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:22:20.404Z,1629037340.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:22:20.795Z,1629037340.795 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB3,000,00346,187,80,80,70,FF
2021-08-15T14:22:20.795Z,1629037340.795 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:22:20.819Z,1629037340.819 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:22:21.237Z,1629037341.237 [Micromodem](INFO): Nmea in: $SNTTA,,0.025428,,,142221.92*44

2021-08-15T14:22:21.269Z,1629037341.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.779997 m, bearing: 322.478366 deg, deltaT: 4.365059 s, approachRate: -0.797241 m/s, LOS rate: 0.289077 deg/s, posRepo size: 4
2021-08-15T14:22:21.271Z,1629037341.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.779997 m,
      bearing: 322.478366 deg,
      approachRate: -0.797241 m/s,
      LOS rate: 0.289077 deg/s,
      cmd update: 1.156306 deg/s,
      cmd heading: 296.809430 deg,
      new cmd heading: 296.046517 deg.

2021-08-15T14:22:23.678Z,1629037343.678 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:22:24.065Z,1629037344.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:22:24.065Z,1629037344.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:22:24.065Z,1629037344.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:22:24.066Z,1629037344.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:22:24.437Z,1629037344.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB3,000,00346,187,80,80,70,FF
2021-08-15T14:22:24.437Z,1629037344.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:22:24.437Z,1629037344.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:22:24.439Z,1629037344.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:22:24.855Z,1629037344.855 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:22:25.241Z,1629037345.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E61,000,00316,186,80,80,C0,FF
2021-08-15T14:22:25.242Z,1629037345.242 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:22:25.288Z,1629037345.288 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:22:25.682Z,1629037345.682 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142226.36*5A

2021-08-15T14:22:25.709Z,1629037345.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.899997 m, bearing: 320.070943 deg, deltaT: 4.469198 s, approachRate: -0.644411 m/s, LOS rate: -0.538670 deg/s, posRepo size: 4
2021-08-15T14:22:25.711Z,1629037345.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.899997 m,
      bearing: 320.070943 deg,
      approachRate: -0.644411 m/s,
      LOS rate: -0.538670 deg/s,
      cmd update: -2.154680 deg/s,
      cmd heading: 301.978649 deg,
      new cmd heading: 302.469050 deg.

2021-08-15T14:22:28.151Z,1629037348.151 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:22:28.482Z,1629037348.482 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:22:28.482Z,1629037348.482 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:22:28.482Z,1629037348.482 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:22:28.483Z,1629037348.483 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:22:28.881Z,1629037348.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E61,000,00316,186,80,80,C0,FF
2021-08-15T14:22:28.881Z,1629037348.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:22:28.882Z,1629037348.882 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:22:28.883Z,1629037348.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:22:29.300Z,1629037349.300 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:22:29.685Z,1629037349.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E60,000,002EB,186,80,80,89,FF
2021-08-15T14:22:29.686Z,1629037349.686 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:22:29.743Z,1629037349.743 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:22:30.133Z,1629037350.133 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142230.80*50

2021-08-15T14:22:30.194Z,1629037350.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.320000 m, bearing: 322.590217 deg, deltaT: 4.454672 s, approachRate: -0.579167 m/s, LOS rate: 0.565535 deg/s, posRepo size: 4
2021-08-15T14:22:30.197Z,1629037350.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.320000 m,
      bearing: 322.590217 deg,
      approachRate: -0.579167 m/s,
      LOS rate: 0.565535 deg/s,
      cmd update: 2.262141 deg/s,
      cmd heading: 292.379779 deg,
      new cmd heading: 291.399527 deg.

2021-08-15T14:22:32.557Z,1629037352.557 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:22:32.928Z,1629037352.928 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:22:32.928Z,1629037352.928 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:22:32.929Z,1629037352.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:22:32.929Z,1629037352.929 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:22:33.349Z,1629037353.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E60,000,002EB,186,80,80,89,FF
2021-08-15T14:22:33.349Z,1629037353.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:22:33.349Z,1629037353.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:22:33.351Z,1629037353.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:22:33.733Z,1629037353.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:22:34.546Z,1629037354.546 [Micromodem](INFO): Nmea in: $SNTTA,0.030417,,,,142235.27*47

2021-08-15T14:22:35.425Z,1629037355.425 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:22:36.965Z,1629037356.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,186,80,80,89,FF
2021-08-15T14:22:36.966Z,1629037356.966 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,186,80,80,89,FF
2021-08-15T14:22:36.966Z,1629037356.966 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:22:38.217Z,1629037358.217 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:22:38.581Z,1629037358.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:22:38.581Z,1629037358.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:22:38.581Z,1629037358.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:22:38.582Z,1629037358.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:22:38.981Z,1629037358.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,186,80,80,89,FF
2021-08-15T14:22:38.981Z,1629037358.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:22:38.981Z,1629037358.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:22:38.983Z,1629037358.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:22:39.404Z,1629037359.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:22:39.785Z,1629037359.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2E,000,002D5,187,80,80,B9,FF
2021-08-15T14:22:39.786Z,1629037359.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:22:39.806Z,1629037359.806 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:22:40.230Z,1629037360.230 [Micromodem](INFO): Nmea in: $SNTTA,0.024302,,,,142240.90*4F

2021-08-15T14:22:40.266Z,1629037360.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.999998 m, bearing: 318.591715 deg, deltaT: 10.063334 s, approachRate: -0.131169 m/s, LOS rate: -0.397334 deg/s, posRepo size: 4
2021-08-15T14:22:40.268Z,1629037360.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.999998 m,
      bearing: 318.591715 deg,
      approachRate: -0.131169 m/s,
      LOS rate: -0.397334 deg/s,
      cmd update: -1.589335 deg/s,
      cmd heading: 315.144065 deg,
      new cmd heading: 316.192360 deg.

2021-08-15T14:22:42.664Z,1629037362.664 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:22:43.021Z,1629037363.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:22:43.021Z,1629037363.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:22:43.021Z,1629037363.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:22:43.022Z,1629037363.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:22:43.441Z,1629037363.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2E,000,002D5,187,80,80,B9,FF
2021-08-15T14:22:43.441Z,1629037363.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:22:43.442Z,1629037363.442 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:22:43.443Z,1629037363.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:22:43.843Z,1629037363.843 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:22:44.241Z,1629037364.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F09,000,00309,185,80,80,76,FF
2021-08-15T14:22:44.241Z,1629037364.241 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:22:44.357Z,1629037364.357 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:22:44.661Z,1629037364.661 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142245.36*5F

2021-08-15T14:22:44.706Z,1629037364.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.120000 m, bearing: 335.281255 deg, deltaT: 4.551036 s, approachRate: 0.685559 m/s, LOS rate: 3.667196 deg/s, posRepo size: 4
2021-08-15T14:22:44.708Z,1629037364.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.120000 m,
      bearing: 335.281255 deg,
      approachRate: 0.685559 m/s,
      LOS rate: 3.667196 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 307.917149 deg,
      new cmd heading: 307.351704 deg.

2021-08-15T14:22:47.083Z,1629037367.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:22:47.484Z,1629037367.484 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:22:47.485Z,1629037367.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:22:47.485Z,1629037367.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:22:47.486Z,1629037367.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:22:47.869Z,1629037367.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F09,000,00309,185,80,80,76,FF
2021-08-15T14:22:47.869Z,1629037367.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:22:47.869Z,1629037367.869 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:22:47.871Z,1629037367.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:22:48.293Z,1629037368.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:22:48.677Z,1629037368.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E26,000,00331,187,80,80,6A,FF
2021-08-15T14:22:48.677Z,1629037368.677 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:22:48.763Z,1629037368.763 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:22:49.125Z,1629037369.125 [Micromodem](INFO): Nmea in: $SNTTA,0.036773,,,,142249.79*40

2021-08-15T14:22:49.148Z,1629037369.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.520001 m, bearing: 336.856652 deg, deltaT: 4.405934 s, approachRate: 0.544720 m/s, LOS rate: 0.357563 deg/s, posRepo size: 4
2021-08-15T14:22:49.150Z,1629037369.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.520001 m,
      bearing: 336.856652 deg,
      approachRate: 0.544720 m/s,
      LOS rate: 0.357563 deg/s,
      cmd update: 1.430250 deg/s,
      cmd heading: 0.836899 deg,
      new cmd heading: 5.489684 deg.

2021-08-15T14:22:51.571Z,1629037371.571 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:22:51.917Z,1629037371.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:22:51.917Z,1629037371.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:22:51.918Z,1629037371.918 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:22:51.919Z,1629037371.919 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:22:52.338Z,1629037372.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E26,000,00331,187,80,80,6A,FF
2021-08-15T14:22:52.338Z,1629037372.338 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:22:52.339Z,1629037372.339 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:22:52.347Z,1629037372.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:22:52.726Z,1629037372.726 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:22:53.122Z,1629037373.122 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7D,000,0035F,186,80,80,66,FF
2021-08-15T14:22:53.123Z,1629037373.123 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:22:53.189Z,1629037373.189 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:22:53.555Z,1629037373.555 [Micromodem](INFO): Nmea in: $SNTTA,0.028231,,,,142254.26*4A

2021-08-15T14:22:53.588Z,1629037373.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.280000 m, bearing: 321.827831 deg, deltaT: 4.426168 s, approachRate: 0.623564 m/s, LOS rate: -3.395447 deg/s, posRepo size: 4
2021-08-15T14:22:53.590Z,1629037373.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.280000 m,
      bearing: 321.827831 deg,
      approachRate: 0.623564 m/s,
      LOS rate: -3.395447 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 7.167220 deg,
      new cmd heading: 7.742383 deg.

2021-08-15T14:22:56.007Z,1629037376.007 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:22:56.382Z,1629037376.382 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:22:56.382Z,1629037376.382 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:22:56.383Z,1629037376.383 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:22:56.384Z,1629037376.384 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:22:56.757Z,1629037376.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7D,000,0035F,186,80,80,66,FF
2021-08-15T14:22:56.757Z,1629037376.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:22:56.758Z,1629037376.758 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:22:56.759Z,1629037376.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:22:57.174Z,1629037377.174 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:22:57.574Z,1629037377.574 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7D,000,00391,187,80,80,57,FF
2021-08-15T14:22:57.575Z,1629037377.575 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:22:57.606Z,1629037377.606 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:22:58.029Z,1629037378.029 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142258.68*58

2021-08-15T14:22:58.106Z,1629037378.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.280001 m, bearing: 353.020158 deg, deltaT: 4.417231 s, approachRate: 0.679159 m/s, LOS rate: 7.061511 deg/s, posRepo size: 4
2021-08-15T14:22:58.106Z,1629037378.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 17.28 m. Rolling out.
2021-08-15T14:22:58.106Z,1629037378.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-15T14:23:00.502Z,1629037380.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:23:00.805Z,1629037380.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:23:00.805Z,1629037380.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:23:00.805Z,1629037380.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:23:00.806Z,1629037380.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:23:01.205Z,1629037381.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7D,000,00391,187,80,80,57,FF
2021-08-15T14:23:01.205Z,1629037381.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:23:01.205Z,1629037381.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:23:01.207Z,1629037381.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:23:01.621Z,1629037381.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:23:02.434Z,1629037382.434 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142303.12*5A

2021-08-15T14:23:03.225Z,1629037383.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE2,000,035B8,184,80,80,50,FF
2021-08-15T14:23:03.226Z,1629037383.226 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:23:03.299Z,1629037383.299 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:23:03.692Z,1629037383.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 787.620056 m, bearing: 343.604032 deg, deltaT: 5.698313 s, approachRate: 135.187378 m/s, LOS rate: -1.652441 deg/s, posRepo size: 4
2021-08-15T14:23:04.121Z,1629037384.121 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-15T14:23:04.132Z,1629037384.132 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T14:23:04.132Z,1629037384.132 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T14:23:04.133Z,1629037384.133 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T14:23:04.133Z,1629037384.133 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T14:23:04.133Z,1629037384.133 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T14:23:04.133Z,1629037384.133 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T14:23:04.474Z,1629037384.474 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T14:23:04.474Z,1629037384.474 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T14:23:04.474Z,1629037384.474 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T14:23:04.474Z,1629037384.474 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T14:23:06.177Z,1629037386.177 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:23:06.453Z,1629037386.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:23:06.453Z,1629037386.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:23:06.453Z,1629037386.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:23:06.454Z,1629037386.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:23:06.865Z,1629037386.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE2,000,035B8,184,80,80,50,FF
2021-08-15T14:23:06.866Z,1629037386.866 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:23:06.866Z,1629037386.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:23:06.867Z,1629037386.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:23:07.286Z,1629037387.286 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:23:07.669Z,1629037387.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E84,000,003EB,186,80,80,33,FF
2021-08-15T14:23:07.670Z,1629037387.670 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:23:08.125Z,1629037388.125 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142308.79*5C

2021-08-15T14:23:08.185Z,1629037388.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.679996 m, bearing: 350.665628 deg, deltaT: 4.423642 s, approachRate: -172.920883 m/s, LOS rate: 1.596331 deg/s, posRepo size: 4
2021-08-15T14:23:08.542Z,1629037388.542 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T14:23:08.542Z,1629037388.542 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T14:23:08.542Z,1629037388.542 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T14:23:08.543Z,1629037388.543 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T14:23:08.543Z,1629037388.543 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T14:23:08.543Z,1629037388.543 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T14:23:08.916Z,1629037388.916 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T14:23:08.916Z,1629037388.916 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T14:23:08.916Z,1629037388.916 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T14:23:08.916Z,1629037388.916 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T14:23:10.554Z,1629037390.554 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:23:10.893Z,1629037390.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:23:10.893Z,1629037390.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:23:10.893Z,1629037390.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:23:10.895Z,1629037390.895 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:23:11.317Z,1629037391.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E84,000,003EB,186,80,80,33,FF
2021-08-15T14:23:11.318Z,1629037391.318 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:23:11.318Z,1629037391.318 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:23:11.332Z,1629037391.332 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:23:11.717Z,1629037391.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:23:12.109Z,1629037392.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B3,000,0040C,187,80,80,36,FF
2021-08-15T14:23:12.109Z,1629037392.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:23:12.204Z,1629037392.204 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:23:12.542Z,1629037392.542 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142313.25*5F

2021-08-15T14:23:12.594Z,1629037392.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.659998 m, bearing: 314.244627 deg, deltaT: 4.475651 s, approachRate: 0.442394 m/s, LOS rate: -8.137587 deg/s, posRepo size: 4
2021-08-15T14:23:14.968Z,1629037394.968 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:23:15.373Z,1629037395.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:23:15.373Z,1629037395.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:23:15.373Z,1629037395.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:23:15.374Z,1629037395.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:23:15.753Z,1629037395.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B3,000,0040C,187,80,80,36,FF
2021-08-15T14:23:15.753Z,1629037395.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:23:15.753Z,1629037395.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:23:15.755Z,1629037395.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:23:16.161Z,1629037396.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:23:16.554Z,1629037396.554 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA2,000,00429,186,80,80,53,FF
2021-08-15T14:23:16.554Z,1629037396.554 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:23:16.631Z,1629037396.631 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:23:17.001Z,1629037397.001 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142317.67*5D

2021-08-15T14:23:17.028Z,1629037397.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.399998 m, bearing: 319.728067 deg, deltaT: 4.426754 s, approachRate: 0.393064 m/s, LOS rate: 1.238704 deg/s, posRepo size: 4
2021-08-15T14:23:19.418Z,1629037399.418 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:23:19.785Z,1629037399.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:23:19.785Z,1629037399.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:23:19.785Z,1629037399.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:23:19.786Z,1629037399.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:23:20.197Z,1629037400.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA2,000,00429,186,80,80,53,FF
2021-08-15T14:23:20.197Z,1629037400.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:23:20.197Z,1629037400.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:23:20.199Z,1629037400.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:23:20.666Z,1629037400.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:23:20.681Z,1629037400.681 [PowerOnly](INFO): Powering down loadControl
2021-08-15T14:23:21.061Z,1629037401.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF3,000,00442,187,80,80,65,FF
2021-08-15T14:23:21.062Z,1629037401.062 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:23:21.122Z,1629037401.122 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:23:21.477Z,1629037401.477 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142322.12*59

2021-08-15T14:23:21.514Z,1629037401.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.900000 m, bearing: 323.650098 deg, deltaT: 4.491138 s, approachRate: 0.333991 m/s, LOS rate: 0.873282 deg/s, posRepo size: 4
2021-08-15T14:23:23.913Z,1629037403.913 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:23:24.293Z,1629037404.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:23:24.293Z,1629037404.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:23:24.293Z,1629037404.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:23:24.294Z,1629037404.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:23:24.697Z,1629037404.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF3,000,00442,187,80,80,65,FF
2021-08-15T14:23:24.697Z,1629037404.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:23:24.697Z,1629037404.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:23:24.699Z,1629037404.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:23:25.117Z,1629037405.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:23:25.520Z,1629037405.520 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F00,000,00460,186,80,80,62,FF
2021-08-15T14:23:25.521Z,1629037405.521 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:23:25.559Z,1629037405.559 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:23:25.953Z,1629037405.953 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142326.62*5A

2021-08-15T14:23:26.028Z,1629037406.028 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.699997 m, bearing: 325.809886 deg, deltaT: 4.437141 s, approachRate: 0.405666 m/s, LOS rate: 0.486752 deg/s, posRepo size: 4
2021-08-15T14:23:28.430Z,1629037408.430 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:23:28.737Z,1629037408.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:23:28.737Z,1629037408.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:23:28.737Z,1629037408.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:23:28.738Z,1629037408.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:23:29.141Z,1629037409.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F00,000,00460,186,80,80,62,FF
2021-08-15T14:23:29.141Z,1629037409.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:23:29.141Z,1629037409.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:23:29.143Z,1629037409.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:23:29.551Z,1629037409.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:23:29.953Z,1629037409.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,352,000,0047B,189,80,80,67,FF
2021-08-15T14:23:29.954Z,1629037409.954 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:23:30.016Z,1629037410.016 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:23:30.393Z,1629037410.393 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142331.06*5E

2021-08-15T14:23:30.485Z,1629037410.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.320002 m, bearing: 271.358088 deg, deltaT: 4.457892 s, approachRate: 0.363402 m/s, LOS rate: -12.214696 deg/s, posRepo size: 4
2021-08-15T14:23:32.798Z,1629037412.798 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:23:33.185Z,1629037413.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:23:33.185Z,1629037413.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:23:33.185Z,1629037413.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:23:33.186Z,1629037413.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:23:33.601Z,1629037413.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
352,000,0047B,189,80,80,67,FF
2021-08-15T14:23:33.601Z,1629037413.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:23:33.602Z,1629037413.602 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:23:33.603Z,1629037413.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:23:34.006Z,1629037414.006 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:23:34.397Z,1629037414.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,349,000,00493,18A,80,80,47,FF
2021-08-15T14:23:34.398Z,1629037414.398 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:23:34.475Z,1629037414.475 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:23:34.829Z,1629037414.829 [Micromodem](INFO): Nmea in: $SNTTA,0.050941,,,,142335.52*4C

2021-08-15T14:23:34.852Z,1629037414.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.760002 m, bearing: 270.259985 deg, deltaT: 4.457762 s, approachRate: 0.323032 m/s, LOS rate: -0.246335 deg/s, posRepo size: 4
2021-08-15T14:23:37.283Z,1629037417.283 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:23:37.625Z,1629037417.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:23:37.625Z,1629037417.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:23:37.625Z,1629037417.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:23:37.626Z,1629037417.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:23:38.069Z,1629037418.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
349,000,00493,18A,80,80,47,FF
2021-08-15T14:23:38.070Z,1629037418.070 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:23:38.070Z,1629037418.070 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:23:38.071Z,1629037418.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:23:38.440Z,1629037418.440 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:23:39.258Z,1629037419.258 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142339.99*50

2021-08-15T14:23:40.151Z,1629037420.151 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:23:41.669Z,1629037421.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,18A,80,80,47,FF
2021-08-15T14:23:41.669Z,1629037421.669 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,18A,80,80,47,FF
2021-08-15T14:23:41.669Z,1629037421.669 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:23:42.909Z,1629037422.909 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:23:43.283Z,1629037423.283 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:23:43.283Z,1629037423.283 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:23:43.284Z,1629037423.284 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:23:43.285Z,1629037423.285 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:23:43.685Z,1629037423.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,18A,80,80,47,FF
2021-08-15T14:23:43.685Z,1629037423.685 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:23:43.685Z,1629037423.685 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:23:43.687Z,1629037423.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:23:44.108Z,1629037424.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:23:44.501Z,1629037424.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA5,000,004DB,185,80,80,6F,FF
2021-08-15T14:23:44.501Z,1629037424.501 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:23:44.582Z,1629037424.582 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:23:44.934Z,1629037424.934 [Micromodem](INFO): Nmea in: $SNTTA,0.051279,,,,142345.60*4B

2021-08-15T14:23:44.950Z,1629037424.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.080002 m, bearing: 328.309353 deg, deltaT: 10.106918 s, approachRate: 0.427430 m/s, LOS rate: 5.743528 deg/s, posRepo size: 4
2021-08-15T14:23:47.381Z,1629037427.381 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:23:47.733Z,1629037427.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:23:47.733Z,1629037427.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:23:47.733Z,1629037427.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:23:47.734Z,1629037427.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:23:48.141Z,1629037428.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA5,000,004DB,185,80,80,6F,FF
2021-08-15T14:23:48.141Z,1629037428.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:23:48.141Z,1629037428.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:23:48.143Z,1629037428.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:23:48.547Z,1629037428.547 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:23:48.937Z,1629037428.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E46,000,004F8,186,80,80,97,FF
2021-08-15T14:23:48.937Z,1629037428.937 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:23:48.988Z,1629037428.988 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:23:49.397Z,1629037429.397 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142350.06*59

2021-08-15T14:23:49.442Z,1629037429.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.820000 m, bearing: 332.532677 deg, deltaT: 4.406716 s, approachRate: 0.394851 m/s, LOS rate: 0.958384 deg/s, posRepo size: 4
2021-08-15T14:23:51.850Z,1629037431.850 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:23:52.203Z,1629037432.203 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:23:52.203Z,1629037432.203 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:23:52.203Z,1629037432.203 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:23:52.208Z,1629037432.208 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:23:52.582Z,1629037432.582 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E46,000,004F8,186,80,80,97,FF
2021-08-15T14:23:52.582Z,1629037432.582 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:23:52.583Z,1629037432.583 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:23:52.586Z,1629037432.586 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:23:52.981Z,1629037432.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:23:53.399Z,1629037433.399 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E78,000,00515,186,80,80,74,FF
2021-08-15T14:23:53.399Z,1629037433.399 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:23:53.430Z,1629037433.430 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:23:53.817Z,1629037433.817 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142354.50*5E

2021-08-15T14:23:53.840Z,1629037433.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.559998 m, bearing: 330.484959 deg, deltaT: 4.441485 s, approachRate: 0.391760 m/s, LOS rate: -0.461044 deg/s, posRepo size: 4
2021-08-15T14:23:54.258Z,1629037434.258 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T14:23:54.258Z,1629037434.258 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T14:23:54.259Z,1629037434.259 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T14:23:54.259Z,1629037434.259 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T14:23:54.259Z,1629037434.259 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T14:23:54.259Z,1629037434.259 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T14:23:54.648Z,1629037434.648 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T14:23:54.648Z,1629037434.648 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T14:23:54.648Z,1629037434.648 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T14:23:54.648Z,1629037434.648 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T14:23:56.281Z,1629037436.281 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:23:56.617Z,1629037436.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:23:56.617Z,1629037436.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:23:56.618Z,1629037436.618 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:23:56.619Z,1629037436.619 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:23:57.017Z,1629037437.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E78,000,00515,186,80,80,74,FF
2021-08-15T14:23:57.017Z,1629037437.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:23:57.017Z,1629037437.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:23:57.019Z,1629037437.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:23:57.444Z,1629037437.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:23:57.825Z,1629037437.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F12,000,00533,186,80,80,6F,FF
2021-08-15T14:23:57.825Z,1629037437.825 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:23:58.258Z,1629037438.258 [Micromodem](INFO): Nmea in: $SNTTA,0.441734,0.441759,,,142358.94*51

2021-08-15T14:23:58.359Z,1629037438.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.360001 m, bearing: 322.148495 deg, deltaT: 4.479561 s, approachRate: 0.401826 m/s, LOS rate: -1.861000 deg/s, posRepo size: 4
2021-08-15T14:24:00.730Z,1629037440.730 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:24:01.061Z,1629037441.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:24:01.061Z,1629037441.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:24:01.061Z,1629037441.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:24:01.062Z,1629037441.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:24:01.474Z,1629037441.474 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F12,000,00533,186,80,80,6F,FF
2021-08-15T14:24:01.474Z,1629037441.474 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:24:01.474Z,1629037441.474 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:24:01.479Z,1629037441.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:24:01.880Z,1629037441.880 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:24:02.295Z,1629037442.295 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E34,000,00550,187,80,80,44,FF
2021-08-15T14:24:02.295Z,1629037442.295 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:24:02.305Z,1629037442.305 [Micromodem](INFO): Nmea in: $SNTTA,0.167484,0.166791,,,142403.40*5C

2021-08-15T14:24:02.728Z,1629037442.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.100002 m, bearing: 333.196463 deg, deltaT: 4.513601 s, approachRate: 0.385502 m/s, LOS rate: 2.447706 deg/s, posRepo size: 4
2021-08-15T14:24:05.135Z,1629037445.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:24:05.505Z,1629037445.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:24:05.505Z,1629037445.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:24:05.505Z,1629037445.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:24:05.506Z,1629037445.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:24:05.910Z,1629037445.910 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E34,000,00550,187,80,80,44,FF
2021-08-15T14:24:05.910Z,1629037445.910 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:24:05.910Z,1629037445.910 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:24:05.912Z,1629037445.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:24:06.332Z,1629037446.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:24:06.719Z,1629037446.719 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5B,000,00566,185,80,80,5F,FF
2021-08-15T14:24:06.719Z,1629037446.719 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:24:07.149Z,1629037447.149 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142407.83*51

2021-08-15T14:24:07.237Z,1629037447.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.419998 m, bearing: 330.907967 deg, deltaT: 4.316130 s, approachRate: 0.305829 m/s, LOS rate: -0.530219 deg/s, posRepo size: 4
2021-08-15T14:24:09.583Z,1629037449.583 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:24:09.953Z,1629037449.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:24:09.953Z,1629037449.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:24:09.954Z,1629037449.954 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:24:09.955Z,1629037449.955 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:24:10.389Z,1629037450.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5B,000,00566,185,80,80,5F,FF
2021-08-15T14:24:10.389Z,1629037450.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:24:10.389Z,1629037450.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:24:10.391Z,1629037450.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:24:10.753Z,1629037450.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:24:11.159Z,1629037451.159 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E46,000,00582,186,80,80,80,FF
2021-08-15T14:24:11.159Z,1629037451.159 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:24:11.575Z,1629037451.575 [Micromodem](INFO): Nmea in: $SNTTA,0.051225,,,,142412.31*43

2021-08-15T14:24:11.643Z,1629037451.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.100002 m, bearing: 332.502324 deg, deltaT: 4.439964 s, approachRate: 0.378382 m/s, LOS rate: 0.359092 deg/s, posRepo size: 4
2021-08-15T14:24:14.065Z,1629037454.065 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:24:14.400Z,1629037454.400 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:24:14.400Z,1629037454.400 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:24:14.401Z,1629037454.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:24:14.401Z,1629037454.401 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:24:14.789Z,1629037454.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E46,000,00582,186,80,80,80,FF
2021-08-15T14:24:14.789Z,1629037454.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:24:14.789Z,1629037454.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:24:14.791Z,1629037454.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:24:15.208Z,1629037455.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:24:15.605Z,1629037455.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E15,000,005A2,186,80,80,69,FF
2021-08-15T14:24:15.606Z,1629037455.606 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:24:16.069Z,1629037456.069 [Micromodem](INFO): Nmea in: $SNTTA,0.082970,,,,142416.71*46

2021-08-15T14:24:16.113Z,1629037456.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.019997 m, bearing: 335.366441 deg, deltaT: 4.496363 s, approachRate: 0.427011 m/s, LOS rate: 0.636985 deg/s, posRepo size: 4
2021-08-15T14:24:18.464Z,1629037458.464 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:24:18.829Z,1629037458.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:24:18.829Z,1629037458.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:24:18.829Z,1629037458.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:24:18.830Z,1629037458.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:24:19.241Z,1629037459.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E15,000,005A2,186,80,80,69,FF
2021-08-15T14:24:19.241Z,1629037459.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:24:19.242Z,1629037459.242 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:24:19.243Z,1629037459.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:24:19.641Z,1629037459.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:24:20.093Z,1629037460.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E72,000,005BE,186,80,80,72,FF
2021-08-15T14:24:20.094Z,1629037460.094 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:24:20.481Z,1629037460.481 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142421.16*59

2021-08-15T14:24:20.519Z,1629037460.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.699997 m, bearing: 331.243766 deg, deltaT: 4.485743 s, approachRate: 0.374520 m/s, LOS rate: -0.919062 deg/s, posRepo size: 4
2021-08-15T14:24:22.887Z,1629037462.887 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:24:23.277Z,1629037463.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:24:23.277Z,1629037463.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:24:23.278Z,1629037463.278 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:24:23.278Z,1629037463.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:24:23.692Z,1629037463.692 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E72,000,005BE,186,80,80,72,FF
2021-08-15T14:24:23.692Z,1629037463.692 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:24:23.693Z,1629037463.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:24:23.694Z,1629037463.694 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:24:24.100Z,1629037464.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:24:24.485Z,1629037464.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAB,000,005DE,186,80,80,4E,FF
2021-08-15T14:24:24.486Z,1629037464.486 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:24:24.917Z,1629037464.917 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142425.61*5D

2021-08-15T14:24:24.936Z,1629037464.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.620003 m, bearing: 328.075597 deg, deltaT: 4.432787 s, approachRate: 0.433137 m/s, LOS rate: -0.714713 deg/s, posRepo size: 4
2021-08-15T14:24:27.379Z,1629037467.379 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:24:27.717Z,1629037467.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:24:27.717Z,1629037467.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:24:27.717Z,1629037467.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:24:27.718Z,1629037467.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:24:28.129Z,1629037468.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAB,000,005DE,186,80,80,4E,FF
2021-08-15T14:24:28.129Z,1629037468.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:24:28.129Z,1629037468.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:24:28.131Z,1629037468.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:24:28.529Z,1629037468.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:24:28.929Z,1629037468.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E53,000,005F9,186,80,80,7A,FF
2021-08-15T14:24:28.930Z,1629037468.930 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:24:29.397Z,1629037469.397 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142430.05*5B

2021-08-15T14:24:29.428Z,1629037469.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.239998 m, bearing: 332.161716 deg, deltaT: 4.355989 s, approachRate: 0.371901 m/s, LOS rate: 0.938046 deg/s, posRepo size: 4
2021-08-15T14:24:31.459Z,1629037471.459 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:24:31.766Z,1629037471.766 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:24:31.766Z,1629037471.766 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:24:31.766Z,1629037471.766 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:24:31.767Z,1629037471.767 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:24:32.176Z,1629037472.176 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E53,000,005F9,186,80,80,7A,FF
2021-08-15T14:24:32.176Z,1629037472.176 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:24:32.177Z,1629037472.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:24:32.178Z,1629037472.178 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:24:32.632Z,1629037472.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:24:33.017Z,1629037473.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECC,000,0060F,186,80,80,35,FF
2021-08-15T14:24:33.018Z,1629037473.018 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:24:33.441Z,1629037473.441 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142434.10*5B

2021-08-15T14:24:33.467Z,1629037473.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.560005 m, bearing: 325.750436 deg, deltaT: 4.087402 s, approachRate: 0.322945 m/s, LOS rate: -1.568546 deg/s, posRepo size: 4
2021-08-15T14:24:35.863Z,1629037475.863 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:24:36.257Z,1629037476.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:24:36.257Z,1629037476.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:24:36.257Z,1629037476.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:24:36.258Z,1629037476.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:24:36.653Z,1629037476.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECC,000,0060F,186,80,80,35,FF
2021-08-15T14:24:36.653Z,1629037476.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:24:36.654Z,1629037476.654 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:24:36.655Z,1629037476.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:24:37.060Z,1629037477.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:24:37.457Z,1629037477.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E98,000,00630,186,80,80,77,FF
2021-08-15T14:24:37.458Z,1629037477.458 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:24:37.909Z,1629037477.909 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142438.57*54

2021-08-15T14:24:37.940Z,1629037477.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.540001 m, bearing: 328.742496 deg, deltaT: 4.450217 s, approachRate: 0.444921 m/s, LOS rate: 0.672340 deg/s, posRepo size: 4
2021-08-15T14:24:40.421Z,1629037480.421 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:24:40.705Z,1629037480.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:24:40.705Z,1629037480.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:24:40.705Z,1629037480.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:24:40.706Z,1629037480.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:24:41.118Z,1629037481.118 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E98,000,00630,186,80,80,77,FF
2021-08-15T14:24:41.118Z,1629037481.118 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:24:41.118Z,1629037481.118 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:24:41.119Z,1629037481.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:24:41.516Z,1629037481.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:24:41.917Z,1629037481.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBD,000,00644,186,80,80,27,FF
2021-08-15T14:24:41.917Z,1629037481.917 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:24:42.401Z,1629037482.401 [Micromodem](INFO): Nmea in: $SNTTA,0.055159,,,,142443.04*4D

2021-08-15T14:24:42.467Z,1629037482.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.739998 m, bearing: 326.896323 deg, deltaT: 4.449626 s, approachRate: 0.269685 m/s, LOS rate: -0.414905 deg/s, posRepo size: 4
2021-08-15T14:24:44.446Z,1629037484.446 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:24:44.745Z,1629037484.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:24:44.745Z,1629037484.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:24:44.745Z,1629037484.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:24:44.746Z,1629037484.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:24:45.153Z,1629037485.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBD,000,00644,186,80,80,27,FF
2021-08-15T14:24:45.153Z,1629037485.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:24:45.153Z,1629037485.153 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:24:45.155Z,1629037485.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:24:45.558Z,1629037485.558 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:24:45.961Z,1629037485.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB6,000,00660,18A,80,80,4A,FF
2021-08-15T14:24:45.962Z,1629037485.962 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:24:46.421Z,1629037486.421 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142447.07*59

2021-08-15T14:24:46.498Z,1629037486.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.419998 m, bearing: 340.669564 deg, deltaT: 4.117263 s, approachRate: 0.408038 m/s, LOS rate: 3.345242 deg/s, posRepo size: 4
2021-08-15T14:24:48.835Z,1629037488.835 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:24:49.193Z,1629037489.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:24:49.193Z,1629037489.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:24:49.193Z,1629037489.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:24:49.194Z,1629037489.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:24:49.601Z,1629037489.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB6,000,00660,18A,80,80,4A,FF
2021-08-15T14:24:49.601Z,1629037489.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:24:49.602Z,1629037489.602 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:24:49.603Z,1629037489.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:24:50.016Z,1629037490.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:24:50.406Z,1629037490.406 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3E,000,00680,185,80,80,82,FF
2021-08-15T14:24:50.407Z,1629037490.407 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:24:50.841Z,1629037490.841 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142451.52*5E

2021-08-15T14:24:50.875Z,1629037490.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.340004 m, bearing: 334.575450 deg, deltaT: 4.442939 s, approachRate: 0.432148 m/s, LOS rate: -1.371640 deg/s, posRepo size: 4
2021-08-15T14:24:53.247Z,1629037493.247 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:24:53.645Z,1629037493.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:24:53.645Z,1629037493.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:24:53.645Z,1629037493.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:24:53.646Z,1629037493.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:24:54.090Z,1629037494.090 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3E,000,00680,185,80,80,82,FF
2021-08-15T14:24:54.090Z,1629037494.090 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:24:54.090Z,1629037494.090 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:24:54.092Z,1629037494.092 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:24:54.472Z,1629037494.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:24:54.853Z,1629037494.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1B,000,0069B,187,80,80,75,FF
2021-08-15T14:24:54.854Z,1629037494.854 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:24:55.279Z,1629037495.279 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142456.01*5F

2021-08-15T14:24:55.360Z,1629037495.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.959999 m, bearing: 337.273812 deg, deltaT: 4.421741 s, approachRate: 0.366370 m/s, LOS rate: 0.610249 deg/s, posRepo size: 4
2021-08-15T14:24:57.729Z,1629037497.729 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:24:58.104Z,1629037498.104 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:24:58.104Z,1629037498.104 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:24:58.105Z,1629037498.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:24:58.105Z,1629037498.105 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:24:58.494Z,1629037498.494 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1B,000,0069B,187,80,80,75,FF
2021-08-15T14:24:58.494Z,1629037498.494 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:24:58.494Z,1629037498.494 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:24:58.497Z,1629037498.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:24:58.900Z,1629037498.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:24:59.290Z,1629037499.290 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4B,000,006BD,186,80,80,8F,FF
2021-08-15T14:24:59.290Z,1629037499.290 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:24:59.729Z,1629037499.729 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142500.42*5A

2021-08-15T14:24:59.766Z,1629037499.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.000000 m, bearing: 334.910649 deg, deltaT: 4.440953 s, approachRate: 0.459361 m/s, LOS rate: -0.532130 deg/s, posRepo size: 4
2021-08-15T14:25:02.165Z,1629037502.165 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:25:02.530Z,1629037502.530 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:25:02.531Z,1629037502.531 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:25:02.531Z,1629037502.531 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:25:02.532Z,1629037502.532 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:25:02.929Z,1629037502.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4B,000,006BD,186,80,80,8F,FF
2021-08-15T14:25:02.930Z,1629037502.930 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:25:02.930Z,1629037502.930 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:25:02.931Z,1629037502.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:25:03.366Z,1629037503.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:25:03.733Z,1629037503.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E60,000,006DB,185,80,80,A2,FF
2021-08-15T14:25:03.734Z,1629037503.734 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:25:04.174Z,1629037504.174 [Micromodem](INFO): Nmea in: $SNTTA,0.050633,,,,142504.85*48

2021-08-15T14:25:04.253Z,1629037504.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.800011 m, bearing: 333.410166 deg, deltaT: 4.392829 s, approachRate: 0.409761 m/s, LOS rate: -0.341576 deg/s, posRepo size: 4
2021-08-15T14:25:06.621Z,1629037506.621 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:25:06.965Z,1629037506.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:25:06.965Z,1629037506.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:25:06.965Z,1629037506.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:25:06.966Z,1629037506.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:25:07.378Z,1629037507.378 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E60,000,006DB,185,80,80,A2,FF
2021-08-15T14:25:07.378Z,1629037507.378 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:25:07.378Z,1629037507.378 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:25:07.379Z,1629037507.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:25:07.776Z,1629037507.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:25:08.182Z,1629037508.182 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5E,000,006FB,186,80,80,7D,FF
2021-08-15T14:25:08.182Z,1629037508.182 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:25:08.621Z,1629037508.621 [Micromodem](INFO): Nmea in: $SNTTA,0.052654,,,,142509.30*48

2021-08-15T14:25:08.647Z,1629037508.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.720001 m, bearing: 333.033494 deg, deltaT: 4.469289 s, approachRate: 0.429596 m/s, LOS rate: -0.084280 deg/s, posRepo size: 4
2021-08-15T14:25:11.031Z,1629037511.031 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:25:11.409Z,1629037511.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:25:11.409Z,1629037511.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:25:11.409Z,1629037511.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:25:11.410Z,1629037511.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:25:11.813Z,1629037511.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5E,000,006FB,186,80,80,7D,FF
2021-08-15T14:25:11.813Z,1629037511.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:25:11.813Z,1629037511.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:25:11.815Z,1629037511.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:25:12.225Z,1629037512.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:25:12.625Z,1629037512.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7C,000,00717,186,80,80,5E,FF
2021-08-15T14:25:12.626Z,1629037512.626 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:25:13.057Z,1629037513.057 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142513.73*5A

2021-08-15T14:25:13.091Z,1629037513.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.400002 m, bearing: 331.593772 deg, deltaT: 4.458908 s, approachRate: 0.376774 m/s, LOS rate: -0.322887 deg/s, posRepo size: 4
2021-08-15T14:25:15.487Z,1629037515.487 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:25:15.853Z,1629037515.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:25:15.853Z,1629037515.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:25:15.853Z,1629037515.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:25:15.854Z,1629037515.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:25:16.262Z,1629037516.262 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7C,000,00717,186,80,80,5E,FF
2021-08-15T14:25:16.262Z,1629037516.262 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:25:16.262Z,1629037516.262 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:25:16.263Z,1629037516.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:25:16.678Z,1629037516.678 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:25:17.065Z,1629037517.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E34,000,00736,186,80,80,9E,FF
2021-08-15T14:25:17.066Z,1629037517.066 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:25:17.512Z,1629037517.512 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142518.18*5C

2021-08-15T14:25:17.583Z,1629037517.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.260002 m, bearing: 334.877509 deg, deltaT: 4.404633 s, approachRate: 0.422283 m/s, LOS rate: 0.745519 deg/s, posRepo size: 4
2021-08-15T14:25:19.935Z,1629037519.935 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:25:20.308Z,1629037520.308 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:25:20.309Z,1629037520.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:25:20.309Z,1629037520.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:25:20.311Z,1629037520.311 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:25:20.705Z,1629037520.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E34,000,00736,186,80,80,9E,FF
2021-08-15T14:25:20.706Z,1629037520.706 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:25:20.706Z,1629037520.706 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:25:20.707Z,1629037520.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:25:21.116Z,1629037521.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:25:21.513Z,1629037521.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E32,000,0074F,187,80,80,99,FF
2021-08-15T14:25:21.514Z,1629037521.514 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:25:21.953Z,1629037521.953 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142522.63*59

2021-08-15T14:25:22.043Z,1629037522.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.760002 m, bearing: 335.530393 deg, deltaT: 4.498507 s, approachRate: 0.333444 m/s, LOS rate: 0.145134 deg/s, posRepo size: 4
2021-08-15T14:25:24.421Z,1629037524.421 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:25:24.754Z,1629037524.754 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:25:24.754Z,1629037524.754 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:25:24.754Z,1629037524.754 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:25:24.755Z,1629037524.755 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:25:25.142Z,1629037525.142 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E32,000,0074F,187,80,80,99,FF
2021-08-15T14:25:25.142Z,1629037525.142 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:25:25.142Z,1629037525.142 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:25:25.144Z,1629037525.144 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:25:25.566Z,1629037525.566 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:25:25.962Z,1629037525.962 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E37,000,00773,186,80,80,6C,FF
2021-08-15T14:25:25.963Z,1629037525.963 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:25:26.409Z,1629037526.409 [Micromodem](INFO): Nmea in: $SNTTA,0.064491,,,,142527.06*4F

2021-08-15T14:25:26.466Z,1629037526.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.919998 m, bearing: 335.178201 deg, deltaT: 4.481374 s, approachRate: 0.481994 m/s, LOS rate: -0.078590 deg/s, posRepo size: 4
2021-08-15T14:25:28.803Z,1629037528.803 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:25:29.193Z,1629037529.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:25:29.193Z,1629037529.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:25:29.193Z,1629037529.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:25:29.194Z,1629037529.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:25:29.601Z,1629037529.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E37,000,00773,186,80,80,6C,FF
2021-08-15T14:25:29.601Z,1629037529.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:25:29.601Z,1629037529.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:25:29.603Z,1629037529.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:25:30.028Z,1629037530.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:25:30.405Z,1629037530.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFF,000,00796,186,80,80,82,FF
2021-08-15T14:25:30.406Z,1629037530.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:25:30.842Z,1629037530.842 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142531.52*59

2021-08-15T14:25:30.865Z,1629037530.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.020004 m, bearing: 337.159010 deg, deltaT: 4.392253 s, approachRate: 0.478116 m/s, LOS rate: 0.450978 deg/s, posRepo size: 4
2021-08-15T14:25:33.255Z,1629037533.255 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:25:33.629Z,1629037533.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:25:33.629Z,1629037533.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:25:33.629Z,1629037533.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:25:33.630Z,1629037533.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:25:34.077Z,1629037534.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFF,000,00796,186,80,80,82,FF
2021-08-15T14:25:34.077Z,1629037534.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:25:34.077Z,1629037534.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:25:34.079Z,1629037534.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:25:34.449Z,1629037534.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:25:34.845Z,1629037534.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E08,000,007B1,187,80,80,8C,FF
2021-08-15T14:25:34.846Z,1629037534.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:25:35.267Z,1629037535.267 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142536.00*59

2021-08-15T14:25:35.348Z,1629037535.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.639999 m, bearing: 336.174835 deg, deltaT: 4.472367 s, approachRate: 0.362223 m/s, LOS rate: -0.220057 deg/s, posRepo size: 4
2021-08-15T14:25:37.713Z,1629037537.713 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:25:38.098Z,1629037538.098 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:25:38.098Z,1629037538.098 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:25:38.098Z,1629037538.098 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:25:38.099Z,1629037538.099 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:25:38.477Z,1629037538.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E08,000,007B1,187,80,80,8C,FF
2021-08-15T14:25:38.477Z,1629037538.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:25:38.478Z,1629037538.478 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:25:38.479Z,1629037538.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:25:38.892Z,1629037538.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:25:39.300Z,1629037539.300 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1E,000,007CB,186,80,80,6B,FF
2021-08-15T14:25:39.301Z,1629037539.301 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:25:39.733Z,1629037539.733 [Micromodem](INFO): Nmea in: $SNTTA,0.062040,,,,142540.40*42

2021-08-15T14:25:39.759Z,1629037539.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.200005 m, bearing: 334.818906 deg, deltaT: 4.440188 s, approachRate: 0.351338 m/s, LOS rate: -0.305377 deg/s, posRepo size: 4
2021-08-15T14:25:42.158Z,1629037542.158 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:25:42.521Z,1629037542.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:25:42.521Z,1629037542.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:25:42.521Z,1629037542.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:25:42.522Z,1629037542.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:25:42.929Z,1629037542.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1E,000,007CB,186,80,80,6B,FF
2021-08-15T14:25:42.929Z,1629037542.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:25:42.929Z,1629037542.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:25:42.931Z,1629037542.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:25:43.354Z,1629037543.354 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:25:43.729Z,1629037543.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF4,000,007EB,187,80,80,6D,FF
2021-08-15T14:25:43.730Z,1629037543.730 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:25:44.177Z,1629037544.177 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142544.85*51

2021-08-15T14:25:44.217Z,1629037544.217 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.119995 m, bearing: 336.674559 deg, deltaT: 4.378547 s, approachRate: 0.438499 m/s, LOS rate: 0.423806 deg/s, posRepo size: 4
2021-08-15T14:25:46.602Z,1629037546.602 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:25:46.961Z,1629037546.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:25:46.961Z,1629037546.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:25:46.961Z,1629037546.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:25:46.962Z,1629037546.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:25:47.404Z,1629037547.404 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF4,000,007EB,187,80,80,6D,FF
2021-08-15T14:25:47.404Z,1629037547.404 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:25:47.405Z,1629037547.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:25:47.406Z,1629037547.406 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:25:47.781Z,1629037547.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:25:48.193Z,1629037548.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB5,000,00809,187,80,80,1D,FF
2021-08-15T14:25:48.194Z,1629037548.194 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:25:48.197Z,1629037548.197 [Micromodem](INFO): Nmea in: $SNTTA,0.246923,0.246673,,,142549.32*5A

2021-08-15T14:25:48.631Z,1629037548.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.920006 m, bearing: 327.151527 deg, deltaT: 4.502598 s, approachRate: 0.399772 m/s, LOS rate: -2.115008 deg/s, posRepo size: 4
2021-08-15T14:25:51.028Z,1629037551.028 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:25:51.414Z,1629037551.414 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:25:51.414Z,1629037551.414 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:25:51.414Z,1629037551.414 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:25:51.415Z,1629037551.415 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:25:51.817Z,1629037551.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB5,000,00809,187,80,80,1D,FF
2021-08-15T14:25:51.817Z,1629037551.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:25:51.817Z,1629037551.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:25:51.819Z,1629037551.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:25:52.235Z,1629037552.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:25:52.629Z,1629037552.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E30,000,0082E,186,80,80,81,FF
2021-08-15T14:25:52.630Z,1629037552.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:25:53.113Z,1629037553.113 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142553.74*59

2021-08-15T14:25:53.129Z,1629037553.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.140007 m, bearing: 333.894863 deg, deltaT: 4.427101 s, approachRate: 0.501457 m/s, LOS rate: 1.523195 deg/s, posRepo size: 4
2021-08-15T14:25:55.526Z,1629037555.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:25:55.849Z,1629037555.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:25:55.849Z,1629037555.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:25:55.849Z,1629037555.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:25:55.850Z,1629037555.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:25:56.258Z,1629037556.258 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E30,000,0082E,186,80,80,81,FF
2021-08-15T14:25:56.258Z,1629037556.258 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:25:56.259Z,1629037556.259 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:25:56.261Z,1629037556.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:25:56.665Z,1629037556.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:25:57.061Z,1629037557.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4C,000,00849,185,80,80,9E,FF
2021-08-15T14:25:57.061Z,1629037557.061 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:25:57.499Z,1629037557.499 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142558.18*58

2021-08-15T14:25:57.517Z,1629037557.517 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T14:25:57.537Z,1629037557.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.760002 m, bearing: 334.249159 deg, deltaT: 4.447990 s, approachRate: 0.364208 m/s, LOS rate: 0.079653 deg/s, posRepo size: 4
2021-08-15T14:25:59.926Z,1629037559.926 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:26:00.306Z,1629037560.306 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:26:00.307Z,1629037560.307 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:26:00.307Z,1629037560.307 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:26:00.309Z,1629037560.309 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:26:00.709Z,1629037560.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4C,000,00849,185,80,80,9E,FF
2021-08-15T14:26:00.709Z,1629037560.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:26:00.709Z,1629037560.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:26:00.711Z,1629037560.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:26:01.109Z,1629037561.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:26:01.510Z,1629037561.510 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E82,000,0086B,186,80,80,77,FF
2021-08-15T14:26:01.511Z,1629037561.511 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:26:01.950Z,1629037561.950 [Micromodem](INFO): Nmea in: $SNTTA,0.065378,,,,142602.63*49

2021-08-15T14:26:02.053Z,1629037562.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.800003 m, bearing: 332.440825 deg, deltaT: 4.417468 s, approachRate: 0.461803 m/s, LOS rate: -0.409360 deg/s, posRepo size: 4
2021-08-15T14:26:04.416Z,1629037564.416 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:26:04.737Z,1629037564.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:26:04.737Z,1629037564.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:26:04.737Z,1629037564.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:26:04.738Z,1629037564.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:26:05.153Z,1629037565.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E82,000,0086B,186,80,80,77,FF
2021-08-15T14:26:05.154Z,1629037565.154 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:26:05.154Z,1629037565.154 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:26:05.155Z,1629037565.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:26:05.558Z,1629037565.558 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:26:05.949Z,1629037565.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7F,000,00888,186,80,80,70,FF
2021-08-15T14:26:05.949Z,1629037565.949 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:26:06.393Z,1629037566.393 [Micromodem](INFO): Nmea in: $SNTTA,0.319290,0.319659,,,142607.10*58

2021-08-15T14:26:06.459Z,1629037566.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.540009 m, bearing: 332.881427 deg, deltaT: 4.429417 s, approachRate: 0.392829 m/s, LOS rate: 0.099472 deg/s, posRepo size: 4
2021-08-15T14:26:07.585Z,1629037567.585 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T14:26:08.484Z,1629037568.484 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:26:08.785Z,1629037568.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:26:08.785Z,1629037568.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:26:08.785Z,1629037568.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:26:08.786Z,1629037568.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:26:09.189Z,1629037569.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7F,000,00888,186,80,80,70,FF
2021-08-15T14:26:09.190Z,1629037569.190 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:26:09.190Z,1629037569.190 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:26:09.191Z,1629037569.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:26:09.596Z,1629037569.596 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:26:09.994Z,1629037569.994 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E68,000,008A5,186,80,80,63,FF
2021-08-15T14:26:09.995Z,1629037569.995 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:26:10.425Z,1629037570.425 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142611.11*5F

2021-08-15T14:26:10.484Z,1629037570.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.279999 m, bearing: 334.209352 deg, deltaT: 4.096620 s, approachRate: 0.424738 m/s, LOS rate: 0.324151 deg/s, posRepo size: 4
2021-08-15T14:26:12.835Z,1629037572.835 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:26:13.229Z,1629037573.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:26:13.229Z,1629037573.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:26:13.229Z,1629037573.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:26:13.230Z,1629037573.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:26:13.630Z,1629037573.630 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E68,000,008A5,186,80,80,63,FF
2021-08-15T14:26:13.630Z,1629037573.630 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:26:13.630Z,1629037573.630 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:26:13.632Z,1629037573.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:26:14.073Z,1629037574.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:26:14.433Z,1629037574.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E56,000,008C6,187,80,80,4D,FF
2021-08-15T14:26:14.433Z,1629037574.433 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:26:14.881Z,1629037574.881 [Micromodem](INFO): Nmea in: $SNTTA,0.071893,,,,142615.55*41

2021-08-15T14:26:14.911Z,1629037574.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.260002 m, bearing: 335.093753 deg, deltaT: 4.393732 s, approachRate: 0.450643 m/s, LOS rate: 0.201287 deg/s, posRepo size: 4
2021-08-15T14:26:17.279Z,1629037577.279 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:26:17.673Z,1629037577.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:26:17.673Z,1629037577.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:26:17.673Z,1629037577.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:26:17.674Z,1629037577.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:26:17.690Z,1629037577.690 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T14:26:18.093Z,1629037578.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E56,000,008C6,187,80,80,4D,FF
2021-08-15T14:26:18.093Z,1629037578.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:26:18.093Z,1629037578.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:26:18.095Z,1629037578.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:26:18.485Z,1629037578.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:26:18.881Z,1629037578.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E34,000,008E8,186,80,80,84,FF
2021-08-15T14:26:18.882Z,1629037578.882 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:26:19.316Z,1629037579.316 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142620.01*5C

2021-08-15T14:26:19.368Z,1629037579.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.300003 m, bearing: 336.626666 deg, deltaT: 4.437637 s, approachRate: 0.459704 m/s, LOS rate: 0.345435 deg/s, posRepo size: 4
2021-08-15T14:26:21.727Z,1629037581.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:26:22.110Z,1629037582.110 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:26:22.110Z,1629037582.110 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:26:22.110Z,1629037582.110 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:26:22.111Z,1629037582.111 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:26:22.509Z,1629037582.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E34,000,008E8,186,80,80,84,FF
2021-08-15T14:26:22.510Z,1629037582.510 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:26:22.510Z,1629037582.510 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:26:22.511Z,1629037582.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:26:22.921Z,1629037582.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:26:23.338Z,1629037583.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1B,000,00911,186,80,80,59,FF
2021-08-15T14:26:23.340Z,1629037583.340 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:26:23.757Z,1629037583.757 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142624.43*5E

2021-08-15T14:26:23.789Z,1629037583.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.760002 m, bearing: 337.089261 deg, deltaT: 4.497109 s, approachRate: 0.547018 m/s, LOS rate: 0.102865 deg/s, posRepo size: 4
2021-08-15T14:26:26.199Z,1629037586.199 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:26:26.558Z,1629037586.558 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:26:26.558Z,1629037586.558 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:26:26.558Z,1629037586.558 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:26:26.559Z,1629037586.559 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:26:26.957Z,1629037586.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1B,000,00911,186,80,80,59,FF
2021-08-15T14:26:26.957Z,1629037586.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:26:26.957Z,1629037586.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:26:26.959Z,1629037586.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:26:27.396Z,1629037587.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:26:27.414Z,1629037587.414 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T14:26:27.765Z,1629037587.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E31,000,00932,187,80,80,61,FF
2021-08-15T14:26:27.765Z,1629037587.765 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:26:28.210Z,1629037588.210 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142628.88*55

2021-08-15T14:26:28.247Z,1629037588.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.739998 m, bearing: 335.495395 deg, deltaT: 4.386767 s, approachRate: 0.451356 m/s, LOS rate: -0.363335 deg/s, posRepo size: 4
2021-08-15T14:26:30.633Z,1629037590.633 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:26:30.997Z,1629037590.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:26:30.997Z,1629037590.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:26:30.997Z,1629037590.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:26:30.998Z,1629037590.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:26:31.405Z,1629037591.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E31,000,00932,187,80,80,61,FF
2021-08-15T14:26:31.405Z,1629037591.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:26:31.405Z,1629037591.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:26:31.407Z,1629037591.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:26:31.809Z,1629037591.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:26:32.209Z,1629037592.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E34,000,00957,186,80,80,6E,FF
2021-08-15T14:26:32.209Z,1629037592.209 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:26:32.649Z,1629037592.649 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142633.33*5F

2021-08-15T14:26:32.692Z,1629037592.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.960007 m, bearing: 335.064683 deg, deltaT: 4.515559 s, approachRate: 0.491635 m/s, LOS rate: -0.095384 deg/s, posRepo size: 4
2021-08-15T14:26:35.076Z,1629037595.076 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:26:35.441Z,1629037595.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:26:35.441Z,1629037595.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:26:35.441Z,1629037595.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:26:35.442Z,1629037595.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:26:35.853Z,1629037595.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E34,000,00957,186,80,80,6E,FF
2021-08-15T14:26:35.853Z,1629037595.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:26:35.854Z,1629037595.854 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:26:35.855Z,1629037595.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:26:36.257Z,1629037596.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:26:36.657Z,1629037596.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3F,000,00979,186,80,80,83,FF
2021-08-15T14:26:36.658Z,1629037596.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:26:37.093Z,1629037597.093 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142637.77*5B

2021-08-15T14:26:37.124Z,1629037597.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.000008 m, bearing: 333.859373 deg, deltaT: 4.409058 s, approachRate: 0.462684 m/s, LOS rate: -0.273371 deg/s, posRepo size: 4
2021-08-15T14:26:37.482Z,1629037597.482 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T14:26:39.529Z,1629037599.529 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:26:39.901Z,1629037599.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:26:39.901Z,1629037599.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:26:39.901Z,1629037599.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:26:39.902Z,1629037599.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:26:40.344Z,1629037600.344 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3F,000,00979,186,80,80,83,FF
2021-08-15T14:26:40.344Z,1629037600.344 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:26:40.344Z,1629037600.344 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:26:40.346Z,1629037600.346 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:26:40.728Z,1629037600.728 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:26:41.137Z,1629037601.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7C,000,0099C,185,80,80,54,FF
2021-08-15T14:26:41.138Z,1629037601.138 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:26:41.562Z,1629037601.562 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142642.27*5C

2021-08-15T14:26:41.625Z,1629037601.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.099998 m, bearing: 330.869308 deg, deltaT: 4.447422 s, approachRate: 0.472182 m/s, LOS rate: -0.672314 deg/s, posRepo size: 4
2021-08-15T14:26:42.453Z,1629037602.453 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T14:26:43.979Z,1629037603.979 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:26:44.374Z,1629037604.374 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:26:44.374Z,1629037604.374 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:26:44.375Z,1629037604.375 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:26:44.376Z,1629037604.376 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:26:44.765Z,1629037604.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7C,000,0099C,185,80,80,54,FF
2021-08-15T14:26:44.766Z,1629037604.766 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:26:44.766Z,1629037604.766 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:26:44.768Z,1629037604.768 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:26:45.177Z,1629037605.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:26:45.582Z,1629037605.582 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBC,000,009C1,189,80,80,6E,FF
2021-08-15T14:26:45.582Z,1629037605.582 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:26:46.052Z,1629037606.052 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142646.69*52

2021-08-15T14:26:46.107Z,1629037606.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.320007 m, bearing: 340.004331 deg, deltaT: 4.455020 s, approachRate: 0.498316 m/s, LOS rate: 2.050501 deg/s, posRepo size: 4
2021-08-15T14:26:48.473Z,1629037608.473 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:26:48.805Z,1629037608.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:26:48.805Z,1629037608.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:26:48.805Z,1629037608.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:26:48.806Z,1629037608.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:26:49.226Z,1629037609.226 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBC,000,009C1,189,80,80,6E,FF
2021-08-15T14:26:49.226Z,1629037609.226 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:26:49.226Z,1629037609.226 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:26:49.229Z,1629037609.229 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:26:49.616Z,1629037609.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:26:50.458Z,1629037610.458 [Micromodem](INFO): Nmea in: $SNTTA,0.077957,,,,142651.15*4A

2021-08-15T14:26:51.263Z,1629037611.263 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:26:52.845Z,1629037612.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,189,80,80,6E,FF
2021-08-15T14:26:52.845Z,1629037612.845 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,189,80,80,6E,FF
2021-08-15T14:26:52.845Z,1629037612.845 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:26:54.141Z,1629037614.141 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:26:54.461Z,1629037614.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:26:54.461Z,1629037614.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:26:54.461Z,1629037614.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:26:54.462Z,1629037614.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:26:54.874Z,1629037614.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,189,80,80,6E,FF
2021-08-15T14:26:54.875Z,1629037614.875 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:26:54.875Z,1629037614.875 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:26:54.878Z,1629037614.878 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:26:55.272Z,1629037615.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:26:56.114Z,1629037616.114 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142656.80*54

2021-08-15T14:26:56.885Z,1629037616.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDF,000,035C1,188,80,80,90,FF
2021-08-15T14:26:56.886Z,1629037616.886 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:26:57.376Z,1629037617.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 788.160034 m, bearing: 337.645457 deg, deltaT: 11.293119 s, approachRate: 59.845295 m/s, LOS rate: -0.208877 deg/s, posRepo size: 4
2021-08-15T14:26:57.723Z,1629037617.723 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T14:26:59.735Z,1629037619.735 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:27:00.121Z,1629037620.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:27:00.121Z,1629037620.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:27:00.122Z,1629037620.122 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:27:00.123Z,1629037620.123 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:27:00.521Z,1629037620.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDF,000,035C1,188,80,80,90,FF
2021-08-15T14:27:00.521Z,1629037620.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:27:00.522Z,1629037620.522 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:27:00.524Z,1629037620.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:27:00.932Z,1629037620.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:27:01.349Z,1629037621.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E03,000,00A3C,186,80,80,85,FF
2021-08-15T14:27:01.350Z,1629037621.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:27:01.777Z,1629037621.777 [Micromodem](INFO): Nmea in: $SNTTA,0.084899,,,,142702.44*46

2021-08-15T14:27:01.812Z,1629037621.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.700005 m, bearing: 335.746691 deg, deltaT: 4.531475 s, approachRate: -147.514893 m/s, LOS rate: -0.419017 deg/s, posRepo size: 4
2021-08-15T14:27:04.209Z,1629037624.209 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:27:04.558Z,1629037624.558 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:27:04.558Z,1629037624.558 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:27:04.558Z,1629037624.558 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:27:04.559Z,1629037624.559 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:27:04.965Z,1629037624.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E03,000,00A3C,186,80,80,85,FF
2021-08-15T14:27:04.965Z,1629037624.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:27:04.965Z,1629037624.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:27:04.967Z,1629037624.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:27:05.385Z,1629037625.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:27:05.773Z,1629037625.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB2,000,00660,189,80,80,80,FF
2021-08-15T14:27:05.774Z,1629037625.774 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:27:06.217Z,1629037626.217 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142706.89*59

2021-08-15T14:27:06.273Z,1629037626.273 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.419998 m, bearing: 339.526054 deg, deltaT: 4.413350 s, approachRate: -13.431975 m/s, LOS rate: 0.856348 deg/s, posRepo size: 4
2021-08-15T14:27:07.441Z,1629037627.441 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T14:27:08.634Z,1629037628.634 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:27:09.012Z,1629037629.012 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:27:09.012Z,1629037629.012 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:27:09.012Z,1629037629.012 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:27:09.013Z,1629037629.013 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:27:09.412Z,1629037629.412 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB2,000,00660,189,80,80,80,FF
2021-08-15T14:27:09.412Z,1629037629.412 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:27:09.412Z,1629037629.412 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:27:09.414Z,1629037629.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:27:09.816Z,1629037629.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:27:10.225Z,1629037630.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEA,000,00A81,187,80,80,82,FF
2021-08-15T14:27:10.226Z,1629037630.226 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:27:10.670Z,1629037630.670 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142711.34*59

2021-08-15T14:27:10.695Z,1629037630.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.840004 m, bearing: 337.255098 deg, deltaT: 4.493940 s, approachRate: 14.112339 m/s, LOS rate: -0.505337 deg/s, posRepo size: 4
2021-08-15T14:27:13.091Z,1629037633.091 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:27:13.469Z,1629037633.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:27:13.469Z,1629037633.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:27:13.469Z,1629037633.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:27:13.470Z,1629037633.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:27:13.869Z,1629037633.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEA,000,00A81,187,80,80,82,FF
2021-08-15T14:27:13.869Z,1629037633.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:27:13.870Z,1629037633.870 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:27:13.871Z,1629037633.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:27:14.294Z,1629037634.294 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:27:14.685Z,1629037634.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D4D,000,00AA5,18A,80,80,4D,FF
2021-08-15T14:27:14.686Z,1629037634.686 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:27:15.125Z,1629037635.125 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142715.79*54

2021-08-15T14:27:15.148Z,1629037635.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.000000 m, bearing: 345.356112 deg, deltaT: 4.381311 s, approachRate: 0.493002 m/s, LOS rate: 1.848993 deg/s, posRepo size: 4
2021-08-15T14:27:17.564Z,1629037637.564 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:27:17.913Z,1629037637.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:27:17.913Z,1629037637.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:27:17.913Z,1629037637.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:27:17.914Z,1629037637.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:27:18.336Z,1629037638.336 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D4D,000,00AA5,18A,80,80,4D,FF
2021-08-15T14:27:18.337Z,1629037638.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:27:18.337Z,1629037638.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:27:18.339Z,1629037638.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:27:18.737Z,1629037638.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:27:19.149Z,1629037639.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D6,000,00AC9,186,80,80,66,FF
2021-08-15T14:27:19.149Z,1629037639.149 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:27:19.585Z,1629037639.585 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142720.26*58

2021-08-15T14:27:19.628Z,1629037639.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.160004 m, bearing: 299.981580 deg, deltaT: 4.443608 s, approachRate: 0.486092 m/s, LOS rate: -10.211191 deg/s, posRepo size: 4
2021-08-15T14:27:22.051Z,1629037642.051 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:27:22.414Z,1629037642.414 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:27:22.414Z,1629037642.414 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:27:22.414Z,1629037642.414 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:27:22.415Z,1629037642.415 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:27:22.782Z,1629037642.782 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D6,000,00AC9,186,80,80,66,FF
2021-08-15T14:27:22.782Z,1629037642.782 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:27:22.782Z,1629037642.782 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:27:22.784Z,1629037642.784 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:27:23.185Z,1629037643.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:27:23.594Z,1629037643.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEB,000,00AED,186,80,80,7E,FF
2021-08-15T14:27:23.594Z,1629037643.594 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:27:24.052Z,1629037644.052 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142724.70*5F

2021-08-15T14:27:24.120Z,1629037644.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.319992 m, bearing: 336.942439 deg, deltaT: 4.478708 s, approachRate: 0.482279 m/s, LOS rate: 8.252572 deg/s, posRepo size: 4
2021-08-15T14:27:26.442Z,1629037646.442 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:27:26.809Z,1629037646.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:27:26.809Z,1629037646.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:27:26.809Z,1629037646.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:27:26.810Z,1629037646.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:27:27.217Z,1629037647.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEB,000,00AED,186,80,80,7E,FF
2021-08-15T14:27:27.217Z,1629037647.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:27:27.217Z,1629037647.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:27:27.219Z,1629037647.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:27:27.634Z,1629037647.634 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:27:28.073Z,1629037648.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E30,000,00B10,187,80,80,59,FF
2021-08-15T14:27:28.074Z,1629037648.074 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:27:28.470Z,1629037648.470 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142729.14*50

2021-08-15T14:27:28.500Z,1629037648.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.419998 m, bearing: 333.607940 deg, deltaT: 4.488946 s, approachRate: 0.467817 m/s, LOS rate: -0.742824 deg/s, posRepo size: 4
2021-08-15T14:27:30.889Z,1629037650.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:27:31.265Z,1629037651.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:27:31.265Z,1629037651.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:27:31.265Z,1629037651.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:27:31.266Z,1629037651.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:27:31.661Z,1629037651.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E30,000,00B10,187,80,80,59,FF
2021-08-15T14:27:31.661Z,1629037651.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:27:31.661Z,1629037651.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:27:31.663Z,1629037651.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:27:32.101Z,1629037652.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:27:32.477Z,1629037652.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9C,000,00B30,188,80,80,60,FF
2021-08-15T14:27:32.478Z,1629037652.478 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:27:32.913Z,1629037652.913 [Micromodem](INFO): Nmea in: $SNTTA,0.091370,,,,142733.58*41

2021-08-15T14:27:32.948Z,1629037652.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.339996 m, bearing: 340.638254 deg, deltaT: 4.438027 s, approachRate: 0.432624 m/s, LOS rate: 1.584108 deg/s, posRepo size: 4
2021-08-15T14:27:35.382Z,1629037655.382 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:27:35.701Z,1629037655.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:27:35.701Z,1629037655.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:27:35.701Z,1629037655.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:27:35.702Z,1629037655.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:27:36.105Z,1629037656.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9C,000,00B30,188,80,80,60,FF
2021-08-15T14:27:36.105Z,1629037656.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:27:36.106Z,1629037656.106 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:27:36.107Z,1629037656.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:27:36.513Z,1629037656.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:27:36.917Z,1629037656.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA4,000,00B52,189,80,80,6C,FF
2021-08-15T14:27:36.917Z,1629037656.917 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:27:37.397Z,1629037657.397 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142738.03*56

2021-08-15T14:27:37.452Z,1629037657.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.380005 m, bearing: 339.961082 deg, deltaT: 4.362470 s, approachRate: 0.467627 m/s, LOS rate: -0.155227 deg/s, posRepo size: 4
2021-08-15T14:27:39.787Z,1629037659.787 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:27:40.149Z,1629037660.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:27:40.149Z,1629037660.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:27:40.149Z,1629037660.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:27:40.150Z,1629037660.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:27:40.554Z,1629037660.554 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA4,000,00B52,189,80,80,6C,FF
2021-08-15T14:27:40.554Z,1629037660.554 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:27:40.554Z,1629037660.554 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:27:40.558Z,1629037660.558 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:27:40.615Z,1629037660.615 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T14:27:40.957Z,1629037660.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:27:41.385Z,1629037661.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD2,000,00B77,189,80,80,71,FF
2021-08-15T14:27:41.386Z,1629037661.386 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:27:41.801Z,1629037661.801 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142742.48*54

2021-08-15T14:27:41.833Z,1629037661.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.600006 m, bearing: 337.680045 deg, deltaT: 4.518918 s, approachRate: 0.491268 m/s, LOS rate: -0.504775 deg/s, posRepo size: 4
2021-08-15T14:27:44.234Z,1629037664.234 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:27:44.605Z,1629037664.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:27:44.605Z,1629037664.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:27:44.605Z,1629037664.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:27:44.606Z,1629037664.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:27:45.001Z,1629037665.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD2,000,00B77,189,80,80,71,FF
2021-08-15T14:27:45.002Z,1629037665.002 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:27:45.002Z,1629037665.002 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:27:45.003Z,1629037665.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:27:45.424Z,1629037665.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:27:45.817Z,1629037665.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E00,000,00B99,186,80,80,68,FF
2021-08-15T14:27:45.818Z,1629037665.818 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:27:46.254Z,1629037666.254 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142746.92*57

2021-08-15T14:27:46.338Z,1629037666.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.639999 m, bearing: 334.361338 deg, deltaT: 4.441902 s, approachRate: 0.459261 m/s, LOS rate: -0.747136 deg/s, posRepo size: 4
2021-08-15T14:27:48.684Z,1629037668.684 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:27:49.033Z,1629037669.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:27:49.033Z,1629037669.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:27:49.033Z,1629037669.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:27:49.034Z,1629037669.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:27:49.451Z,1629037669.451 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E00,000,00B99,186,80,80,68,FF
2021-08-15T14:27:49.451Z,1629037669.451 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:27:49.451Z,1629037669.451 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:27:49.453Z,1629037669.453 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:27:49.844Z,1629037669.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:27:50.262Z,1629037670.262 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB5,000,00BB5,186,80,80,96,FF
2021-08-15T14:27:50.262Z,1629037670.262 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:27:50.678Z,1629037670.678 [Micromodem](INFO): Nmea in: $SNTTA,0.099226,,,,142751.37*46

2021-08-15T14:27:50.704Z,1629037670.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 142.319992 m, bearing: 324.251374 deg, deltaT: 4.479861 s, approachRate: 0.375010 m/s, LOS rate: -2.256758 deg/s, posRepo size: 4
2021-08-15T14:27:53.102Z,1629037673.102 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:27:53.479Z,1629037673.479 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:27:53.479Z,1629037673.479 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:27:53.479Z,1629037673.479 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:27:53.497Z,1629037673.497 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:27:53.885Z,1629037673.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB5,000,00BB5,186,80,80,96,FF
2021-08-15T14:27:53.885Z,1629037673.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:27:53.885Z,1629037673.885 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:27:53.887Z,1629037673.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:27:54.315Z,1629037674.315 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:27:54.697Z,1629037674.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2A,000,00BD7,186,80,80,70,FF
2021-08-15T14:27:54.698Z,1629037674.698 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:27:55.138Z,1629037675.138 [Micromodem](INFO): Nmea in: $SNTTA,0.108187,,,,142755.81*4E

2021-08-15T14:27:55.199Z,1629037675.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.360001 m, bearing: 332.370064 deg, deltaT: 4.371571 s, approachRate: 0.466653 m/s, LOS rate: 1.857156 deg/s, posRepo size: 4
2021-08-15T14:27:57.575Z,1629037677.575 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:27:57.921Z,1629037677.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:27:57.921Z,1629037677.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:27:57.921Z,1629037677.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:27:57.922Z,1629037677.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:27:58.341Z,1629037678.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2A,000,00BD7,186,80,80,70,FF
2021-08-15T14:27:58.341Z,1629037678.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:27:58.341Z,1629037678.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:27:58.343Z,1629037678.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:27:58.741Z,1629037678.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:27:59.150Z,1629037679.150 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E51,000,00C3C,186,80,80,70,FF
2021-08-15T14:27:59.151Z,1629037679.151 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:27:59.573Z,1629037679.573 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142800.27*54

2021-08-15T14:27:59.619Z,1629037679.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 150.419998 m, bearing: 332.276299 deg, deltaT: 4.459770 s, approachRate: 1.358814 m/s, LOS rate: -0.021025 deg/s, posRepo size: 4
2021-08-15T14:28:02.052Z,1629037682.052 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:28:02.399Z,1629037682.399 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:28:02.399Z,1629037682.399 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:28:02.401Z,1629037682.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:28:02.411Z,1629037682.411 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:28:02.773Z,1629037682.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E51,000,00C3C,186,80,80,70,FF
2021-08-15T14:28:02.773Z,1629037682.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:28:02.773Z,1629037682.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:28:02.775Z,1629037682.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:28:03.184Z,1629037683.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:28:03.593Z,1629037683.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E61,000,00C12,185,80,80,89,FF
2021-08-15T14:28:03.594Z,1629037683.594 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:28:04.040Z,1629037684.040 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142804.69*5A

2021-08-15T14:28:04.128Z,1629037684.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.899994 m, bearing: 332.363480 deg, deltaT: 4.443123 s, approachRate: -0.567170 m/s, LOS rate: 0.019621 deg/s, posRepo size: 4
2021-08-15T14:28:06.437Z,1629037686.437 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:28:06.817Z,1629037686.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:28:06.818Z,1629037686.818 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:28:06.818Z,1629037686.818 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:28:06.819Z,1629037686.819 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:28:07.221Z,1629037687.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E61,000,00C12,185,80,80,89,FF
2021-08-15T14:28:07.221Z,1629037687.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:28:07.221Z,1629037687.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:28:07.223Z,1629037687.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:28:07.644Z,1629037687.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:28:08.045Z,1629037688.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6B,000,00C33,186,80,80,82,FF
2021-08-15T14:28:08.046Z,1629037688.046 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:28:08.473Z,1629037688.473 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142809.15*5C

2021-08-15T14:28:08.516Z,1629037688.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.880005 m, bearing: 332.674718 deg, deltaT: 4.436556 s, approachRate: 0.446295 m/s, LOS rate: 0.070153 deg/s, posRepo size: 4
2021-08-15T14:28:10.911Z,1629037690.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:28:11.281Z,1629037691.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:28:11.281Z,1629037691.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:28:11.282Z,1629037691.282 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:28:11.282Z,1629037691.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:28:11.685Z,1629037691.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6B,000,00C33,186,80,80,82,FF
2021-08-15T14:28:11.685Z,1629037691.685 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:28:11.685Z,1629037691.685 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:28:11.687Z,1629037691.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:28:12.084Z,1629037692.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:28:12.906Z,1629037692.906 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142813.61*54

2021-08-15T14:28:13.746Z,1629037693.746 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:28:15.350Z,1629037695.350 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,186,80,80,82,FF
2021-08-15T14:28:15.351Z,1629037695.351 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,186,80,80,82,FF
2021-08-15T14:28:15.351Z,1629037695.351 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:28:16.598Z,1629037696.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:28:16.945Z,1629037696.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:28:16.945Z,1629037696.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:28:16.945Z,1629037696.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:28:16.946Z,1629037696.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:28:17.391Z,1629037697.391 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,186,80,80,82,FF
2021-08-15T14:28:17.392Z,1629037697.392 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:28:17.394Z,1629037697.394 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:28:17.408Z,1629037697.408 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:28:17.764Z,1629037697.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:28:18.574Z,1629037698.574 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142819.33*59

2021-08-15T14:28:19.443Z,1629037699.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:28:20.981Z,1629037700.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,186,80,80,82,FF
2021-08-15T14:28:20.981Z,1629037700.981 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,186,80,80,82,FF
2021-08-15T14:28:20.982Z,1629037700.982 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:28:22.211Z,1629037702.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:28:22.605Z,1629037702.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:28:22.605Z,1629037702.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:28:22.605Z,1629037702.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:28:22.606Z,1629037702.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:28:23.009Z,1629037703.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,186,80,80,82,FF
2021-08-15T14:28:23.009Z,1629037703.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:28:23.010Z,1629037703.010 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:28:23.013Z,1629037703.013 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:28:23.408Z,1629037703.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:28:23.817Z,1629037703.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E66,000,00CA2,185,80,80,82,FF
2021-08-15T14:28:23.818Z,1629037703.818 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:28:24.245Z,1629037704.245 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142824.93*5D

2021-08-15T14:28:24.284Z,1629037704.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 156.540009 m, bearing: 333.036226 deg, deltaT: 15.772781 s, approachRate: 0.422247 m/s, LOS rate: 0.022920 deg/s, posRepo size: 4
2021-08-15T14:28:26.677Z,1629037706.677 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:28:27.064Z,1629037707.064 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:28:27.064Z,1629037707.064 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:28:27.065Z,1629037707.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:28:27.066Z,1629037707.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:28:27.481Z,1629037707.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E66,000,00CA2,185,80,80,82,FF
2021-08-15T14:28:27.481Z,1629037707.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:28:27.481Z,1629037707.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:28:27.483Z,1629037707.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:28:27.859Z,1629037707.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:28:28.659Z,1629037708.659 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E44,000,00CC2,186,80,80,85,FF
2021-08-15T14:28:28.660Z,1629037708.660 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:28:28.667Z,1629037708.667 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142829.40*5E

2021-08-15T14:28:29.175Z,1629037709.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.460007 m, bearing: 333.306620 deg, deltaT: 4.881596 s, approachRate: 0.393314 m/s, LOS rate: 0.055390 deg/s, posRepo size: 4
2021-08-15T14:28:31.521Z,1629037711.521 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:28:31.889Z,1629037711.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:28:31.889Z,1629037711.889 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:28:31.889Z,1629037711.889 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:28:31.890Z,1629037711.890 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:28:32.295Z,1629037712.295 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E44,000,00CC2,186,80,80,85,FF
2021-08-15T14:28:32.295Z,1629037712.295 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:28:32.296Z,1629037712.296 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:28:32.302Z,1629037712.302 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:28:32.712Z,1629037712.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:28:33.131Z,1629037713.131 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBF,000,00CE3,186,80,80,8D,FF
2021-08-15T14:28:33.131Z,1629037713.131 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:28:33.542Z,1629037713.542 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142834.23*57

2021-08-15T14:28:33.589Z,1629037713.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 160.440002 m, bearing: 325.544383 deg, deltaT: 4.427636 s, approachRate: 0.447190 m/s, LOS rate: -1.753133 deg/s, posRepo size: 4
2021-08-15T14:28:35.963Z,1629037715.963 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:28:36.366Z,1629037716.366 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:28:36.366Z,1629037716.366 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:28:36.367Z,1629037716.367 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:28:36.368Z,1629037716.368 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:28:36.741Z,1629037716.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBF,000,00CE3,186,80,80,8D,FF
2021-08-15T14:28:36.741Z,1629037716.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:28:36.742Z,1629037716.742 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:28:36.743Z,1629037716.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:28:37.156Z,1629037717.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:28:37.551Z,1629037717.551 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD8,000,00D02,186,80,80,8D,FF
2021-08-15T14:28:37.551Z,1629037717.551 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:28:37.989Z,1629037717.989 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142838.67*5B

2021-08-15T14:28:38.005Z,1629037718.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 162.300003 m, bearing: 336.304527 deg, deltaT: 4.459464 s, approachRate: 0.417091 m/s, LOS rate: 2.412878 deg/s, posRepo size: 4
2021-08-15T14:28:40.422Z,1629037720.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:28:40.789Z,1629037720.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:28:40.789Z,1629037720.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:28:40.789Z,1629037720.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:28:40.790Z,1629037720.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:28:41.189Z,1629037721.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD8,000,00D02,186,80,80,8D,FF
2021-08-15T14:28:41.189Z,1629037721.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:28:41.189Z,1629037721.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:28:41.191Z,1629037721.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:28:41.611Z,1629037721.611 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:28:41.993Z,1629037721.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9A,000,00D02,186,80,80,8D,FF
2021-08-15T14:28:41.994Z,1629037721.994 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:28:42.469Z,1629037722.469 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142843.11*56

2021-08-15T14:28:42.519Z,1629037722.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 162.300003 m, bearing: 340.374472 deg, deltaT: 4.390002 s, approachRate: 0.000000 m/s, LOS rate: 0.927094 deg/s, posRepo size: 4
2021-08-15T14:28:44.859Z,1629037724.859 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:28:45.221Z,1629037725.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:28:45.221Z,1629037725.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:28:45.221Z,1629037725.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:28:45.222Z,1629037725.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:28:45.641Z,1629037725.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9A,000,00D02,186,80,80,8D,FF
2021-08-15T14:28:45.641Z,1629037725.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:28:45.641Z,1629037725.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:28:45.643Z,1629037725.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:28:46.033Z,1629037726.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:28:46.454Z,1629037726.454 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF5,000,00D3A,186,80,80,8D,FF
2021-08-15T14:28:46.454Z,1629037726.454 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:28:46.865Z,1629037726.865 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142847.56*51

2021-08-15T14:28:46.904Z,1629037726.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 165.660019 m, bearing: 336.190517 deg, deltaT: 4.509876 s, approachRate: 0.745035 m/s, LOS rate: -0.927732 deg/s, posRepo size: 4
2021-08-15T14:28:49.360Z,1629037729.360 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:28:49.669Z,1629037729.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:28:49.670Z,1629037729.670 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:28:49.670Z,1629037729.670 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:28:49.671Z,1629037729.671 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:28:50.069Z,1629037730.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF5,000,00D3A,186,80,80,8D,FF
2021-08-15T14:28:50.069Z,1629037730.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:28:50.069Z,1629037730.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:28:50.071Z,1629037730.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:28:50.482Z,1629037730.482 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:28:50.882Z,1629037730.882 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFE,000,00D57,186,80,80,8D,FF
2021-08-15T14:28:50.882Z,1629037730.882 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:28:51.341Z,1629037731.341 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142851.99*55

2021-08-15T14:28:51.395Z,1629037731.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.400009 m, bearing: 336.763187 deg, deltaT: 4.411881 s, approachRate: 0.394387 m/s, LOS rate: 0.129802 deg/s, posRepo size: 4
2021-08-15T14:28:53.739Z,1629037733.739 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:28:54.109Z,1629037734.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:28:54.109Z,1629037734.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:28:54.110Z,1629037734.110 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:28:54.111Z,1629037734.111 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:28:54.517Z,1629037734.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFE,000,00D57,186,80,80,8D,FF
2021-08-15T14:28:54.518Z,1629037734.518 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:28:54.518Z,1629037734.518 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:28:54.519Z,1629037734.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:28:54.929Z,1629037734.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:28:55.351Z,1629037735.351 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2B,000,00D6F,186,80,80,8D,FF
2021-08-15T14:28:55.351Z,1629037735.351 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:28:55.769Z,1629037735.769 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142856.44*52

2021-08-15T14:28:55.792Z,1629037735.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 168.839996 m, bearing: 335.628584 deg, deltaT: 4.535214 s, approachRate: 0.317513 m/s, LOS rate: -0.250176 deg/s, posRepo size: 4
2021-08-15T14:28:58.174Z,1629037738.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:28:58.550Z,1629037738.550 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:28:58.550Z,1629037738.550 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:28:58.550Z,1629037738.550 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:28:58.551Z,1629037738.551 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:28:58.957Z,1629037738.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2B,000,00D6F,186,80,80,8D,FF
2021-08-15T14:28:58.957Z,1629037738.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:28:58.957Z,1629037738.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:28:58.959Z,1629037738.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:28:59.381Z,1629037739.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:28:59.770Z,1629037739.770 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E13,000,00D6F,186,80,80,8D,FF
2021-08-15T14:28:59.770Z,1629037739.770 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:29:00.209Z,1629037740.209 [Micromodem](INFO): Nmea in: $SNTTA,0.115424,,,,142900.88*49

2021-08-15T14:29:00.259Z,1629037740.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 168.839996 m, bearing: 336.880148 deg, deltaT: 4.318641 s, approachRate: 0.000000 m/s, LOS rate: 0.289805 deg/s, posRepo size: 4
2021-08-15T14:29:02.653Z,1629037742.653 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:29:03.005Z,1629037743.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:29:03.005Z,1629037743.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:29:03.005Z,1629037743.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:29:03.006Z,1629037743.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:29:03.405Z,1629037743.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E13,000,00D6F,186,80,80,8D,FF
2021-08-15T14:29:03.405Z,1629037743.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:29:03.405Z,1629037743.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:29:03.407Z,1629037743.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:29:03.809Z,1629037743.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:29:04.209Z,1629037744.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E23,000,00D6F,186,80,80,8D,FF
2021-08-15T14:29:04.210Z,1629037744.210 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:29:04.653Z,1629037744.653 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142905.33*55

2021-08-15T14:29:04.691Z,1629037744.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 168.839996 m, bearing: 334.664380 deg, deltaT: 4.439669 s, approachRate: 0.000000 m/s, LOS rate: -0.499084 deg/s, posRepo size: 4
2021-08-15T14:29:07.100Z,1629037747.100 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:29:07.461Z,1629037747.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:29:07.461Z,1629037747.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:29:07.463Z,1629037747.463 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:29:07.470Z,1629037747.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:29:07.845Z,1629037747.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E23,000,00D6F,186,80,80,8D,FF
2021-08-15T14:29:07.845Z,1629037747.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:29:07.845Z,1629037747.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:29:07.847Z,1629037747.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:29:08.261Z,1629037748.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:29:08.654Z,1629037748.654 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBC,000,00D6F,186,80,80,8D,FF
2021-08-15T14:29:08.654Z,1629037748.654 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:29:09.113Z,1629037749.113 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142909.77*59

2021-08-15T14:29:09.169Z,1629037749.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 168.839996 m, bearing: 340.661641 deg, deltaT: 4.496083 s, approachRate: 0.000000 m/s, LOS rate: 1.333886 deg/s, posRepo size: 4
2021-08-15T14:29:11.527Z,1629037751.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:29:11.881Z,1629037751.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:29:11.881Z,1629037751.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:29:11.881Z,1629037751.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:29:11.882Z,1629037751.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:29:12.297Z,1629037752.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBC,000,00D6F,186,80,80,8D,FF
2021-08-15T14:29:12.297Z,1629037752.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:29:12.298Z,1629037752.298 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:29:12.304Z,1629037752.304 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:29:12.697Z,1629037752.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:29:13.122Z,1629037753.122 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD3,000,00D6F,186,80,80,8D,FF
2021-08-15T14:29:13.122Z,1629037753.122 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:29:13.534Z,1629037753.534 [Micromodem](INFO): Nmea in: $SNTTA,0.118689,,,,142914.23*45

2021-08-15T14:29:13.582Z,1629037753.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 168.839996 m, bearing: 340.903457 deg, deltaT: 4.463796 s, approachRate: 0.000000 m/s, LOS rate: 0.054173 deg/s, posRepo size: 4
2021-08-15T14:29:15.967Z,1629037755.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:29:16.361Z,1629037756.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:29:16.361Z,1629037756.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:29:16.362Z,1629037756.362 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:29:16.363Z,1629037756.363 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:29:16.741Z,1629037756.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD3,000,00D6F,186,80,80,8D,FF
2021-08-15T14:29:16.741Z,1629037756.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:29:16.741Z,1629037756.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:29:16.743Z,1629037756.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:29:17.149Z,1629037757.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:29:17.550Z,1629037757.550 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E51,000,00D6F,186,80,80,8D,FF
2021-08-15T14:29:17.551Z,1629037757.551 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:29:17.986Z,1629037757.986 [Micromodem](INFO): Nmea in: $SNTTA,0.120121,,,,142918.66*46

2021-08-15T14:29:18.008Z,1629037758.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 168.839996 m, bearing: 335.678335 deg, deltaT: 4.423021 s, approachRate: 0.000000 m/s, LOS rate: -1.181347 deg/s, posRepo size: 4
2021-08-15T14:29:20.410Z,1629037760.410 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:29:20.773Z,1629037760.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:29:20.773Z,1629037760.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:29:20.773Z,1629037760.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:29:20.774Z,1629037760.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:29:21.181Z,1629037761.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E51,000,00D6F,186,80,80,8D,FF
2021-08-15T14:29:21.181Z,1629037761.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:29:21.181Z,1629037761.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:29:21.183Z,1629037761.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:29:21.604Z,1629037761.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:29:21.990Z,1629037761.990 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E51,000,00D6F,186,80,80,8D,FF
2021-08-15T14:29:21.990Z,1629037761.990 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:29:22.437Z,1629037762.437 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142923.11*51

2021-08-15T14:29:22.513Z,1629037762.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 168.839996 m, bearing: 335.217324 deg, deltaT: 4.438617 s, approachRate: 0.000000 m/s, LOS rate: -0.103864 deg/s, posRepo size: 4
2021-08-15T14:29:24.855Z,1629037764.855 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:29:25.221Z,1629037765.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:29:25.221Z,1629037765.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:29:25.221Z,1629037765.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:29:25.222Z,1629037765.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:29:25.629Z,1629037765.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E51,000,00D6F,186,80,80,8D,FF
2021-08-15T14:29:25.629Z,1629037765.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:29:25.629Z,1629037765.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:29:25.631Z,1629037765.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:29:26.033Z,1629037766.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:29:26.446Z,1629037766.446 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA1,000,00D6F,186,80,80,8D,FF
2021-08-15T14:29:26.446Z,1629037766.446 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:29:26.873Z,1629037766.873 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142927.55*55

2021-08-15T14:29:26.904Z,1629037766.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 168.839996 m, bearing: 342.023116 deg, deltaT: 4.458563 s, approachRate: 0.000000 m/s, LOS rate: 1.526454 deg/s, posRepo size: 4
2021-08-15T14:29:29.363Z,1629037769.363 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:29:29.677Z,1629037769.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:29:29.677Z,1629037769.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:29:29.677Z,1629037769.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:29:29.678Z,1629037769.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:29:30.069Z,1629037770.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA1,000,00D6F,186,80,80,8D,FF
2021-08-15T14:29:30.069Z,1629037770.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:29:30.069Z,1629037770.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:29:30.071Z,1629037770.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:29:30.493Z,1629037770.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:29:30.890Z,1629037770.890 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD2,000,00D6F,186,80,80,8D,FF
2021-08-15T14:29:30.890Z,1629037770.890 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:29:31.333Z,1629037771.333 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142931.99*52

2021-08-15T14:29:31.400Z,1629037771.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 168.839996 m, bearing: 340.036569 deg, deltaT: 4.430226 s, approachRate: 0.000000 m/s, LOS rate: -0.448408 deg/s, posRepo size: 4
2021-08-15T14:29:33.736Z,1629037773.736 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:29:34.109Z,1629037774.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:29:34.109Z,1629037774.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:29:34.109Z,1629037774.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:29:34.110Z,1629037774.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:29:34.517Z,1629037774.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD2,000,00D6F,186,80,80,8D,FF
2021-08-15T14:29:34.517Z,1629037774.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:29:34.517Z,1629037774.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:29:34.519Z,1629037774.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:29:34.928Z,1629037774.928 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:29:35.346Z,1629037775.346 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E26,000,00E6F,186,80,80,8D,FF
2021-08-15T14:29:35.346Z,1629037775.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:29:35.766Z,1629037775.766 [Micromodem](INFO): Nmea in: $SNTTA,0.124354,,,,142936.44*4E

2021-08-15T14:29:35.783Z,1629037775.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 184.199997 m, bearing: 336.575384 deg, deltaT: 4.485813 s, approachRate: 3.424129 m/s, LOS rate: -0.771585 deg/s, posRepo size: 4
2021-08-15T14:29:38.178Z,1629037778.178 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:29:38.566Z,1629037778.566 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:29:38.566Z,1629037778.566 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:29:38.566Z,1629037778.566 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:29:38.567Z,1629037778.567 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:29:38.965Z,1629037778.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E26,000,00E6F,186,80,80,8D,FF
2021-08-15T14:29:38.965Z,1629037778.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:29:38.965Z,1629037778.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:29:38.967Z,1629037778.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:29:39.393Z,1629037779.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:29:40.193Z,1629037780.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E38,000,00E83,186,80,80,68,FF
2021-08-15T14:29:40.193Z,1629037780.193 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:29:40.196Z,1629037780.196 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142940.89*55

2021-08-15T14:29:40.623Z,1629037780.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 185.399994 m, bearing: 336.504870 deg, deltaT: 4.782898 s, approachRate: 0.250893 m/s, LOS rate: -0.014743 deg/s, posRepo size: 4
2021-08-15T14:29:43.082Z,1629037783.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:29:43.410Z,1629037783.410 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:29:43.410Z,1629037783.410 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:29:43.410Z,1629037783.410 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:29:43.411Z,1629037783.411 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:29:43.809Z,1629037783.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E38,000,00E83,186,80,80,68,FF
2021-08-15T14:29:43.809Z,1629037783.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:29:43.809Z,1629037783.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:29:43.811Z,1629037783.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:29:44.231Z,1629037784.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:29:45.077Z,1629037785.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0D,000,00EA2,186,80,80,71,FF
2021-08-15T14:29:45.078Z,1629037785.078 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:29:45.093Z,1629037785.093 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142945.73*55

2021-08-15T14:29:45.462Z,1629037785.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 187.259995 m, bearing: 338.978218 deg, deltaT: 4.934094 s, approachRate: 0.376969 m/s, LOS rate: 0.501277 deg/s, posRepo size: 4
2021-08-15T14:29:47.863Z,1629037787.863 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:29:48.258Z,1629037788.258 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:29:48.258Z,1629037788.258 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:29:48.258Z,1629037788.258 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:29:48.259Z,1629037788.259 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:29:48.650Z,1629037788.650 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0D,000,00EA2,186,80,80,71,FF
2021-08-15T14:29:48.650Z,1629037788.650 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:29:48.650Z,1629037788.650 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:29:48.651Z,1629037788.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:29:49.108Z,1629037789.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:29:49.894Z,1629037789.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE5,000,00EC5,188,80,80,6B,FF
2021-08-15T14:29:49.895Z,1629037789.895 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:29:49.899Z,1629037789.899 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142950.58*58

2021-08-15T14:29:50.308Z,1629037790.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 189.360001 m, bearing: 341.427933 deg, deltaT: 4.806455 s, approachRate: 0.436914 m/s, LOS rate: 0.509672 deg/s, posRepo size: 4
2021-08-15T14:29:52.715Z,1629037792.715 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:29:53.117Z,1629037793.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:29:53.117Z,1629037793.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:29:53.117Z,1629037793.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:29:53.118Z,1629037793.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:29:53.501Z,1629037793.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE5,000,00EC5,188,80,80,6B,FF
2021-08-15T14:29:53.501Z,1629037793.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:29:53.501Z,1629037793.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:29:53.503Z,1629037793.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:29:53.908Z,1629037793.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:29:54.330Z,1629037794.330 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC1,000,00EC5,188,80,80,6B,FF
2021-08-15T14:29:54.331Z,1629037794.331 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:29:54.770Z,1629037794.770 [Micromodem](INFO): Nmea in: $SNTTA,0.129193,,,,142955.42*49

2021-08-15T14:29:54.826Z,1629037794.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 189.360001 m, bearing: 342.421808 deg, deltaT: 4.448382 s, approachRate: 0.000000 m/s, LOS rate: 0.223424 deg/s, posRepo size: 4
2021-08-15T14:29:57.199Z,1629037797.199 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:29:57.562Z,1629037797.562 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:29:57.562Z,1629037797.562 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:29:57.563Z,1629037797.563 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:29:57.564Z,1629037797.564 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:29:57.953Z,1629037797.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC1,000,00EC5,188,80,80,6B,FF
2021-08-15T14:29:57.953Z,1629037797.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:29:57.953Z,1629037797.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:29:57.955Z,1629037797.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:29:58.376Z,1629037798.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:29:59.193Z,1629037799.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD7,000,00EFC,188,80,80,52,FF
2021-08-15T14:29:59.194Z,1629037799.194 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:29:59.196Z,1629037799.196 [Micromodem](INFO): Nmea in: $SNTTA,,,,,142959.88*5C

2021-08-15T14:29:59.625Z,1629037799.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 192.659988 m, bearing: 340.580662 deg, deltaT: 4.873007 s, approachRate: 0.677197 m/s, LOS rate: -0.377825 deg/s, posRepo size: 4
2021-08-15T14:30:02.021Z,1629037802.021 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:30:02.401Z,1629037802.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:30:02.402Z,1629037802.402 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:30:02.402Z,1629037802.402 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:30:02.403Z,1629037802.403 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:30:02.809Z,1629037802.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD7,000,00EFC,188,80,80,52,FF
2021-08-15T14:30:02.809Z,1629037802.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:30:02.809Z,1629037802.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:30:02.811Z,1629037802.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:30:03.225Z,1629037803.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:30:04.037Z,1629037804.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE2,000,00F1A,188,80,80,51,FF
2021-08-15T14:30:04.038Z,1629037804.038 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:30:04.040Z,1629037804.040 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143004.74*5F

2021-08-15T14:30:04.464Z,1629037804.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 194.459991 m, bearing: 339.798961 deg, deltaT: 4.782286 s, approachRate: 0.376390 m/s, LOS rate: -0.163458 deg/s, posRepo size: 4
2021-08-15T14:30:06.866Z,1629037806.866 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:30:07.241Z,1629037807.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:30:07.241Z,1629037807.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:30:07.241Z,1629037807.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:30:07.242Z,1629037807.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:30:07.657Z,1629037807.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE2,000,00F1A,188,80,80,51,FF
2021-08-15T14:30:07.657Z,1629037807.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:30:07.657Z,1629037807.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:30:07.659Z,1629037807.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:30:08.057Z,1629037808.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:30:08.885Z,1629037808.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E11,000,00F39,186,80,80,61,FF
2021-08-15T14:30:08.885Z,1629037808.885 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:30:08.889Z,1629037808.889 [Micromodem](INFO): Nmea in: $SNTTA,0.136044,,,,143009.58*46

2021-08-15T14:30:09.372Z,1629037809.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 196.319992 m, bearing: 338.025707 deg, deltaT: 4.847991 s, approachRate: 0.383664 m/s, LOS rate: -0.365771 deg/s, posRepo size: 4
2021-08-15T14:30:11.716Z,1629037811.716 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:30:12.093Z,1629037812.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:30:12.093Z,1629037812.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:30:12.093Z,1629037812.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:30:12.094Z,1629037812.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:30:12.506Z,1629037812.506 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E11,000,00F39,186,80,80,61,FF
2021-08-15T14:30:12.507Z,1629037812.507 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:30:12.509Z,1629037812.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:30:12.514Z,1629037812.514 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:30:12.913Z,1629037812.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:30:13.725Z,1629037813.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E80,000,00F58,186,80,80,55,FF
2021-08-15T14:30:13.725Z,1629037813.725 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:30:13.728Z,1629037813.728 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143014.44*5D

2021-08-15T14:30:14.144Z,1629037814.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 198.179993 m, bearing: 333.168869 deg, deltaT: 4.884027 s, approachRate: 0.380833 m/s, LOS rate: -0.994433 deg/s, posRepo size: 4
2021-08-15T14:30:16.587Z,1629037816.587 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:30:16.941Z,1629037816.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:30:16.941Z,1629037816.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:30:16.941Z,1629037816.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:30:16.942Z,1629037816.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:30:17.369Z,1629037817.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E80,000,00F58,186,80,80,55,FF
2021-08-15T14:30:17.370Z,1629037817.370 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:30:17.370Z,1629037817.370 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:30:17.371Z,1629037817.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:30:17.799Z,1629037817.799 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:30:18.625Z,1629037818.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9E,000,00F75,186,80,80,53,FF
2021-08-15T14:30:18.625Z,1629037818.625 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:30:18.629Z,1629037818.629 [Micromodem](INFO): Nmea in: $SNTTA,0.135605,,,,143019.29*41

2021-08-15T14:30:19.085Z,1629037819.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 199.919998 m, bearing: 332.974673 deg, deltaT: 4.866026 s, approachRate: 0.357582 m/s, LOS rate: -0.039909 deg/s, posRepo size: 4
2021-08-15T14:30:21.475Z,1629037821.475 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:30:21.833Z,1629037821.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:30:21.833Z,1629037821.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:30:21.833Z,1629037821.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:30:21.834Z,1629037821.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:30:22.229Z,1629037822.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9E,000,00F75,186,80,80,53,FF
2021-08-15T14:30:22.229Z,1629037822.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:30:22.229Z,1629037822.229 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:30:22.231Z,1629037822.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:30:22.636Z,1629037822.636 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:30:23.469Z,1629037823.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7D,000,00F91,186,80,80,89,FF
2021-08-15T14:30:23.469Z,1629037823.469 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:30:23.472Z,1629037823.472 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143024.15*5A

2021-08-15T14:30:23.888Z,1629037823.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 201.599991 m, bearing: 334.067093 deg, deltaT: 4.872133 s, approachRate: 0.344817 m/s, LOS rate: 0.224218 deg/s, posRepo size: 4
2021-08-15T14:30:26.331Z,1629037826.331 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:30:26.681Z,1629037826.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:30:26.681Z,1629037826.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:30:26.681Z,1629037826.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:30:26.682Z,1629037826.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:30:27.113Z,1629037827.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7D,000,00F91,186,80,80,89,FF
2021-08-15T14:30:27.113Z,1629037827.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:30:27.113Z,1629037827.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:30:27.115Z,1629037827.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:30:27.497Z,1629037827.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:30:28.295Z,1629037828.295 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143029.04*57

2021-08-15T14:30:29.174Z,1629037829.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:30:30.709Z,1629037830.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,186,80,80,89,FF
2021-08-15T14:30:30.709Z,1629037830.709 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,186,80,80,89,FF
2021-08-15T14:30:30.710Z,1629037830.710 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:30:31.959Z,1629037831.959 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:30:32.353Z,1629037832.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:30:32.354Z,1629037832.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:30:32.354Z,1629037832.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:30:32.355Z,1629037832.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:30:32.739Z,1629037832.739 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,186,80,80,89,FF
2021-08-15T14:30:32.739Z,1629037832.739 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:30:32.739Z,1629037832.739 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:30:32.741Z,1629037832.741 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:30:33.140Z,1629037833.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:30:33.970Z,1629037833.970 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE7,000,00FD6,187,80,80,5F,FF
2021-08-15T14:30:33.970Z,1629037833.970 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:30:33.973Z,1629037833.973 [Micromodem](INFO): Nmea in: $SNTTA,0.139442,,,,143034.66*48

2021-08-15T14:30:34.414Z,1629037834.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 205.739975 m, bearing: 328.937648 deg, deltaT: 10.498203 s, approachRate: 0.394352 m/s, LOS rate: -0.488602 deg/s, posRepo size: 4
2021-08-15T14:30:36.802Z,1629037836.802 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:30:37.189Z,1629037837.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:30:37.189Z,1629037837.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:30:37.189Z,1629037837.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:30:37.190Z,1629037837.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:30:37.609Z,1629037837.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE7,000,00FD6,187,80,80,5F,FF
2021-08-15T14:30:37.609Z,1629037837.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:30:37.609Z,1629037837.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:30:37.611Z,1629037837.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:30:38.005Z,1629037838.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:30:38.825Z,1629037838.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA3,000,00FF2,186,80,80,55,FF
2021-08-15T14:30:38.825Z,1629037838.825 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:30:38.828Z,1629037838.828 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143039.54*53

2021-08-15T14:30:39.252Z,1629037839.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 207.419983 m, bearing: 332.095545 deg, deltaT: 4.819313 s, approachRate: 0.348599 m/s, LOS rate: 0.655259 deg/s, posRepo size: 4
2021-08-15T14:30:41.657Z,1629037841.657 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:30:42.034Z,1629037842.034 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:30:42.034Z,1629037842.034 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:30:42.034Z,1629037842.034 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:30:42.035Z,1629037842.035 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:30:42.429Z,1629037842.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA3,000,00FF2,186,80,80,55,FF
2021-08-15T14:30:42.429Z,1629037842.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:30:42.429Z,1629037842.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:30:42.431Z,1629037842.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:30:42.857Z,1629037842.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:30:43.668Z,1629037843.668 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143044.35*5E

2021-08-15T14:30:44.503Z,1629037844.503 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:30:46.065Z,1629037846.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,186,80,80,55,FF
2021-08-15T14:30:46.066Z,1629037846.066 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,186,80,80,55,FF
2021-08-15T14:30:46.066Z,1629037846.066 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:30:47.369Z,1629037847.369 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:30:47.685Z,1629037847.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:30:47.685Z,1629037847.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:30:47.686Z,1629037847.686 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:30:47.687Z,1629037847.687 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:30:48.086Z,1629037848.086 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,186,80,80,55,FF
2021-08-15T14:30:48.086Z,1629037848.086 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:30:48.086Z,1629037848.086 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:30:48.088Z,1629037848.088 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:30:48.493Z,1629037848.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:30:49.329Z,1629037849.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC9,000,0103A,186,80,80,83,FF
2021-08-15T14:30:49.331Z,1629037849.331 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:30:49.351Z,1629037849.351 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143050.01*5C

2021-08-15T14:30:49.736Z,1629037849.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 211.739990 m, bearing: 331.609236 deg, deltaT: 10.602573 s, approachRate: 0.407449 m/s, LOS rate: -0.045867 deg/s, posRepo size: 4
2021-08-15T14:30:52.143Z,1629037852.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:30:52.555Z,1629037852.555 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:30:52.555Z,1629037852.555 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:30:52.556Z,1629037852.556 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:30:52.557Z,1629037852.557 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:30:52.933Z,1629037852.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC9,000,0103A,186,80,80,83,FF
2021-08-15T14:30:52.933Z,1629037852.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:30:52.933Z,1629037852.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:30:52.935Z,1629037852.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:30:53.380Z,1629037853.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:30:54.177Z,1629037854.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB2,000,01056,186,80,80,4E,FF
2021-08-15T14:30:54.177Z,1629037854.177 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:30:54.180Z,1629037854.180 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143054.86*57

2021-08-15T14:30:54.604Z,1629037854.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 213.419998 m, bearing: 333.254820 deg, deltaT: 4.760751 s, approachRate: 0.352887 m/s, LOS rate: 0.345656 deg/s, posRepo size: 4
2021-08-15T14:30:57.070Z,1629037857.070 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:30:57.377Z,1629037857.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:30:57.377Z,1629037857.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:30:57.377Z,1629037857.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:30:57.378Z,1629037857.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:30:57.781Z,1629037857.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB2,000,01056,186,80,80,4E,FF
2021-08-15T14:30:57.781Z,1629037857.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:30:57.781Z,1629037857.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:30:57.783Z,1629037857.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:30:58.197Z,1629037858.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:30:59.056Z,1629037859.056 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143059.71*52

2021-08-15T14:30:59.834Z,1629037859.834 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:31:01.417Z,1629037861.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,186,80,80,4E,FF
2021-08-15T14:31:01.417Z,1629037861.417 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,186,80,80,4E,FF
2021-08-15T14:31:01.418Z,1629037861.418 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:31:02.665Z,1629037862.665 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:31:03.064Z,1629037863.064 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:31:03.065Z,1629037863.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:31:03.065Z,1629037863.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:31:03.066Z,1629037863.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:31:03.441Z,1629037863.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,186,80,80,4E,FF
2021-08-15T14:31:03.441Z,1629037863.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:31:03.441Z,1629037863.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:31:03.443Z,1629037863.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:31:03.873Z,1629037863.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:31:04.689Z,1629037864.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9E,000,0109D,186,80,80,81,FF
2021-08-15T14:31:04.689Z,1629037864.689 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:31:04.692Z,1629037864.692 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143105.37*58

2021-08-15T14:31:05.186Z,1629037865.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 217.679993 m, bearing: 334.869968 deg, deltaT: 10.552798 s, approachRate: 0.403684 m/s, LOS rate: 0.153054 deg/s, posRepo size: 4
2021-08-15T14:31:07.561Z,1629037867.561 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:31:07.905Z,1629037867.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:31:07.905Z,1629037867.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:31:07.905Z,1629037867.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:31:07.906Z,1629037867.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:31:08.325Z,1629037868.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9E,000,0109D,186,80,80,81,FF
2021-08-15T14:31:08.325Z,1629037868.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:31:08.326Z,1629037868.326 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:31:08.334Z,1629037868.334 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:31:08.713Z,1629037868.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:31:09.144Z,1629037869.144 [Micromodem](INFO): Nmea in: $SNTTA,0.148558,0.294290,,,143110.26*5D

2021-08-15T14:31:09.513Z,1629037869.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECF,000,010BA,186,80,80,75,FF
2021-08-15T14:31:09.513Z,1629037869.513 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:31:09.960Z,1629037869.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 219.419983 m, bearing: 332.519673 deg, deltaT: 4.842014 s, approachRate: 0.359353 m/s, LOS rate: -0.485396 deg/s, posRepo size: 4
2021-08-15T14:31:12.413Z,1629037872.413 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:31:12.757Z,1629037872.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:31:12.757Z,1629037872.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:31:12.757Z,1629037872.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:31:12.758Z,1629037872.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:31:13.157Z,1629037873.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECF,000,010BA,186,80,80,75,FF
2021-08-15T14:31:13.157Z,1629037873.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:31:13.157Z,1629037873.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:31:13.159Z,1629037873.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:31:13.570Z,1629037873.570 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:31:14.401Z,1629037874.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E87,000,010D8,186,80,80,83,FF
2021-08-15T14:31:14.401Z,1629037874.401 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:31:14.404Z,1629037874.404 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143115.09*54

2021-08-15T14:31:14.796Z,1629037874.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 221.220001 m, bearing: 336.985933 deg, deltaT: 4.828264 s, approachRate: 0.372809 m/s, LOS rate: 0.925024 deg/s, posRepo size: 4
2021-08-15T14:31:17.238Z,1629037877.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:31:17.622Z,1629037877.622 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:31:17.622Z,1629037877.622 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:31:17.623Z,1629037877.623 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:31:17.624Z,1629037877.624 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:31:18.001Z,1629037878.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E87,000,010D8,186,80,80,83,FF
2021-08-15T14:31:18.001Z,1629037878.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:31:18.002Z,1629037878.002 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:31:18.003Z,1629037878.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:31:18.416Z,1629037878.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:31:19.240Z,1629037879.240 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E87,000,010F9,186,80,80,81,FF
2021-08-15T14:31:19.241Z,1629037879.241 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:31:19.243Z,1629037879.243 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143119.93*5B

2021-08-15T14:31:19.650Z,1629037879.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 223.199997 m, bearing: 337.467189 deg, deltaT: 4.853135 s, approachRate: 0.407983 m/s, LOS rate: 0.099164 deg/s, posRepo size: 4
2021-08-15T14:31:22.075Z,1629037882.075 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:31:22.441Z,1629037882.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:31:22.441Z,1629037882.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:31:22.441Z,1629037882.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:31:22.442Z,1629037882.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:31:22.851Z,1629037882.851 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E87,000,010F9,186,80,80,81,FF
2021-08-15T14:31:22.851Z,1629037882.851 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:31:22.851Z,1629037882.851 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:31:22.853Z,1629037882.853 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:31:23.252Z,1629037883.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:31:24.083Z,1629037884.083 [Micromodem](INFO): Nmea in: $SNTTA,0.152378,,,,143124.78*44

2021-08-15T14:31:24.883Z,1629037884.883 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:31:26.481Z,1629037886.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,81,FF
2021-08-15T14:31:26.481Z,1629037886.481 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,81,FF
2021-08-15T14:31:26.481Z,1629037886.481 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:31:27.722Z,1629037887.722 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:31:28.097Z,1629037888.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:31:28.097Z,1629037888.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:31:28.097Z,1629037888.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:31:28.098Z,1629037888.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:31:28.501Z,1629037888.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,81,FF
2021-08-15T14:31:28.501Z,1629037888.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:31:28.501Z,1629037888.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:31:28.503Z,1629037888.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:31:28.916Z,1629037888.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:31:29.737Z,1629037889.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDF,000,0113F,187,80,80,71,FF
2021-08-15T14:31:29.737Z,1629037889.737 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:31:29.764Z,1629037889.764 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143130.43*5D

2021-08-15T14:31:30.174Z,1629037890.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 227.399979 m, bearing: 331.445639 deg, deltaT: 10.514506 s, approachRate: 0.399446 m/s, LOS rate: -0.572690 deg/s, posRepo size: 4
2021-08-15T14:31:32.627Z,1629037892.627 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:31:32.953Z,1629037892.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:31:32.953Z,1629037892.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:31:32.953Z,1629037892.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:31:32.954Z,1629037892.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:31:33.373Z,1629037893.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDF,000,0113F,187,80,80,71,FF
2021-08-15T14:31:33.373Z,1629037893.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:31:33.373Z,1629037893.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:31:33.375Z,1629037893.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:31:33.753Z,1629037893.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:31:34.579Z,1629037894.579 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0C,000,01160,186,80,80,71,FF
2021-08-15T14:31:34.580Z,1629037894.580 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:31:34.583Z,1629037894.583 [Micromodem](INFO): Nmea in: $SNTTA,0.155116,,,,143135.30*45

2021-08-15T14:31:35.048Z,1629037895.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 229.379990 m, bearing: 329.111846 deg, deltaT: 4.847658 s, approachRate: 0.408447 m/s, LOS rate: -0.481427 deg/s, posRepo size: 4
2021-08-15T14:31:37.459Z,1629037897.459 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:31:37.801Z,1629037897.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:31:37.801Z,1629037897.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:31:37.802Z,1629037897.802 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:31:37.803Z,1629037897.803 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:31:38.217Z,1629037898.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0C,000,01160,186,80,80,71,FF
2021-08-15T14:31:38.217Z,1629037898.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:31:38.217Z,1629037898.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:31:38.219Z,1629037898.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:31:38.608Z,1629037898.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:31:39.425Z,1629037899.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF0,000,01180,186,80,80,64,FF
2021-08-15T14:31:39.425Z,1629037899.425 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:31:39.428Z,1629037899.428 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143140.14*58

2021-08-15T14:31:39.866Z,1629037899.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 231.299988 m, bearing: 330.563206 deg, deltaT: 4.866461 s, approachRate: 0.394537 m/s, LOS rate: 0.298237 deg/s, posRepo size: 4
2021-08-15T14:31:42.289Z,1629037902.289 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:31:42.653Z,1629037902.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:31:42.653Z,1629037902.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:31:42.653Z,1629037902.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:31:42.654Z,1629037902.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:31:43.081Z,1629037903.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF0,000,01180,186,80,80,64,FF
2021-08-15T14:31:43.082Z,1629037903.082 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:31:43.082Z,1629037903.082 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:31:43.089Z,1629037903.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:31:43.497Z,1629037903.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:31:44.333Z,1629037904.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECA,000,011A3,186,80,80,6C,FF
2021-08-15T14:31:44.334Z,1629037904.334 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:31:44.342Z,1629037904.342 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143145.01*59

2021-08-15T14:31:44.751Z,1629037904.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 233.399994 m, bearing: 332.410007 deg, deltaT: 4.901420 s, approachRate: 0.428448 m/s, LOS rate: 0.376789 deg/s, posRepo size: 4
2021-08-15T14:31:47.202Z,1629037907.202 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:31:47.525Z,1629037907.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:31:47.525Z,1629037907.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:31:47.526Z,1629037907.526 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:31:47.526Z,1629037907.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:31:47.934Z,1629037907.934 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECA,000,011A3,186,80,80,6C,FF
2021-08-15T14:31:47.935Z,1629037907.935 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:31:47.935Z,1629037907.935 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:31:47.937Z,1629037907.937 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:31:48.353Z,1629037908.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:31:49.157Z,1629037909.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8A,000,011C7,187,80,80,57,FF
2021-08-15T14:31:49.157Z,1629037909.157 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:31:49.160Z,1629037909.160 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143149.86*5A

2021-08-15T14:31:49.610Z,1629037909.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 235.559998 m, bearing: 334.543048 deg, deltaT: 4.847715 s, approachRate: 0.445572 m/s, LOS rate: 0.440010 deg/s, posRepo size: 4
2021-08-15T14:31:52.025Z,1629037912.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:31:52.381Z,1629037912.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:31:52.381Z,1629037912.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:31:52.381Z,1629037912.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:31:52.382Z,1629037912.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:31:52.789Z,1629037912.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8A,000,011C7,187,80,80,57,FF
2021-08-15T14:31:52.789Z,1629037912.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:31:52.789Z,1629037912.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:31:52.791Z,1629037912.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:31:53.184Z,1629037913.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:31:54.013Z,1629037914.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4E,000,011EC,186,80,80,2C,FF
2021-08-15T14:31:54.013Z,1629037914.013 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:31:54.016Z,1629037914.016 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143154.72*5D

2021-08-15T14:31:54.480Z,1629037914.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 237.779999 m, bearing: 335.563970 deg, deltaT: 4.798561 s, approachRate: 0.462639 m/s, LOS rate: 0.212756 deg/s, posRepo size: 4
2021-08-15T14:31:56.842Z,1629037916.842 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:31:57.231Z,1629037917.231 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:31:57.232Z,1629037917.232 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:31:57.232Z,1629037917.232 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:31:57.233Z,1629037917.233 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:31:57.645Z,1629037917.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4E,000,011EC,186,80,80,2C,FF
2021-08-15T14:31:57.645Z,1629037917.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:31:57.645Z,1629037917.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:31:57.647Z,1629037917.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:31:58.040Z,1629037918.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:31:58.861Z,1629037918.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D5F,000,0120C,189,80,80,4E,FF
2021-08-15T14:31:58.862Z,1629037918.862 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:31:58.864Z,1629037918.864 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143159.57*57

2021-08-15T14:31:59.405Z,1629037919.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 239.699997 m, bearing: 346.355368 deg, deltaT: 4.820180 s, approachRate: 0.398325 m/s, LOS rate: 2.238796 deg/s, posRepo size: 4
2021-08-15T14:32:01.687Z,1629037921.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:32:02.073Z,1629037922.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:32:02.073Z,1629037922.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:32:02.073Z,1629037922.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:32:02.074Z,1629037922.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:32:02.477Z,1629037922.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D5F,000,0120C,189,80,80,4E,FF
2021-08-15T14:32:02.477Z,1629037922.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:32:02.477Z,1629037922.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:32:02.479Z,1629037922.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:32:02.889Z,1629037922.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:32:03.717Z,1629037923.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D39,000,01230,18A,80,80,42,FF
2021-08-15T14:32:03.717Z,1629037923.717 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:32:03.720Z,1629037923.720 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143204.41*5B

2021-08-15T14:32:04.132Z,1629037924.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 241.860001 m, bearing: 347.143654 deg, deltaT: 4.883081 s, approachRate: 0.442344 m/s, LOS rate: 0.161432 deg/s, posRepo size: 4
2021-08-15T14:32:06.584Z,1629037926.584 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:32:06.925Z,1629037926.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:32:06.925Z,1629037926.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:32:06.926Z,1629037926.926 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:32:06.927Z,1629037926.927 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:32:07.354Z,1629037927.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D39,000,01230,18A,80,80,42,FF
2021-08-15T14:32:07.354Z,1629037927.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:32:07.354Z,1629037927.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:32:07.356Z,1629037927.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:32:07.756Z,1629037927.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:32:08.585Z,1629037928.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE6,000,01253,189,80,80,51,FF
2021-08-15T14:32:08.586Z,1629037928.586 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:32:08.588Z,1629037928.588 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143209.28*59

2021-08-15T14:32:09.024Z,1629037929.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 243.959991 m, bearing: 350.317834 deg, deltaT: 4.851475 s, approachRate: 0.432856 m/s, LOS rate: 0.654271 deg/s, posRepo size: 4
2021-08-15T14:32:11.462Z,1629037931.462 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:32:11.793Z,1629037931.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:32:11.793Z,1629037931.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:32:11.793Z,1629037931.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:32:11.794Z,1629037931.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:32:12.197Z,1629037932.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CE6,000,01253,189,80,80,51,FF
2021-08-15T14:32:12.197Z,1629037932.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:32:12.197Z,1629037932.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:32:12.199Z,1629037932.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:32:12.621Z,1629037932.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:32:13.437Z,1629037933.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D77,000,01273,189,80,80,39,FF
2021-08-15T14:32:13.438Z,1629037933.438 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:32:13.460Z,1629037933.460 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143214.13*5D

2021-08-15T14:32:13.854Z,1629037933.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 245.880005 m, bearing: 342.966994 deg, deltaT: 4.941487 s, approachRate: 0.388550 m/s, LOS rate: -1.487577 deg/s, posRepo size: 4
2021-08-15T14:32:16.258Z,1629037936.258 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:32:16.649Z,1629037936.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:32:16.649Z,1629037936.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:32:16.650Z,1629037936.650 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:32:16.651Z,1629037936.651 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:32:17.083Z,1629037937.083 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D77,000,01273,189,80,80,39,FF
2021-08-15T14:32:17.083Z,1629037937.083 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:32:17.084Z,1629037937.084 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:32:17.085Z,1629037937.085 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:32:17.525Z,1629037937.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:32:18.362Z,1629037938.362 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143219.01*53

2021-08-15T14:32:18.733Z,1629037938.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CCC,000,035AA,18A,80,80,39,FF
2021-08-15T14:32:18.734Z,1629037938.734 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:32:19.203Z,1629037939.203 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 786.780029 m, bearing: 351.428560 deg, deltaT: 5.225070 s, approachRate: 103.520149 m/s, LOS rate: 1.619417 deg/s, posRepo size: 4
2021-08-15T14:32:21.601Z,1629037941.601 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:32:21.957Z,1629037941.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:32:21.957Z,1629037941.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:32:21.957Z,1629037941.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:32:21.958Z,1629037941.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:32:22.393Z,1629037942.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CCC,000,035AA,18A,80,80,39,FF
2021-08-15T14:32:22.393Z,1629037942.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:32:22.393Z,1629037942.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:32:22.395Z,1629037942.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:32:22.785Z,1629037942.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:32:23.612Z,1629037943.612 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D2D,000,012BC,189,80,80,41,FF
2021-08-15T14:32:23.613Z,1629037943.613 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:32:23.616Z,1629037943.616 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143224.32*5D

2021-08-15T14:32:24.047Z,1629037944.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 250.259979 m, bearing: 345.564979 deg, deltaT: 4.862973 s, approachRate: -110.327576 m/s, LOS rate: -1.205761 deg/s, posRepo size: 4
2021-08-15T14:32:26.454Z,1629037946.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:32:26.817Z,1629037946.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:32:26.817Z,1629037946.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:32:26.817Z,1629037946.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:32:26.818Z,1629037946.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:32:27.226Z,1629037947.226 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D2D,000,012BC,189,80,80,41,FF
2021-08-15T14:32:27.226Z,1629037947.226 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:32:27.226Z,1629037947.226 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:32:27.228Z,1629037947.228 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:32:27.666Z,1629037947.666 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:32:28.461Z,1629037948.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D0B,000,012E0,18A,80,80,3F,FF
2021-08-15T14:32:28.462Z,1629037948.462 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:32:28.464Z,1629037948.464 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143229.16*56

2021-08-15T14:32:28.880Z,1629037948.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 252.419983 m, bearing: 347.571306 deg, deltaT: 4.866863 s, approachRate: 0.443818 m/s, LOS rate: 0.412242 deg/s, posRepo size: 4
2021-08-15T14:32:31.370Z,1629037951.370 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:32:31.671Z,1629037951.671 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:32:31.671Z,1629037951.671 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:32:31.671Z,1629037951.671 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:32:31.680Z,1629037951.680 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:32:32.069Z,1629037952.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D0B,000,012E0,18A,80,80,3F,FF
2021-08-15T14:32:32.069Z,1629037952.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:32:32.069Z,1629037952.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:32:32.071Z,1629037952.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:32:32.480Z,1629037952.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:32:33.320Z,1629037953.320 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D41,000,012FD,189,80,80,39,FF
2021-08-15T14:32:33.322Z,1629037953.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:32:33.332Z,1629037953.332 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143234.00*5D

2021-08-15T14:32:33.728Z,1629037953.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 254.160004 m, bearing: 345.612790 deg, deltaT: 4.920862 s, approachRate: 0.353601 m/s, LOS rate: -0.398003 deg/s, posRepo size: 4
2021-08-15T14:32:36.139Z,1629037956.139 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:32:36.513Z,1629037956.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:32:36.513Z,1629037956.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:32:36.513Z,1629037956.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:32:36.514Z,1629037956.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:32:36.921Z,1629037956.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D41,000,012FD,189,80,80,39,FF
2021-08-15T14:32:36.921Z,1629037956.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:32:36.921Z,1629037956.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:32:36.923Z,1629037956.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:32:37.348Z,1629037957.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:32:38.157Z,1629037958.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9B,000,0131F,188,80,80,6C,FF
2021-08-15T14:32:38.157Z,1629037958.157 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:32:38.160Z,1629037958.160 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143238.85*5C

2021-08-15T14:32:38.596Z,1629037958.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 256.200012 m, bearing: 341.192346 deg, deltaT: 4.743606 s, approachRate: 0.430054 m/s, LOS rate: -0.931874 deg/s, posRepo size: 4
2021-08-15T14:32:40.995Z,1629037960.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:32:41.402Z,1629037961.402 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:32:41.402Z,1629037961.402 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:32:41.402Z,1629037961.402 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:32:41.403Z,1629037961.403 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:32:41.761Z,1629037961.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9B,000,0131F,188,80,80,6C,FF
2021-08-15T14:32:41.761Z,1629037961.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:32:41.762Z,1629037961.762 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:32:41.763Z,1629037961.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:32:42.173Z,1629037962.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:32:42.997Z,1629037962.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA7,000,01343,189,80,80,62,FF
2021-08-15T14:32:42.998Z,1629037962.998 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:32:43.001Z,1629037963.001 [Micromodem](INFO): Nmea in: $SNTTA,0.174424,,,,143243.69*4C

2021-08-15T14:32:43.496Z,1629037963.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 258.359985 m, bearing: 340.598175 deg, deltaT: 4.914701 s, approachRate: 0.439492 m/s, LOS rate: -0.120897 deg/s, posRepo size: 4
2021-08-15T14:32:45.842Z,1629037965.842 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:32:46.213Z,1629037966.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:32:46.213Z,1629037966.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:32:46.213Z,1629037966.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:32:46.214Z,1629037966.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:32:46.625Z,1629037966.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA7,000,01343,189,80,80,62,FF
2021-08-15T14:32:46.625Z,1629037966.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:32:46.626Z,1629037966.626 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:32:46.627Z,1629037966.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:32:47.074Z,1629037967.074 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:32:47.850Z,1629037967.850 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D88,000,01360,18A,80,80,50,FF
2021-08-15T14:32:47.850Z,1629037967.850 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:32:47.853Z,1629037967.853 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143248.55*56

2021-08-15T14:32:48.276Z,1629037968.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 260.100006 m, bearing: 341.949787 deg, deltaT: 4.810841 s, approachRate: 0.361687 m/s, LOS rate: 0.280951 deg/s, posRepo size: 4
2021-08-15T14:32:50.714Z,1629037970.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:32:51.101Z,1629037971.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:32:51.101Z,1629037971.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:32:51.101Z,1629037971.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:32:51.102Z,1629037971.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:32:51.488Z,1629037971.488 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D88,000,01360,18A,80,80,50,FF
2021-08-15T14:32:51.488Z,1629037971.488 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:32:51.488Z,1629037971.488 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:32:51.490Z,1629037971.490 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:32:51.915Z,1629037971.915 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:32:52.737Z,1629037972.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D76,000,01384,188,80,80,62,FF
2021-08-15T14:32:52.737Z,1629037972.737 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:32:52.740Z,1629037972.740 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143253.41*59

2021-08-15T14:32:53.184Z,1629037973.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 262.259979 m, bearing: 343.216705 deg, deltaT: 4.854745 s, approachRate: 0.444920 m/s, LOS rate: 0.260965 deg/s, posRepo size: 4
2021-08-15T14:32:55.590Z,1629037975.590 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:32:55.945Z,1629037975.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:32:55.945Z,1629037975.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:32:55.945Z,1629037975.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:32:55.946Z,1629037975.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:32:56.389Z,1629037976.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D76,000,01384,188,80,80,62,FF
2021-08-15T14:32:56.390Z,1629037976.390 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:32:56.390Z,1629037976.390 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:32:56.391Z,1629037976.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:32:56.764Z,1629037976.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:32:57.564Z,1629037977.564 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB6,000,013A8,189,80,80,67,FF
2021-08-15T14:32:57.565Z,1629037977.565 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:32:57.572Z,1629037977.572 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143258.32*56

2021-08-15T14:32:58.031Z,1629037978.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 264.419983 m, bearing: 339.316012 deg, deltaT: 4.924826 s, approachRate: 0.438595 m/s, LOS rate: -0.792047 deg/s, posRepo size: 4
2021-08-15T14:33:00.463Z,1629037980.463 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:33:00.789Z,1629037980.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:33:00.789Z,1629037980.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:33:00.789Z,1629037980.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:33:00.790Z,1629037980.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:33:01.206Z,1629037981.206 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB6,000,013A8,189,80,80,67,FF
2021-08-15T14:33:01.206Z,1629037981.206 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:33:01.207Z,1629037981.207 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:33:01.209Z,1629037981.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:33:01.624Z,1629037981.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:33:02.150Z,1629037982.150 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD7,000,013A8,189,80,80,67,FF
2021-08-15T14:33:02.150Z,1629037982.150 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:33:02.465Z,1629037982.465 [Micromodem](INFO): Nmea in: $SNTTA,0.179752,,,,143303.13*4B

2021-08-15T14:33:02.522Z,1629037982.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 264.419983 m, bearing: 336.544485 deg, deltaT: 4.536888 s, approachRate: 0.000000 m/s, LOS rate: -0.610887 deg/s, posRepo size: 4
2021-08-15T14:33:02.522Z,1629037982.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 264.42 m. Resuming terminal guidance.
2021-08-15T14:33:02.522Z,1629037982.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-15T14:33:04.875Z,1629037984.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:33:05.251Z,1629037985.251 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:33:05.251Z,1629037985.251 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:33:05.251Z,1629037985.251 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:33:05.252Z,1629037985.252 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:33:05.658Z,1629037985.658 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD7,000,013A8,189,80,80,67,FF
2021-08-15T14:33:05.658Z,1629037985.658 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:33:05.658Z,1629037985.658 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:33:05.660Z,1629037985.660 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:33:06.064Z,1629037986.064 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:33:06.890Z,1629037986.890 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BD,000,013EF,186,80,80,2C,FF
2021-08-15T14:33:06.891Z,1629037986.891 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:33:06.895Z,1629037986.895 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143307.59*50

2021-08-15T14:33:07.368Z,1629037987.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 268.679993 m, bearing: 299.436695 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-15T14:33:07.369Z,1629037987.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 299.436695deg and heading rate command to 0 deg/s.
2021-08-15T14:33:09.711Z,1629037989.711 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:33:10.097Z,1629037990.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:33:10.097Z,1629037990.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:33:10.097Z,1629037990.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:33:10.098Z,1629037990.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:33:10.509Z,1629037990.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BD,000,013EF,186,80,80,2C,FF
2021-08-15T14:33:10.509Z,1629037990.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:33:10.509Z,1629037990.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:33:10.511Z,1629037990.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:33:10.905Z,1629037990.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:33:11.745Z,1629037991.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F75,000,01418,187,80,80,4C,FF
2021-08-15T14:33:11.746Z,1629037991.746 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:33:11.749Z,1629037991.749 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143312.44*58

2021-08-15T14:33:12.153Z,1629037992.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 271.139984 m, bearing: 313.544642 deg, deltaT: 4.883964 s, approachRate: 0.503687 m/s, LOS rate: 2.888626 deg/s, posRepo size: 2
2021-08-15T14:33:12.155Z,1629037992.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 271.139984 m,
      bearing: 313.544642 deg,
      approachRate: 0.503687 m/s,
      LOS rate: 2.888626 deg/s,
      cmd update: 11.554506 deg/s,
      cmd heading: 299.436695 deg,
      new cmd heading: 299.436695 deg.

2021-08-15T14:33:14.613Z,1629037994.613 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:33:14.945Z,1629037994.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:33:14.945Z,1629037994.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:33:14.945Z,1629037994.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:33:14.946Z,1629037994.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:33:15.389Z,1629037995.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F75,000,01418,187,80,80,4C,FF
2021-08-15T14:33:15.389Z,1629037995.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:33:15.389Z,1629037995.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:33:15.391Z,1629037995.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:33:15.777Z,1629037995.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:33:16.579Z,1629037996.579 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,373,000,01449,189,80,80,9C,FF
2021-08-15T14:33:16.584Z,1629037996.584 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:33:16.593Z,1629037996.593 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143317.32*5C

2021-08-15T14:33:17.076Z,1629037997.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 274.079987 m, bearing: 252.579494 deg, deltaT: 4.838396 s, approachRate: 0.607640 m/s, LOS rate: -12.600281 deg/s, posRepo size: 3
2021-08-15T14:33:17.077Z,1629037997.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.600281 deg/s. Setting heading cmd to target bearing of 252.579494deg and heading rate command to 0 deg/s.
2021-08-15T14:33:19.466Z,1629037999.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:33:19.805Z,1629037999.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:33:19.805Z,1629037999.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:33:19.806Z,1629037999.806 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:33:19.806Z,1629037999.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:33:20.206Z,1629038000.206 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
373,000,01449,189,80,80,9C,FF
2021-08-15T14:33:20.206Z,1629038000.206 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:33:20.206Z,1629038000.206 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:33:20.208Z,1629038000.208 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:33:20.625Z,1629038000.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:33:21.441Z,1629038001.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0147D,189,80,80,3C,FF
2021-08-15T14:33:21.442Z,1629038001.442 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:33:21.445Z,1629038001.445 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143322.14*5E

2021-08-15T14:33:21.869Z,1629038001.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 277.200012 m, bearing: 246.795225 deg, deltaT: 4.860329 s, approachRate: 0.641937 m/s, LOS rate: -1.190098 deg/s, posRepo size: 4
2021-08-15T14:33:21.871Z,1629038001.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 277.200012 m,
      bearing: 246.795225 deg,
      approachRate: 0.641937 m/s,
      LOS rate: -1.190098 deg/s,
      cmd update: -4.760393 deg/s,
      cmd heading: 252.579494 deg,
      new cmd heading: 252.579494 deg.

2021-08-15T14:33:24.262Z,1629038004.262 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:33:24.641Z,1629038004.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:33:24.641Z,1629038004.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:33:24.641Z,1629038004.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:33:24.642Z,1629038004.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:33:25.093Z,1629038005.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0147D,189,80,80,3C,FF
2021-08-15T14:33:25.093Z,1629038005.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:33:25.094Z,1629038005.094 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:33:25.095Z,1629038005.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:33:25.461Z,1629038005.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:33:26.273Z,1629038006.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B1,000,014B7,186,80,80,6C,FF
2021-08-15T14:33:26.274Z,1629038006.274 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:33:26.281Z,1629038006.281 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143327.02*5C

2021-08-15T14:33:26.700Z,1629038006.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 280.679993 m, bearing: 303.622508 deg, deltaT: 4.845824 s, approachRate: 0.718140 m/s, LOS rate: 11.727063 deg/s, posRepo size: 4
2021-08-15T14:33:26.701Z,1629038006.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.727063 deg/s. Setting heading cmd to target bearing of 303.622508deg and heading rate command to 0 deg/s.
2021-08-15T14:33:29.155Z,1629038009.155 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:33:29.497Z,1629038009.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:33:29.497Z,1629038009.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:33:29.497Z,1629038009.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:33:29.498Z,1629038009.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:33:29.897Z,1629038009.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B1,000,014B7,186,80,80,6C,FF
2021-08-15T14:33:29.897Z,1629038009.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:33:29.898Z,1629038009.898 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:33:29.899Z,1629038009.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:33:30.334Z,1629038010.334 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:33:31.133Z,1629038011.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F66,000,014F6,187,80,80,61,FF
2021-08-15T14:33:31.134Z,1629038011.134 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:33:31.137Z,1629038011.137 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143331.83*52

2021-08-15T14:33:31.578Z,1629038011.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 284.459991 m, bearing: 318.007297 deg, deltaT: 4.830324 s, approachRate: 0.782556 m/s, LOS rate: 2.978017 deg/s, posRepo size: 4
2021-08-15T14:33:31.580Z,1629038011.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 284.459991 m,
      bearing: 318.007297 deg,
      approachRate: 0.782556 m/s,
      LOS rate: 2.978017 deg/s,
      cmd update: 11.912069 deg/s,
      cmd heading: 303.622508 deg,
      new cmd heading: 303.622508 deg.

2021-08-15T14:33:33.979Z,1629038013.979 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:33:34.377Z,1629038014.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:33:34.377Z,1629038014.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:33:34.377Z,1629038014.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:33:34.378Z,1629038014.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:33:34.742Z,1629038014.742 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F66,000,014F6,187,80,80,61,FF
2021-08-15T14:33:34.742Z,1629038014.742 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:33:34.742Z,1629038014.742 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:33:34.743Z,1629038014.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:33:35.152Z,1629038015.152 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:33:35.977Z,1629038015.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,34A,000,0152D,189,80,80,6A,FF
2021-08-15T14:33:35.978Z,1629038015.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:33:35.981Z,1629038015.981 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143336.67*5F

2021-08-15T14:33:36.414Z,1629038016.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 287.759979 m, bearing: 253.127357 deg, deltaT: 4.813215 s, approachRate: 0.685610 m/s, LOS rate: -13.479543 deg/s, posRepo size: 4
2021-08-15T14:33:36.415Z,1629038016.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.479543 deg/s. Setting heading cmd to target bearing of 253.127357deg and heading rate command to 0 deg/s.
2021-08-15T14:33:38.803Z,1629038018.803 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:33:39.213Z,1629038019.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:33:39.213Z,1629038019.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:33:39.213Z,1629038019.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:33:39.214Z,1629038019.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:33:39.633Z,1629038019.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
34A,000,0152D,189,80,80,6A,FF
2021-08-15T14:33:39.633Z,1629038019.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:33:39.634Z,1629038019.634 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:33:39.640Z,1629038019.640 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:33:39.997Z,1629038019.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:33:40.812Z,1629038020.812 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,46C,000,01564,18A,80,80,1F,FF
2021-08-15T14:33:40.813Z,1629038020.813 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:33:40.841Z,1629038020.841 [Micromodem](INFO): Nmea in: $SNTTA,0.196266,,,,143341.56*4F

2021-08-15T14:33:41.257Z,1629038021.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 291.059998 m, bearing: 249.139073 deg, deltaT: 4.858743 s, approachRate: 0.679192 m/s, LOS rate: -0.820847 deg/s, posRepo size: 4
2021-08-15T14:33:41.259Z,1629038021.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 291.059998 m,
      bearing: 249.139073 deg,
      approachRate: 0.679192 m/s,
      LOS rate: -0.820847 deg/s,
      cmd update: -3.283388 deg/s,
      cmd heading: 253.127357 deg,
      new cmd heading: 253.127357 deg.

2021-08-15T14:33:43.677Z,1629038023.677 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:33:44.037Z,1629038024.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:33:44.038Z,1629038024.038 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:33:44.038Z,1629038024.038 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:33:44.039Z,1629038024.039 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:33:44.442Z,1629038024.442 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
46C,000,01564,18A,80,80,1F,FF
2021-08-15T14:33:44.442Z,1629038024.442 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:33:44.442Z,1629038024.442 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:33:44.444Z,1629038024.444 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:33:44.849Z,1629038024.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:33:45.721Z,1629038025.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,288,000,015AB,189,80,80,32,FF
2021-08-15T14:33:45.722Z,1629038025.722 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:33:45.725Z,1629038025.725 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143346.37*5D

2021-08-15T14:33:46.116Z,1629038026.116 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 295.320007 m, bearing: 288.708162 deg, deltaT: 4.896675 s, approachRate: 0.869980 m/s, LOS rate: 8.080808 deg/s, posRepo size: 4
2021-08-15T14:33:46.118Z,1629038026.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 295.320007 m,
      bearing: 288.708162 deg,
      approachRate: 0.869980 m/s,
      LOS rate: 8.080808 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 237.048719 deg,
      new cmd heading: 235.947291 deg.

2021-08-15T14:33:48.549Z,1629038028.549 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:33:48.890Z,1629038028.890 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:33:48.891Z,1629038028.891 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:33:48.891Z,1629038028.891 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:33:48.892Z,1629038028.892 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:33:49.321Z,1629038029.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
288,000,015AB,189,80,80,32,FF
2021-08-15T14:33:49.321Z,1629038029.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:33:49.322Z,1629038029.322 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:33:49.337Z,1629038029.337 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:33:49.736Z,1629038029.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:33:50.550Z,1629038030.550 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143351.26*5B

2021-08-15T14:33:51.405Z,1629038031.405 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:33:52.954Z,1629038032.954 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,189,80,80,32,FF
2021-08-15T14:33:52.955Z,1629038032.955 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,189,80,80,32,FF
2021-08-15T14:33:52.955Z,1629038032.955 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:33:54.195Z,1629038034.195 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:33:54.577Z,1629038034.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:33:54.577Z,1629038034.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:33:54.577Z,1629038034.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:33:54.578Z,1629038034.578 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:33:54.981Z,1629038034.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,189,80,80,32,FF
2021-08-15T14:33:54.981Z,1629038034.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:33:54.981Z,1629038034.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:33:54.983Z,1629038034.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:33:55.388Z,1629038035.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:33:56.205Z,1629038036.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,395,000,01623,189,80,80,67,FF
2021-08-15T14:33:56.206Z,1629038036.206 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:33:56.209Z,1629038036.209 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143356.91*50

2021-08-15T14:33:56.645Z,1629038036.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 302.519989 m, bearing: 247.545535 deg, deltaT: 10.444075 s, approachRate: 0.689384 m/s, LOS rate: -3.941242 deg/s, posRepo size: 4
2021-08-15T14:33:56.646Z,1629038036.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 302.519989 m,
      bearing: 247.545535 deg,
      approachRate: 0.689384 m/s,
      LOS rate: -3.941242 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 2.423295 deg,
      new cmd heading: 7.465935 deg.

2021-08-15T14:33:59.194Z,1629038039.194 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:33:59.493Z,1629038039.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:33:59.493Z,1629038039.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:33:59.493Z,1629038039.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:33:59.494Z,1629038039.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:33:59.873Z,1629038039.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
395,000,01623,189,80,80,67,FF
2021-08-15T14:33:59.873Z,1629038039.873 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:33:59.873Z,1629038039.873 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:33:59.875Z,1629038039.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:34:00.248Z,1629038040.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:34:01.070Z,1629038041.070 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4D4,000,0164D,18A,80,80,2D,FF
2021-08-15T14:34:01.076Z,1629038041.076 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:34:01.079Z,1629038041.079 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143401.80*55

2021-08-15T14:34:01.500Z,1629038041.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 305.039978 m, bearing: 242.555044 deg, deltaT: 4.918746 s, approachRate: 0.512323 m/s, LOS rate: -1.014586 deg/s, posRepo size: 4
2021-08-15T14:34:01.503Z,1629038041.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 305.039978 m,
      bearing: 242.555044 deg,
      approachRate: 0.512323 m/s,
      LOS rate: -1.014586 deg/s,
      cmd update: -4.058344 deg/s,
      cmd heading: 303.398209 deg,
      new cmd heading: 299.117677 deg.

2021-08-15T14:34:03.909Z,1629038043.909 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:34:04.261Z,1629038044.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:34:04.261Z,1629038044.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:34:04.261Z,1629038044.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:34:04.262Z,1629038044.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:34:04.665Z,1629038044.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4D4,000,0164D,18A,80,80,2D,FF
2021-08-15T14:34:04.665Z,1629038044.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:34:04.665Z,1629038044.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:34:04.667Z,1629038044.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:34:05.113Z,1629038045.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:34:05.906Z,1629038045.906 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143406.60*5C

2021-08-15T14:34:06.737Z,1629038046.737 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:34:08.318Z,1629038048.318 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,18A,80,80,2D,FF
2021-08-15T14:34:08.319Z,1629038048.319 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,18A,80,80,2D,FF
2021-08-15T14:34:08.324Z,1629038048.324 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:34:09.613Z,1629038049.613 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:34:09.925Z,1629038049.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:34:09.925Z,1629038049.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:34:09.925Z,1629038049.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:34:09.926Z,1629038049.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:34:10.345Z,1629038050.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,18A,80,80,2D,FF
2021-08-15T14:34:10.345Z,1629038050.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:34:10.345Z,1629038050.345 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:34:10.347Z,1629038050.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:34:10.732Z,1629038050.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:34:11.555Z,1629038051.555 [Micromodem](INFO): Nmea in: $SNTTA,,0.286480,,,143412.27*44

2021-08-15T14:34:12.410Z,1629038052.410 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:34:13.981Z,1629038053.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,18A,80,80,2D,FF
2021-08-15T14:34:13.981Z,1629038053.981 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,18A,80,80,2D,FF
2021-08-15T14:34:13.982Z,1629038053.982 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:34:15.219Z,1629038055.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:34:15.581Z,1629038055.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:34:15.581Z,1629038055.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:34:15.581Z,1629038055.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:34:15.582Z,1629038055.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:34:15.976Z,1629038055.976 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,18A,80,80,2D,FF
2021-08-15T14:34:15.976Z,1629038055.976 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:34:15.976Z,1629038055.976 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:34:16.005Z,1629038056.005 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:34:16.404Z,1629038056.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:34:17.193Z,1629038057.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,383,000,01705,189,80,80,72,FF
2021-08-15T14:34:17.193Z,1629038057.193 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:34:17.197Z,1629038057.197 [Micromodem](INFO): Nmea in: $SNTTA,0.456856,0.457350,,,143417.93*5C

2021-08-15T14:34:17.643Z,1629038057.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 316.079987 m, bearing: 244.203278 deg, deltaT: 16.188806 s, approachRate: 0.681953 m/s, LOS rate: 0.101813 deg/s, posRepo size: 4
2021-08-15T14:34:17.645Z,1629038057.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 316.079987 m,
      bearing: 244.203278 deg,
      approachRate: 0.681953 m/s,
      LOS rate: 0.101813 deg/s,
      cmd update: 0.407253 deg/s,
      cmd heading: 237.838534 deg,
      new cmd heading: 236.435236 deg.

2021-08-15T14:34:20.035Z,1629038060.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:34:20.437Z,1629038060.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:34:20.437Z,1629038060.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:34:20.437Z,1629038060.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:34:20.438Z,1629038060.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:34:20.822Z,1629038060.822 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
383,000,01705,189,80,80,72,FF
2021-08-15T14:34:20.822Z,1629038060.822 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:34:20.822Z,1629038060.822 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:34:20.857Z,1629038060.857 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:34:21.240Z,1629038061.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:34:22.052Z,1629038062.052 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15E,000,0172A,185,80,80,83,FF
2021-08-15T14:34:22.053Z,1629038062.053 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:34:22.062Z,1629038062.062 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143422.78*53

2021-08-15T14:34:22.489Z,1629038062.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 318.299988 m, bearing: 251.181764 deg, deltaT: 4.784381 s, approachRate: 0.464010 m/s, LOS rate: 1.458597 deg/s, posRepo size: 4
2021-08-15T14:34:22.491Z,1629038062.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 318.299988 m,
      bearing: 251.181764 deg,
      approachRate: 0.464010 m/s,
      LOS rate: 1.458597 deg/s,
      cmd update: 5.834390 deg/s,
      cmd heading: 239.799435 deg,
      new cmd heading: 239.952761 deg.

2021-08-15T14:34:24.916Z,1629038064.916 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:34:25.277Z,1629038065.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:34:25.277Z,1629038065.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:34:25.277Z,1629038065.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:34:25.278Z,1629038065.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:34:25.685Z,1629038065.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15E,000,0172A,185,80,80,83,FF
2021-08-15T14:34:25.685Z,1629038065.685 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:34:25.685Z,1629038065.685 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:34:25.687Z,1629038065.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:34:26.156Z,1629038066.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:34:26.951Z,1629038066.951 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F79,000,01743,187,80,80,53,FF
2021-08-15T14:34:26.951Z,1629038066.951 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:34:26.955Z,1629038066.955 [Micromodem](INFO): Nmea in: $SNTTA,0.215114,,,,143427.61*42

2021-08-15T14:34:27.398Z,1629038067.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 319.799988 m, bearing: 259.292231 deg, deltaT: 4.885838 s, approachRate: 0.307010 m/s, LOS rate: 1.659995 deg/s, posRepo size: 4
2021-08-15T14:34:27.400Z,1629038067.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 319.799988 m,
      bearing: 259.292231 deg,
      approachRate: 0.307010 m/s,
      LOS rate: 1.659995 deg/s,
      cmd update: 6.639980 deg/s,
      cmd heading: 268.243357 deg,
      new cmd heading: 270.641157 deg.

2021-08-15T14:34:29.747Z,1629038069.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:34:30.130Z,1629038070.130 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:34:30.130Z,1629038070.130 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:34:30.130Z,1629038070.130 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:34:30.131Z,1629038070.131 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:34:30.543Z,1629038070.543 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F79,000,01743,187,80,80,53,FF
2021-08-15T14:34:30.543Z,1629038070.543 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:34:30.544Z,1629038070.544 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:34:30.547Z,1629038070.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:34:30.937Z,1629038070.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:34:31.757Z,1629038071.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3D2,000,01758,189,80,80,AA,FF
2021-08-15T14:34:31.757Z,1629038071.757 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:34:31.760Z,1629038071.760 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143432.47*5E

2021-08-15T14:34:32.182Z,1629038072.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 321.059998 m, bearing: 215.115073 deg, deltaT: 4.781487 s, approachRate: 0.263518 m/s, LOS rate: -9.239209 deg/s, posRepo size: 4
2021-08-15T14:34:32.184Z,1629038072.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 321.059998 m,
      bearing: 215.115073 deg,
      approachRate: 0.263518 m/s,
      LOS rate: -9.239209 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 300.090682 deg,
      new cmd heading: 302.735838 deg.

2021-08-15T14:34:34.603Z,1629038074.603 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:34:34.984Z,1629038074.984 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:34:34.984Z,1629038074.984 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:34:34.985Z,1629038074.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:34:34.985Z,1629038074.985 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:34:35.374Z,1629038075.374 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3D2,000,01758,189,80,80,AA,FF
2021-08-15T14:34:35.374Z,1629038075.374 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:34:35.374Z,1629038075.374 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:34:35.376Z,1629038075.376 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:34:35.781Z,1629038075.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:34:36.613Z,1629038076.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,29B,000,01778,189,80,80,A0,FF
2021-08-15T14:34:36.614Z,1629038076.614 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:34:36.641Z,1629038076.641 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143437.30*5B

2021-08-15T14:34:37.076Z,1629038077.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 322.979980 m, bearing: 250.054100 deg, deltaT: 4.921420 s, approachRate: 0.390128 m/s, LOS rate: 7.099379 deg/s, posRepo size: 4
2021-08-15T14:34:37.078Z,1629038077.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 322.979980 m,
      bearing: 250.054100 deg,
      approachRate: 0.390128 m/s,
      LOS rate: 7.099379 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 241.135533 deg,
      new cmd heading: 236.582361 deg.

2021-08-15T14:34:39.514Z,1629038079.514 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:34:39.957Z,1629038079.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:34:39.957Z,1629038079.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:34:39.957Z,1629038079.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:34:39.958Z,1629038079.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:34:40.253Z,1629038080.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
29B,000,01778,189,80,80,A0,FF
2021-08-15T14:34:40.253Z,1629038080.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:34:40.253Z,1629038080.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:34:40.255Z,1629038080.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:34:40.652Z,1629038080.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:34:41.457Z,1629038081.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,240,000,017A2,188,80,80,BC,FF
2021-08-15T14:34:41.458Z,1629038081.458 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:34:41.480Z,1629038081.480 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143442.18*53

2021-08-15T14:34:41.864Z,1629038081.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 325.500000 m, bearing: 258.153256 deg, deltaT: 4.801245 s, approachRate: 0.524868 m/s, LOS rate: 1.686887 deg/s, posRepo size: 4
2021-08-15T14:34:41.866Z,1629038081.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 325.500000 m,
      bearing: 258.153256 deg,
      approachRate: 0.524868 m/s,
      LOS rate: 1.686887 deg/s,
      cmd update: 6.747547 deg/s,
      cmd heading: 298.852223 deg,
      new cmd heading: 303.145871 deg.

2021-08-15T14:34:44.284Z,1629038084.284 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:34:44.674Z,1629038084.674 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:34:44.674Z,1629038084.674 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:34:44.675Z,1629038084.675 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:34:44.675Z,1629038084.675 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:34:45.109Z,1629038085.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
240,000,017A2,188,80,80,BC,FF
2021-08-15T14:34:45.109Z,1629038085.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:34:45.109Z,1629038085.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:34:45.111Z,1629038085.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:34:45.485Z,1629038085.485 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:34:46.302Z,1629038086.302 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24F,000,017CC,188,80,80,86,FF
2021-08-15T14:34:46.303Z,1629038086.303 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:34:46.322Z,1629038086.322 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143447.04*5B

2021-08-15T14:34:46.728Z,1629038086.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 328.019989 m, bearing: 245.126364 deg, deltaT: 4.897999 s, approachRate: 0.514494 m/s, LOS rate: -2.659636 deg/s, posRepo size: 4
2021-08-15T14:34:46.730Z,1629038086.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 328.019989 m,
      bearing: 245.126364 deg,
      approachRate: 0.514494 m/s,
      LOS rate: -2.659636 deg/s,
      cmd update: -10.638542 deg/s,
      cmd heading: 331.825136 deg,
      new cmd heading: 334.083763 deg.

2021-08-15T14:34:48.340Z,1629038088.340 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-15T14:34:49.173Z,1629038089.173 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:34:49.521Z,1629038089.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:34:49.521Z,1629038089.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:34:49.521Z,1629038089.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:34:49.522Z,1629038089.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:34:49.922Z,1629038089.922 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24F,000,017CC,188,80,80,86,FF
2021-08-15T14:34:49.922Z,1629038089.922 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:34:49.922Z,1629038089.922 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:34:49.940Z,1629038089.940 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:34:50.367Z,1629038090.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:34:51.153Z,1629038091.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,227,000,017F4,188,80,80,8B,FF
2021-08-15T14:34:51.153Z,1629038091.153 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:34:51.156Z,1629038091.156 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143451.87*57

2021-08-15T14:34:51.592Z,1629038091.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 330.419983 m, bearing: 265.125103 deg, deltaT: 4.820077 s, approachRate: 0.497916 m/s, LOS rate: 4.149050 deg/s, posRepo size: 4
2021-08-15T14:34:51.594Z,1629038091.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 330.419983 m,
      bearing: 265.125103 deg,
      approachRate: 0.497916 m/s,
      LOS rate: 4.149050 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 280.766506 deg,
      new cmd heading: 276.518111 deg.

2021-08-15T14:34:54.007Z,1629038094.007 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:34:54.422Z,1629038094.422 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:34:54.422Z,1629038094.422 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:34:54.422Z,1629038094.422 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:34:54.423Z,1629038094.423 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:34:54.773Z,1629038094.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
227,000,017F4,188,80,80,8B,FF
2021-08-15T14:34:54.774Z,1629038094.774 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:34:54.774Z,1629038094.774 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:34:54.775Z,1629038094.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:34:55.193Z,1629038095.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:34:55.607Z,1629038095.607 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T14:34:56.025Z,1629038096.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F75,000,0182A,187,80,80,36,FF
2021-08-15T14:34:56.026Z,1629038096.026 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:34:56.029Z,1629038096.029 [Micromodem](INFO): Nmea in: $SNTTA,0.234620,,,,143456.70*47

2021-08-15T14:34:56.422Z,1629038096.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 333.659973 m, bearing: 313.328945 deg, deltaT: 4.825425 s, approachRate: 0.671441 m/s, LOS rate: 9.989554 deg/s, posRepo size: 4
2021-08-15T14:34:56.424Z,1629038096.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 333.659973 m,
      bearing: 313.328945 deg,
      approachRate: 0.671441 m/s,
      LOS rate: 9.989554 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 339.055752 deg,
      new cmd heading: 343.526376 deg.

2021-08-15T14:34:58.823Z,1629038098.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:34:59.206Z,1629038099.206 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:34:59.206Z,1629038099.206 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:34:59.206Z,1629038099.206 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:34:59.207Z,1629038099.207 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:34:59.613Z,1629038099.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F75,000,0182A,187,80,80,36,FF
2021-08-15T14:34:59.614Z,1629038099.614 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:34:59.614Z,1629038099.614 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:34:59.615Z,1629038099.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:35:00.022Z,1629038100.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:35:00.861Z,1629038100.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D21,000,01867,18A,80,80,3E,FF
2021-08-15T14:35:00.861Z,1629038100.861 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:35:00.866Z,1629038100.866 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143501.54*5D

2021-08-15T14:35:01.327Z,1629038101.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 337.320007 m, bearing: 352.852162 deg, deltaT: 4.866248 s, approachRate: 0.752127 m/s, LOS rate: 8.121908 deg/s, posRepo size: 4
2021-08-15T14:35:01.333Z,1629038101.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 337.320007 m,
      bearing: 352.852162 deg,
      approachRate: 0.752127 m/s,
      LOS rate: 8.121908 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 37.402034 deg,
      new cmd heading: 42.373574 deg.

2021-08-15T14:35:03.675Z,1629038103.675 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:35:04.057Z,1629038104.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:35:04.058Z,1629038104.058 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:35:04.058Z,1629038104.058 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:35:04.059Z,1629038104.059 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:35:04.474Z,1629038104.474 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D21,000,01867,18A,80,80,3E,FF
2021-08-15T14:35:04.474Z,1629038104.474 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:35:04.474Z,1629038104.474 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:35:04.476Z,1629038104.476 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:35:04.877Z,1629038104.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:35:05.690Z,1629038105.690 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08C,000,01894,186,80,80,33,FF
2021-08-15T14:35:05.690Z,1629038105.690 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:35:05.693Z,1629038105.693 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143506.40*5F

2021-08-15T14:35:06.124Z,1629038106.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 340.019958 m, bearing: 329.989334 deg, deltaT: 4.803800 s, approachRate: 0.562045 m/s, LOS rate: -4.759321 deg/s, posRepo size: 4
2021-08-15T14:35:06.126Z,1629038106.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 340.019958 m,
      bearing: 329.989334 deg,
      approachRate: 0.562045 m/s,
      LOS rate: -4.759321 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 95.055256 deg,
      new cmd heading: 99.945496 deg.

2021-08-15T14:35:08.538Z,1629038108.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:35:08.901Z,1629038108.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:35:08.901Z,1629038108.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:35:08.901Z,1629038108.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:35:08.902Z,1629038108.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:35:09.310Z,1629038109.310 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08C,000,01894,186,80,80,33,FF
2021-08-15T14:35:09.310Z,1629038109.310 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:35:09.310Z,1629038109.310 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:35:09.317Z,1629038109.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:35:09.721Z,1629038109.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:35:10.556Z,1629038110.556 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143511.24*5B

2021-08-15T14:35:11.419Z,1629038111.419 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:35:12.937Z,1629038112.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,186,80,80,33,FF
2021-08-15T14:35:12.938Z,1629038112.938 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,186,80,80,33,FF
2021-08-15T14:35:12.938Z,1629038112.938 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:35:14.175Z,1629038114.175 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:35:14.554Z,1629038114.554 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:35:14.554Z,1629038114.554 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:35:14.554Z,1629038114.554 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:35:14.555Z,1629038114.555 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:35:14.961Z,1629038114.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,186,80,80,33,FF
2021-08-15T14:35:14.961Z,1629038114.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:35:14.961Z,1629038114.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:35:14.963Z,1629038114.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:35:15.377Z,1629038115.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:35:16.197Z,1629038116.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECD,000,018FE,186,80,80,4F,FF
2021-08-15T14:35:16.197Z,1629038116.197 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:35:16.200Z,1629038116.200 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143516.89*5B

2021-08-15T14:35:16.632Z,1629038116.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 346.379974 m, bearing: 35.327398 deg, deltaT: 10.497604 s, approachRate: 0.605854 m/s, LOS rate: 6.224094 deg/s, posRepo size: 4
2021-08-15T14:35:16.634Z,1629038116.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 346.379974 m,
      bearing: 35.327398 deg,
      approachRate: 0.605854 m/s,
      LOS rate: 6.224094 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 329.053033 deg,
      new cmd heading: 324.069409 deg.

2021-08-15T14:35:19.105Z,1629038119.105 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:35:19.401Z,1629038119.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:35:19.401Z,1629038119.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:35:19.401Z,1629038119.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:35:19.402Z,1629038119.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:35:19.416Z,1629038119.416 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T14:35:19.809Z,1629038119.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECD,000,018FE,186,80,80,4F,FF
2021-08-15T14:35:19.809Z,1629038119.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:35:19.809Z,1629038119.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:35:19.811Z,1629038119.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:35:20.383Z,1629038120.383 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:35:21.105Z,1629038121.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7F,000,01922,186,80,80,6F,FF
2021-08-15T14:35:21.106Z,1629038121.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:35:21.109Z,1629038121.109 [Micromodem](INFO): Nmea in: $SNTTA,0.234742,,,,143521.74*47

2021-08-15T14:35:21.512Z,1629038121.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 348.540009 m, bearing: 40.957810 deg, deltaT: 4.948240 s, approachRate: 0.436526 m/s, LOS rate: 1.137861 deg/s, posRepo size: 4
2021-08-15T14:35:21.514Z,1629038121.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 348.540009 m,
      bearing: 40.957810 deg,
      approachRate: 0.436526 m/s,
      LOS rate: 1.137861 deg/s,
      cmd update: 4.551446 deg/s,
      cmd heading: 28.194999 deg,
      new cmd heading: 32.593899 deg.

2021-08-15T14:35:23.883Z,1629038123.883 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:35:24.265Z,1629038124.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:35:24.265Z,1629038124.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:35:24.265Z,1629038124.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:35:24.266Z,1629038124.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:35:24.669Z,1629038124.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7F,000,01922,186,80,80,6F,FF
2021-08-15T14:35:24.669Z,1629038124.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:35:24.669Z,1629038124.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:35:24.671Z,1629038124.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:35:25.125Z,1629038125.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:35:25.909Z,1629038125.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D2,000,0194E,186,80,80,50,FF
2021-08-15T14:35:25.910Z,1629038125.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:35:25.913Z,1629038125.913 [Micromodem](INFO): Nmea in: $SNTTA,0.236370,,,,143526.60*42

2021-08-15T14:35:26.326Z,1629038126.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 351.179962 m, bearing: 349.173504 deg, deltaT: 4.774196 s, approachRate: 0.552963 m/s, LOS rate: -10.846706 deg/s, posRepo size: 4
2021-08-15T14:35:26.328Z,1629038126.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 351.179962 m,
      bearing: 349.173504 deg,
      approachRate: 0.552963 m/s,
      LOS rate: -10.846706 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 50.018418 deg,
      new cmd heading: 51.776022 deg.

2021-08-15T14:35:28.751Z,1629038128.751 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:35:29.133Z,1629038129.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:35:29.133Z,1629038129.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:35:29.133Z,1629038129.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:35:29.134Z,1629038129.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:35:29.517Z,1629038129.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D2,000,0194E,186,80,80,50,FF
2021-08-15T14:35:29.517Z,1629038129.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:35:29.517Z,1629038129.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:35:29.519Z,1629038129.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:35:29.939Z,1629038129.939 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:35:30.753Z,1629038130.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7E,000,0197D,187,80,80,68,FF
2021-08-15T14:35:30.753Z,1629038130.753 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:35:30.756Z,1629038130.756 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143531.45*5E

2021-08-15T14:35:31.198Z,1629038131.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 354.000000 m, bearing: 33.873934 deg, deltaT: 4.877300 s, approachRate: 0.578197 m/s, LOS rate: 9.164996 deg/s, posRepo size: 4
2021-08-15T14:35:31.205Z,1629038131.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 354.000000 m,
      bearing: 33.873934 deg,
      approachRate: 0.578197 m/s,
      LOS rate: 9.164996 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 351.596476 deg,
      new cmd heading: 346.925968 deg.

2021-08-15T14:35:33.735Z,1629038133.735 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:35:33.981Z,1629038133.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:35:33.981Z,1629038133.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:35:33.981Z,1629038133.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:35:33.982Z,1629038133.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:35:34.388Z,1629038134.388 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7E,000,0197D,187,80,80,68,FF
2021-08-15T14:35:34.388Z,1629038134.388 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:35:34.389Z,1629038134.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:35:34.391Z,1629038134.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:35:34.805Z,1629038134.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:35:35.606Z,1629038135.606 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C3E,000,019A6,189,80,80,56,FF
2021-08-15T14:35:35.606Z,1629038135.606 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:35:35.609Z,1629038135.609 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143536.32*59

2021-08-15T14:35:36.036Z,1629038136.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 356.459991 m, bearing: 78.274193 deg, deltaT: 4.808313 s, approachRate: 0.511612 m/s, LOS rate: 9.234061 deg/s, posRepo size: 4
2021-08-15T14:35:36.038Z,1629038136.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 356.459991 m,
      bearing: 78.274193 deg,
      approachRate: 0.511612 m/s,
      LOS rate: 9.234061 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 49.401509 deg,
      new cmd heading: 54.323081 deg.

2021-08-15T14:35:38.430Z,1629038138.430 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:35:38.813Z,1629038138.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:35:38.813Z,1629038138.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:35:38.814Z,1629038138.814 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:35:38.815Z,1629038138.815 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:35:39.217Z,1629038139.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C3E,000,019A6,189,80,80,56,FF
2021-08-15T14:35:39.217Z,1629038139.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:35:39.217Z,1629038139.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:35:39.219Z,1629038139.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:35:39.629Z,1629038139.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:35:40.457Z,1629038140.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF6,000,019BD,187,80,80,4D,FF
2021-08-15T14:35:40.457Z,1629038140.457 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:35:40.460Z,1629038140.460 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143541.15*5C

2021-08-15T14:35:40.869Z,1629038140.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 357.839996 m, bearing: 34.683673 deg, deltaT: 4.893194 s, approachRate: 0.282025 m/s, LOS rate: -8.908398 deg/s, posRepo size: 4
2021-08-15T14:35:40.870Z,1629038140.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 357.839996 m,
      bearing: 34.683673 deg,
      approachRate: 0.282025 m/s,
      LOS rate: -8.908398 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 108.072139 deg,
      new cmd heading: 112.315399 deg.

2021-08-15T14:35:43.306Z,1629038143.306 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:35:43.657Z,1629038143.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:35:43.657Z,1629038143.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:35:43.657Z,1629038143.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:35:43.658Z,1629038143.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:35:44.073Z,1629038144.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF6,000,019BD,187,80,80,4D,FF
2021-08-15T14:35:44.073Z,1629038144.073 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:35:44.073Z,1629038144.073 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:35:44.075Z,1629038144.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:35:44.469Z,1629038144.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:35:45.301Z,1629038145.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,385,000,019E8,189,80,80,60,FF
2021-08-15T14:35:45.301Z,1629038145.301 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:35:45.304Z,1629038145.304 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143546.00*5F

2021-08-15T14:35:45.713Z,1629038145.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 360.420013 m, bearing: 354.519275 deg, deltaT: 4.858347 s, approachRate: 0.531048 m/s, LOS rate: -8.267091 deg/s, posRepo size: 4
2021-08-15T14:35:45.715Z,1629038145.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 360.420013 m,
      bearing: 354.519275 deg,
      approachRate: 0.531048 m/s,
      LOS rate: -8.267091 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 49.822649 deg,
      new cmd heading: 45.691853 deg.

2021-08-15T14:35:48.158Z,1629038148.158 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:35:48.534Z,1629038148.534 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:35:48.534Z,1629038148.534 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:35:48.534Z,1629038148.534 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:35:48.535Z,1629038148.535 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:35:48.928Z,1629038148.928 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
385,000,019E8,189,80,80,60,FF
2021-08-15T14:35:48.929Z,1629038148.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:35:48.929Z,1629038148.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:35:48.930Z,1629038148.930 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:35:49.389Z,1629038149.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:35:50.181Z,1629038150.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E42,000,019FA,186,80,80,B2,FF
2021-08-15T14:35:50.182Z,1629038150.182 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:35:50.185Z,1629038150.185 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143550.86*56

2021-08-15T14:35:50.641Z,1629038150.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 361.500000 m, bearing: 78.615013 deg, deltaT: 4.847849 s, approachRate: 0.222776 m/s, LOS rate: 17.347021 deg/s, posRepo size: 4
2021-08-15T14:35:50.641Z,1629038150.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.347021 deg/s. Setting heading cmd to target bearing of 78.615013deg and heading rate command to 0 deg/s.
2021-08-15T14:35:53.094Z,1629038153.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:35:53.413Z,1629038153.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:35:53.414Z,1629038153.414 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:35:53.414Z,1629038153.414 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:35:53.415Z,1629038153.415 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:35:53.826Z,1629038153.826 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E42,000,019FA,186,80,80,B2,FF
2021-08-15T14:35:53.826Z,1629038153.826 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:35:53.826Z,1629038153.826 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:35:53.828Z,1629038153.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:35:54.254Z,1629038154.254 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:35:55.088Z,1629038155.088 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E55,000,01A03,186,80,80,7A,FF
2021-08-15T14:35:55.089Z,1629038155.089 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:35:55.092Z,1629038155.092 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143555.75*5F

2021-08-15T14:35:55.490Z,1629038155.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 362.040009 m, bearing: 71.608892 deg, deltaT: 4.933474 s, approachRate: 0.109458 m/s, LOS rate: -1.420119 deg/s, posRepo size: 4
2021-08-15T14:35:55.516Z,1629038155.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 362.040009 m,
      bearing: 71.608892 deg,
      approachRate: 0.109458 m/s,
      LOS rate: -1.420119 deg/s,
      cmd update: -5.680477 deg/s,
      cmd heading: 78.615013 deg,
      new cmd heading: 78.615013 deg.

2021-08-15T14:35:57.913Z,1629038157.913 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:35:58.269Z,1629038158.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:35:58.269Z,1629038158.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:35:58.269Z,1629038158.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:35:58.270Z,1629038158.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:35:58.689Z,1629038158.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E55,000,01A03,186,80,80,7A,FF
2021-08-15T14:35:58.689Z,1629038158.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:35:58.689Z,1629038158.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:35:58.691Z,1629038158.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:35:59.124Z,1629038159.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:35:59.913Z,1629038159.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,01A17,189,80,80,42,FF
2021-08-15T14:35:59.913Z,1629038159.913 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:35:59.916Z,1629038159.916 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143600.62*5A

2021-08-15T14:36:00.402Z,1629038160.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 363.239990 m, bearing: 339.069278 deg, deltaT: 4.773893 s, approachRate: 0.251363 m/s, LOS rate: -19.384521 deg/s, posRepo size: 4
2021-08-15T14:36:00.403Z,1629038160.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -19.384521 deg/s. Setting heading cmd to target bearing of 339.069278deg and heading rate command to 0 deg/s.
2021-08-15T14:36:02.800Z,1629038162.800 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:36:03.121Z,1629038163.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:36:03.121Z,1629038163.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:36:03.121Z,1629038163.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:36:03.122Z,1629038163.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:36:03.543Z,1629038163.543 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,01A17,189,80,80,42,FF
2021-08-15T14:36:03.543Z,1629038163.543 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:36:03.543Z,1629038163.543 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:36:03.547Z,1629038163.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:36:03.937Z,1629038163.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:36:04.757Z,1629038164.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E26,000,01A28,186,80,80,88,FF
2021-08-15T14:36:04.758Z,1629038164.758 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:36:04.765Z,1629038164.765 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143605.48*57

2021-08-15T14:36:05.265Z,1629038165.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 364.259979 m, bearing: 79.997539 deg, deltaT: 4.866148 s, approachRate: 0.209609 m/s, LOS rate: 20.740892 deg/s, posRepo size: 4
2021-08-15T14:36:05.266Z,1629038165.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 20.740892 deg/s. Setting heading cmd to target bearing of 79.997539deg and heading rate command to 0 deg/s.
2021-08-15T14:36:07.640Z,1629038167.640 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:36:07.969Z,1629038167.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:36:07.969Z,1629038167.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:36:07.969Z,1629038167.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:36:07.970Z,1629038167.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:36:08.374Z,1629038168.374 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E26,000,01A28,186,80,80,88,FF
2021-08-15T14:36:08.374Z,1629038168.374 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:36:08.375Z,1629038168.375 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:36:08.380Z,1629038168.380 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:36:08.789Z,1629038168.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:36:09.617Z,1629038169.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,41C,000,01A3A,189,80,80,5B,FF
2021-08-15T14:36:09.617Z,1629038169.617 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:36:09.620Z,1629038169.620 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143610.31*5D

2021-08-15T14:36:10.059Z,1629038170.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 365.339966 m, bearing: 352.721706 deg, deltaT: 4.847858 s, approachRate: 0.222776 m/s, LOS rate: -18.002972 deg/s, posRepo size: 4
2021-08-15T14:36:10.059Z,1629038170.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.002972 deg/s. Setting heading cmd to target bearing of 352.721706deg and heading rate command to 0 deg/s.
2021-08-15T14:36:12.467Z,1629038172.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:36:12.847Z,1629038172.847 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:36:12.847Z,1629038172.847 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:36:12.847Z,1629038172.847 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:36:12.848Z,1629038172.848 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:36:13.221Z,1629038173.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
41C,000,01A3A,189,80,80,5B,FF
2021-08-15T14:36:13.221Z,1629038173.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:36:13.221Z,1629038173.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:36:13.223Z,1629038173.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:36:13.633Z,1629038173.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:36:14.471Z,1629038174.471 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D2B,000,01A52,189,80,80,5C,FF
2021-08-15T14:36:14.471Z,1629038174.471 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:36:14.474Z,1629038174.474 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143615.15*5E

2021-08-15T14:36:14.952Z,1629038174.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 366.779999 m, bearing: 67.640176 deg, deltaT: 4.894994 s, approachRate: 0.294185 m/s, LOS rate: 15.305122 deg/s, posRepo size: 4
2021-08-15T14:36:14.953Z,1629038174.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.305122 deg/s. Setting heading cmd to target bearing of 67.640176deg and heading rate command to 0 deg/s.
2021-08-15T14:36:17.403Z,1629038177.403 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:36:17.657Z,1629038177.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:36:17.657Z,1629038177.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:36:17.657Z,1629038177.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:36:17.658Z,1629038177.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:36:18.061Z,1629038178.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D2B,000,01A52,189,80,80,5C,FF
2021-08-15T14:36:18.062Z,1629038178.062 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:36:18.062Z,1629038178.062 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:36:18.063Z,1629038178.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:36:18.477Z,1629038178.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:36:19.291Z,1629038179.291 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D2F,000,01A87,18A,80,80,22,FF
2021-08-15T14:36:19.294Z,1629038179.294 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:36:19.327Z,1629038179.327 [Micromodem](INFO): Nmea in: $SNTTA,0.424481,0.424581,,,143619.99*57

2021-08-15T14:36:19.712Z,1629038179.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 369.959991 m, bearing: 54.512863 deg, deltaT: 4.856043 s, approachRate: 0.654853 m/s, LOS rate: -2.703294 deg/s, posRepo size: 4
2021-08-15T14:36:19.714Z,1629038179.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 369.959991 m,
      bearing: 54.512863 deg,
      approachRate: 0.654853 m/s,
      LOS rate: -2.703294 deg/s,
      cmd update: -10.813176 deg/s,
      cmd heading: 67.640176 deg,
      new cmd heading: 67.640176 deg.

2021-08-15T14:36:22.127Z,1629038182.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:36:22.509Z,1629038182.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:36:22.509Z,1629038182.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:36:22.509Z,1629038182.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:36:22.510Z,1629038182.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:36:22.921Z,1629038182.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D2F,000,01A87,18A,80,80,22,FF
2021-08-15T14:36:22.921Z,1629038182.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:36:22.922Z,1629038182.922 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:36:22.923Z,1629038182.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:36:23.353Z,1629038183.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:36:24.149Z,1629038184.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E84,000,01AA9,186,80,80,4D,FF
2021-08-15T14:36:24.150Z,1629038184.150 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:36:24.152Z,1629038184.152 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143624.85*55

2021-08-15T14:36:24.597Z,1629038184.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 372.000000 m, bearing: 37.933610 deg, deltaT: 4.815399 s, approachRate: 0.423643 m/s, LOS rate: -3.442966 deg/s, posRepo size: 4
2021-08-15T14:36:24.599Z,1629038184.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 372.000000 m,
      bearing: 37.933610 deg,
      approachRate: 0.423643 m/s,
      LOS rate: -3.442966 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 15.658091 deg,
      new cmd heading: 11.461356 deg.

2021-08-15T14:36:26.981Z,1629038186.981 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:36:27.436Z,1629038187.436 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:36:27.436Z,1629038187.436 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:36:27.437Z,1629038187.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:36:27.437Z,1629038187.437 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:36:27.777Z,1629038187.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E84,000,01AA9,186,80,80,4D,FF
2021-08-15T14:36:27.777Z,1629038187.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:36:27.777Z,1629038187.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:36:27.779Z,1629038187.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:36:28.189Z,1629038188.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:36:29.017Z,1629038189.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3A,000,01AD9,186,80,80,69,FF
2021-08-15T14:36:29.018Z,1629038189.018 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:36:29.032Z,1629038189.032 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143629.72*50

2021-08-15T14:36:29.459Z,1629038189.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 374.879974 m, bearing: 56.348688 deg, deltaT: 4.875622 s, approachRate: 0.590689 m/s, LOS rate: 3.776970 deg/s, posRepo size: 4
2021-08-15T14:36:29.461Z,1629038189.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 374.879974 m,
      bearing: 56.348688 deg,
      approachRate: 0.590689 m/s,
      LOS rate: 3.776970 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 317.100957 deg,
      new cmd heading: 312.605673 deg.

2021-08-15T14:36:31.845Z,1629038191.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:36:32.205Z,1629038192.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:36:32.205Z,1629038192.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:36:32.205Z,1629038192.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:36:32.206Z,1629038192.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:36:32.621Z,1629038192.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3A,000,01AD9,186,80,80,69,FF
2021-08-15T14:36:32.621Z,1629038192.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:36:32.621Z,1629038192.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:36:32.623Z,1629038192.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:36:33.067Z,1629038193.067 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:36:33.847Z,1629038193.847 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143634.55*59

2021-08-15T14:36:34.680Z,1629038194.680 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:36:36.245Z,1629038196.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,69,FF
2021-08-15T14:36:36.245Z,1629038196.245 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,69,FF
2021-08-15T14:36:36.245Z,1629038196.245 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:36:37.498Z,1629038197.498 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:36:37.877Z,1629038197.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:36:37.877Z,1629038197.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:36:37.877Z,1629038197.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:36:37.878Z,1629038197.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:36:38.279Z,1629038198.279 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,69,FF
2021-08-15T14:36:38.280Z,1629038198.280 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:36:38.281Z,1629038198.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:36:38.287Z,1629038198.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:36:38.682Z,1629038198.682 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:36:39.121Z,1629038199.121 [Micromodem](INFO): Nmea in: $SNTTA,0.255791,0.312342,,,143640.22*52

2021-08-15T14:36:39.473Z,1629038199.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E41,000,01B3B,187,80,80,76,FF
2021-08-15T14:36:39.474Z,1629038199.474 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:36:39.939Z,1629038199.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 380.760010 m, bearing: 29.540025 deg, deltaT: 10.448607 s, approachRate: 0.562758 m/s, LOS rate: -2.565764 deg/s, posRepo size: 4
2021-08-15T14:36:39.945Z,1629038199.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 380.760010 m,
      bearing: 29.540025 deg,
      approachRate: 0.562758 m/s,
      LOS rate: -2.565764 deg/s,
      cmd update: -10.263058 deg/s,
      cmd heading: 82.407672 deg,
      new cmd heading: 87.187609 deg.

2021-08-15T14:36:42.363Z,1629038202.363 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:36:42.733Z,1629038202.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:36:42.733Z,1629038202.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:36:42.733Z,1629038202.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:36:42.734Z,1629038202.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:36:43.137Z,1629038203.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E41,000,01B3B,187,80,80,76,FF
2021-08-15T14:36:43.137Z,1629038203.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:36:43.138Z,1629038203.138 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:36:43.139Z,1629038203.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:36:43.271Z,1629038203.271 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T14:36:43.530Z,1629038203.530 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:36:44.351Z,1629038204.351 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8E,000,01B71,185,80,80,48,FF
2021-08-15T14:36:44.352Z,1629038204.352 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:36:44.355Z,1629038204.355 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143645.07*58

2021-08-15T14:36:44.776Z,1629038204.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 383.999969 m, bearing: 37.452734 deg, deltaT: 4.869644 s, approachRate: 0.665338 m/s, LOS rate: 1.624905 deg/s, posRepo size: 4
2021-08-15T14:36:44.778Z,1629038204.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 383.999969 m,
      bearing: 37.452734 deg,
      approachRate: 0.665338 m/s,
      LOS rate: 1.624905 deg/s,
      cmd update: 6.499620 deg/s,
      cmd heading: 32.363444 deg,
      new cmd heading: 28.529453 deg.

2021-08-15T14:36:47.211Z,1629038207.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:36:47.565Z,1629038207.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:36:47.565Z,1629038207.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:36:47.565Z,1629038207.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:36:47.566Z,1629038207.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:36:47.965Z,1629038207.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8E,000,01B71,185,80,80,48,FF
2021-08-15T14:36:47.965Z,1629038207.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:36:47.965Z,1629038207.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:36:47.967Z,1629038207.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:36:48.381Z,1629038208.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:36:49.197Z,1629038209.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F11,000,01BA6,186,80,80,5B,FF
2021-08-15T14:36:49.197Z,1629038209.197 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:36:49.201Z,1629038209.201 [Micromodem](INFO): Nmea in: $SNTTA,,0.433651,,,143649.90*42

2021-08-15T14:36:49.639Z,1629038209.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 387.179993 m, bearing: 49.985387 deg, deltaT: 4.870302 s, approachRate: 0.652942 m/s, LOS rate: 2.573280 deg/s, posRepo size: 4
2021-08-15T14:36:49.645Z,1629038209.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 387.179993 m,
      bearing: 49.985387 deg,
      approachRate: 0.652942 m/s,
      LOS rate: 2.573280 deg/s,
      cmd update: 10.293122 deg/s,
      cmd heading: 64.043185 deg,
      new cmd heading: 66.399160 deg.

2021-08-15T14:36:52.045Z,1629038212.045 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:36:52.413Z,1629038212.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:36:52.413Z,1629038212.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:36:52.413Z,1629038212.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:36:52.414Z,1629038212.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:36:52.810Z,1629038212.810 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F11,000,01BA6,186,80,80,5B,FF
2021-08-15T14:36:52.810Z,1629038212.810 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:36:52.810Z,1629038212.810 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:36:52.841Z,1629038212.841 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:36:53.222Z,1629038213.222 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:36:54.133Z,1629038214.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C5,000,01BB5,187,80,80,75,FF
2021-08-15T14:36:54.133Z,1629038214.133 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:36:54.136Z,1629038214.136 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143654.77*5F

2021-08-15T14:36:54.513Z,1629038214.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 388.079956 m, bearing: 33.470789 deg, deltaT: 4.876918 s, approachRate: 0.184535 m/s, LOS rate: -3.386278 deg/s, posRepo size: 4
2021-08-15T14:36:54.515Z,1629038214.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 388.079956 m,
      bearing: 33.470789 deg,
      approachRate: 0.184535 m/s,
      LOS rate: -3.386278 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 114.244941 deg,
      new cmd heading: 117.900862 deg.

2021-08-15T14:36:56.887Z,1629038216.887 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:36:57.286Z,1629038217.286 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:36:57.286Z,1629038217.286 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:36:57.287Z,1629038217.287 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:36:57.291Z,1629038217.291 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:36:57.673Z,1629038217.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C5,000,01BB5,187,80,80,75,FF
2021-08-15T14:36:57.673Z,1629038217.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:36:57.673Z,1629038217.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:36:57.675Z,1629038217.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:36:58.095Z,1629038218.095 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:36:58.917Z,1629038218.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D83,000,01BB5,188,80,80,5D,FF
2021-08-15T14:36:58.917Z,1629038218.917 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:36:58.921Z,1629038218.921 [Micromodem](INFO): Nmea in: $SNTTA,0.261080,,,,143659.60*47

2021-08-15T14:36:59.365Z,1629038219.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 388.079956 m, bearing: 108.790215 deg, deltaT: 4.783044 s, approachRate: 0.000000 m/s, LOS rate: 15.747174 deg/s, posRepo size: 4
2021-08-15T14:36:59.366Z,1629038219.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.747174 deg/s. Setting heading cmd to target bearing of 108.790215deg and heading rate command to 0 deg/s.
2021-08-15T14:37:01.736Z,1629038221.736 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:37:02.121Z,1629038222.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:37:02.122Z,1629038222.122 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:37:02.122Z,1629038222.122 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:37:02.123Z,1629038222.123 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:37:02.538Z,1629038222.538 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D83,000,01BB5,188,80,80,5D,FF
2021-08-15T14:37:02.538Z,1629038222.538 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:37:02.538Z,1629038222.538 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:37:02.542Z,1629038222.542 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:37:02.938Z,1629038222.938 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:37:03.754Z,1629038223.754 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,01BB5,189,80,80,8C,FF
2021-08-15T14:37:03.755Z,1629038223.755 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:37:03.776Z,1629038223.776 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143704.47*58

2021-08-15T14:37:04.194Z,1629038224.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 388.079956 m, bearing: 156.210156 deg, deltaT: 4.882974 s, approachRate: 0.000000 m/s, LOS rate: 9.711282 deg/s, posRepo size: 4
2021-08-15T14:37:04.196Z,1629038224.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 388.079956 m,
      bearing: 156.210156 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 9.711282 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 108.790215 deg,
      new cmd heading: 108.790215 deg.

2021-08-15T14:37:06.618Z,1629038226.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:37:06.969Z,1629038226.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:37:06.969Z,1629038226.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:37:06.969Z,1629038226.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:37:06.970Z,1629038226.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:37:07.469Z,1629038227.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,01BB5,189,80,80,8C,FF
2021-08-15T14:37:07.470Z,1629038227.470 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:37:07.470Z,1629038227.470 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:37:07.471Z,1629038227.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:37:07.793Z,1629038227.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:37:08.695Z,1629038228.695 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C19,000,01BA3,189,80,80,C1,FF
2021-08-15T14:37:08.695Z,1629038228.695 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:37:08.698Z,1629038228.698 [Micromodem](INFO): Nmea in: $SNTTA,0.260074,,,,143709.40*4B

2021-08-15T14:37:09.089Z,1629038229.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 386.999969 m, bearing: 154.558930 deg, deltaT: 4.957247 s, approachRate: -0.217860 m/s, LOS rate: -0.333093 deg/s, posRepo size: 4
2021-08-15T14:37:09.091Z,1629038229.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 386.999969 m,
      bearing: 154.558930 deg,
      approachRate: -0.217860 m/s,
      LOS rate: -0.333093 deg/s,
      cmd update: -1.332373 deg/s,
      cmd heading: 168.228364 deg,
      new cmd heading: 172.023028 deg.

2021-08-15T14:37:11.475Z,1629038231.475 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:37:11.817Z,1629038231.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:37:11.817Z,1629038231.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:37:11.817Z,1629038231.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:37:11.818Z,1629038231.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:37:12.231Z,1629038232.231 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C19,000,01BA3,189,80,80,C1,FF
2021-08-15T14:37:12.231Z,1629038232.231 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:37:12.231Z,1629038232.231 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:37:12.233Z,1629038232.233 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:37:12.637Z,1629038232.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:37:13.453Z,1629038233.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15C,000,01B82,186,80,80,71,FF
2021-08-15T14:37:13.454Z,1629038233.454 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:37:13.457Z,1629038233.457 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143714.16*5D

2021-08-15T14:37:13.885Z,1629038233.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 385.019958 m, bearing: 105.947524 deg, deltaT: 4.801938 s, approachRate: -0.412336 m/s, LOS rate: -10.123289 deg/s, posRepo size: 4
2021-08-15T14:37:13.887Z,1629038233.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 385.019958 m,
      bearing: 105.947524 deg,
      approachRate: -0.412336 m/s,
      LOS rate: -10.123289 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 161.825221 deg,
      new cmd heading: 161.411713 deg.

2021-08-15T14:37:16.300Z,1629038236.300 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:37:16.664Z,1629038236.664 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:37:16.664Z,1629038236.664 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:37:16.664Z,1629038236.664 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:37:16.665Z,1629038236.665 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:37:17.105Z,1629038237.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15C,000,01B82,186,80,80,71,FF
2021-08-15T14:37:17.105Z,1629038237.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:37:17.106Z,1629038237.106 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:37:17.107Z,1629038237.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:37:17.488Z,1629038237.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:37:18.283Z,1629038238.283 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDC,000,01B57,186,80,80,68,FF
2021-08-15T14:37:18.284Z,1629038238.284 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:37:18.301Z,1629038238.301 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143719.04*53

2021-08-15T14:37:18.729Z,1629038238.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 382.440002 m, bearing: 156.722953 deg, deltaT: 4.830714 s, approachRate: -0.534073 m/s, LOS rate: 10.510958 deg/s, posRepo size: 4
2021-08-15T14:37:18.731Z,1629038238.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 382.440002 m,
      bearing: 156.722953 deg,
      approachRate: -0.534073 m/s,
      LOS rate: 10.510958 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 104.016311 deg,
      new cmd heading: 99.983027 deg.

2021-08-15T14:37:21.196Z,1629038241.196 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:37:21.536Z,1629038241.536 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:37:21.536Z,1629038241.536 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:37:21.536Z,1629038241.536 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:37:21.537Z,1629038241.537 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:37:21.989Z,1629038241.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDC,000,01B57,186,80,80,68,FF
2021-08-15T14:37:21.989Z,1629038241.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:37:21.989Z,1629038241.989 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:37:21.991Z,1629038241.991 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:37:22.384Z,1629038242.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:37:23.151Z,1629038243.151 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC9,000,01B31,187,80,80,6E,FF
2021-08-15T14:37:23.152Z,1629038243.152 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:37:23.159Z,1629038243.159 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143723.92*55

2021-08-15T14:37:23.587Z,1629038243.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 380.160004 m, bearing: 152.226694 deg, deltaT: 4.832365 s, approachRate: -0.471818 m/s, LOS rate: -0.930447 deg/s, posRepo size: 4
2021-08-15T14:37:23.589Z,1629038243.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 380.160004 m,
      bearing: 152.226694 deg,
      approachRate: -0.471818 m/s,
      LOS rate: -0.930447 deg/s,
      cmd update: -3.721788 deg/s,
      cmd heading: 162.216025 deg,
      new cmd heading: 166.353925 deg.

2021-08-15T14:37:25.975Z,1629038245.975 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:37:26.376Z,1629038246.376 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:37:26.377Z,1629038246.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:37:26.377Z,1629038246.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:37:26.379Z,1629038246.379 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:37:26.769Z,1629038246.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC9,000,01B31,187,80,80,6E,FF
2021-08-15T14:37:26.769Z,1629038246.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:37:26.770Z,1629038246.770 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:37:26.771Z,1629038246.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:37:27.181Z,1629038247.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:37:27.989Z,1629038247.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FB,000,01AFD,186,80,80,3F,FF
2021-08-15T14:37:27.989Z,1629038247.989 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:37:28.427Z,1629038248.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 377.040009 m, bearing: 99.934178 deg, deltaT: 4.784117 s, approachRate: -0.652157 m/s, LOS rate: -10.930442 deg/s, posRepo size: 4
2021-08-15T14:37:28.429Z,1629038248.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 377.040009 m,
      bearing: 99.934178 deg,
      approachRate: -0.652157 m/s,
      LOS rate: -10.930442 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 144.410278 deg,
      new cmd heading: 142.920357 deg.

2021-08-15T14:37:30.839Z,1629038250.839 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:37:31.209Z,1629038251.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:37:31.209Z,1629038251.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:37:31.210Z,1629038251.210 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:37:31.211Z,1629038251.211 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:37:31.614Z,1629038251.614 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1FB,000,01AFD,186,80,80,3F,FF
2021-08-15T14:37:31.614Z,1629038251.614 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:37:31.614Z,1629038251.614 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:37:31.615Z,1629038251.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:37:32.029Z,1629038252.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:37:32.875Z,1629038252.875 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143733.55*5F

2021-08-15T14:37:33.672Z,1629038253.672 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:37:34.941Z,1629038254.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,186,80,80,3F,FF
2021-08-15T14:37:34.942Z,1629038254.942 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,186,80,80,3F,FF
2021-08-15T14:37:34.942Z,1629038254.942 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:37:36.528Z,1629038256.528 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:37:36.873Z,1629038256.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:37:36.873Z,1629038256.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:37:36.873Z,1629038256.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:37:36.874Z,1629038256.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:37:37.285Z,1629038257.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,186,80,80,3F,FF
2021-08-15T14:37:37.285Z,1629038257.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:37:37.285Z,1629038257.285 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:37:37.287Z,1629038257.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:37:37.688Z,1629038257.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:37:38.501Z,1629038258.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CB1,000,01AA7,189,80,80,72,FF
2021-08-15T14:37:38.501Z,1629038258.501 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:37:38.504Z,1629038258.504 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143739.22*55

2021-08-15T14:37:38.947Z,1629038258.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 371.880005 m, bearing: 159.933879 deg, deltaT: 10.493411 s, approachRate: -0.491737 m/s, LOS rate: 5.717845 deg/s, posRepo size: 4
2021-08-15T14:37:38.949Z,1629038258.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 371.880005 m,
      bearing: 159.933879 deg,
      approachRate: -0.491737 m/s,
      LOS rate: 5.717845 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 18.492536 deg,
      new cmd heading: 13.359031 deg.

2021-08-15T14:37:41.385Z,1629038261.385 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:37:41.716Z,1629038261.716 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:37:41.716Z,1629038261.716 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:37:41.717Z,1629038261.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:37:41.717Z,1629038261.717 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:37:42.117Z,1629038262.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CB1,000,01AA7,189,80,80,72,FF
2021-08-15T14:37:42.117Z,1629038262.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:37:42.117Z,1629038262.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:37:42.119Z,1629038262.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:37:42.533Z,1629038262.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:37:43.370Z,1629038263.370 [Micromodem](INFO): Nmea in: $SNTTA,0.249174,,,,143744.05*49

2021-08-15T14:37:44.163Z,1629038264.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:37:45.757Z,1629038265.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,189,80,80,72,FF
2021-08-15T14:37:45.757Z,1629038265.757 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,189,80,80,72,FF
2021-08-15T14:37:45.758Z,1629038265.758 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:37:46.998Z,1629038266.998 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:37:47.378Z,1629038267.378 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:37:47.378Z,1629038267.378 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:37:47.378Z,1629038267.378 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:37:47.379Z,1629038267.379 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:37:47.406Z,1629038267.406 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-15T14:37:47.777Z,1629038267.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,189,80,80,72,FF
2021-08-15T14:37:47.777Z,1629038267.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:37:47.778Z,1629038267.778 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:37:47.779Z,1629038267.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:37:48.248Z,1629038268.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:37:48.265Z,1629038268.265 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T14:37:49.049Z,1629038269.049 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143749.71*54

2021-08-15T14:37:49.827Z,1629038269.827 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:37:51.421Z,1629038271.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,189,80,80,72,FF
2021-08-15T14:37:51.421Z,1629038271.421 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,189,80,80,72,FF
2021-08-15T14:37:51.422Z,1629038271.422 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:37:52.687Z,1629038272.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:37:53.056Z,1629038273.056 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:37:53.056Z,1629038273.056 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:37:53.057Z,1629038273.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:37:53.058Z,1629038273.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:37:53.448Z,1629038273.448 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,189,80,80,72,FF
2021-08-15T14:37:53.449Z,1629038273.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:37:53.449Z,1629038273.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:37:53.450Z,1629038273.450 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:37:53.844Z,1629038273.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:37:54.662Z,1629038274.662 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143755.38*54

2021-08-15T14:37:55.494Z,1629038275.494 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:37:57.109Z,1629038277.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,189,80,80,72,FF
2021-08-15T14:37:57.110Z,1629038277.110 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,189,80,80,72,FF
2021-08-15T14:37:57.110Z,1629038277.110 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:37:58.353Z,1629038278.353 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:37:58.685Z,1629038278.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:37:58.685Z,1629038278.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:37:58.685Z,1629038278.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:37:58.686Z,1629038278.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:37:59.130Z,1629038279.130 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,189,80,80,72,FF
2021-08-15T14:37:59.131Z,1629038279.131 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:37:59.131Z,1629038279.131 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:37:59.134Z,1629038279.134 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:37:59.500Z,1629038279.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:38:00.321Z,1629038280.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D45,000,01A54,189,80,80,70,FF
2021-08-15T14:38:00.323Z,1629038280.323 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:38:00.337Z,1629038280.337 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143801.06*57

2021-08-15T14:38:00.774Z,1629038280.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 366.899994 m, bearing: 154.440016 deg, deltaT: 21.885824 s, approachRate: -0.227545 m/s, LOS rate: -0.251024 deg/s, posRepo size: 4
2021-08-15T14:38:00.781Z,1629038280.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 366.899994 m,
      bearing: 154.440016 deg,
      approachRate: -0.227545 m/s,
      LOS rate: -0.251024 deg/s,
      cmd update: -1.004095 deg/s,
      cmd heading: 281.017706 deg,
      new cmd heading: 285.552926 deg.

2021-08-15T14:38:03.275Z,1629038283.275 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:38:03.585Z,1629038283.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:38:03.585Z,1629038283.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:38:03.585Z,1629038283.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:38:03.586Z,1629038283.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:38:03.978Z,1629038283.978 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D45,000,01A54,189,80,80,70,FF
2021-08-15T14:38:03.978Z,1629038283.978 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:38:03.978Z,1629038283.978 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:38:03.981Z,1629038283.981 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:38:04.395Z,1629038284.395 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:38:05.224Z,1629038285.224 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D86,000,01A3B,189,80,80,45,FF
2021-08-15T14:38:05.225Z,1629038285.225 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:38:05.227Z,1629038285.227 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143805.91*5D

2021-08-15T14:38:05.671Z,1629038285.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 365.399963 m, bearing: 168.698310 deg, deltaT: 4.862358 s, approachRate: -0.308499 m/s, LOS rate: 2.932382 deg/s, posRepo size: 4
2021-08-15T14:38:05.677Z,1629038285.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 365.399963 m,
      bearing: 168.698310 deg,
      approachRate: -0.308499 m/s,
      LOS rate: 2.932382 deg/s,
      cmd update: 11.729530 deg/s,
      cmd heading: 276.130601 deg,
      new cmd heading: 275.721618 deg.

2021-08-15T14:38:08.067Z,1629038288.067 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:38:08.421Z,1629038288.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:38:08.421Z,1629038288.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:38:08.421Z,1629038288.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:38:08.422Z,1629038288.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:38:08.839Z,1629038288.839 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D86,000,01A3B,189,80,80,45,FF
2021-08-15T14:38:08.839Z,1629038288.839 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:38:08.839Z,1629038288.839 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:38:08.843Z,1629038288.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:38:09.244Z,1629038289.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:38:10.057Z,1629038290.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCB,000,01A0A,184,80,80,67,FF
2021-08-15T14:38:10.057Z,1629038290.057 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:38:10.061Z,1629038290.061 [Micromodem](INFO): Nmea in: $SNTTA,0.244174,,,,143810.77*4F

2021-08-15T14:38:10.523Z,1629038290.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 362.459991 m, bearing: 162.155043 deg, deltaT: 4.809830 s, approachRate: -0.611242 m/s, LOS rate: -1.360395 deg/s, posRepo size: 4
2021-08-15T14:38:10.530Z,1629038290.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 362.459991 m,
      bearing: 162.155043 deg,
      approachRate: -0.611242 m/s,
      LOS rate: -1.360395 deg/s,
      cmd update: -5.441578 deg/s,
      cmd heading: 332.582976 deg,
      new cmd heading: 337.808587 deg.

2021-08-15T14:38:12.883Z,1629038292.883 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:38:13.286Z,1629038293.286 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:38:13.286Z,1629038293.286 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:38:13.286Z,1629038293.286 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:38:13.289Z,1629038293.289 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:38:13.677Z,1629038293.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCB,000,01A0A,184,80,80,67,FF
2021-08-15T14:38:13.677Z,1629038293.677 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:38:13.677Z,1629038293.677 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:38:13.679Z,1629038293.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:38:14.080Z,1629038294.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:38:14.913Z,1629038294.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A6,000,019DC,186,80,80,72,FF
2021-08-15T14:38:14.913Z,1629038294.913 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:38:14.916Z,1629038294.916 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143815.61*53

2021-08-15T14:38:15.574Z,1629038295.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 359.700012 m, bearing: 157.614279 deg, deltaT: 4.886481 s, approachRate: -0.564819 m/s, LOS rate: -0.929250 deg/s, posRepo size: 4
2021-08-15T14:38:15.580Z,1629038295.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 359.700012 m,
      bearing: 157.614279 deg,
      approachRate: -0.564819 m/s,
      LOS rate: -0.929250 deg/s,
      cmd update: -3.717002 deg/s,
      cmd heading: 306.008794 deg,
      new cmd heading: 302.668715 deg.

2021-08-15T14:38:17.862Z,1629038297.862 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:38:18.203Z,1629038298.203 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:38:18.203Z,1629038298.203 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:38:18.203Z,1629038298.203 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:38:18.204Z,1629038298.204 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:38:18.609Z,1629038298.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A6,000,019DC,186,80,80,72,FF
2021-08-15T14:38:18.609Z,1629038298.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:38:18.610Z,1629038298.610 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:38:18.613Z,1629038298.613 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:38:19.051Z,1629038299.051 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:38:19.852Z,1629038299.852 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,39B,000,019BE,189,80,80,61,FF
2021-08-15T14:38:19.853Z,1629038299.853 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:38:19.856Z,1629038299.856 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143820.54*53

2021-08-15T14:38:20.311Z,1629038300.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 357.899994 m, bearing: 155.928506 deg, deltaT: 4.912098 s, approachRate: -0.366446 m/s, LOS rate: -0.343188 deg/s, posRepo size: 4
2021-08-15T14:38:20.327Z,1629038300.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 357.899994 m,
      bearing: 155.928506 deg,
      approachRate: -0.366446 m/s,
      LOS rate: -0.343188 deg/s,
      cmd update: -1.372752 deg/s,
      cmd heading: 287.735552 deg,
      new cmd heading: 286.152121 deg.

2021-08-15T14:38:22.719Z,1629038302.719 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:38:23.097Z,1629038303.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:38:23.097Z,1629038303.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:38:23.097Z,1629038303.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:38:23.098Z,1629038303.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:38:23.449Z,1629038303.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
39B,000,019BE,189,80,80,61,FF
2021-08-15T14:38:23.449Z,1629038303.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:38:23.449Z,1629038303.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:38:23.451Z,1629038303.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:38:23.864Z,1629038303.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:38:24.690Z,1629038304.690 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,019A6,189,80,80,8E,FF
2021-08-15T14:38:24.691Z,1629038304.691 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:38:24.693Z,1629038304.693 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143825.38*5C

2021-08-15T14:38:25.181Z,1629038305.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 356.459991 m, bearing: 161.095175 deg, deltaT: 4.844097 s, approachRate: -0.297270 m/s, LOS rate: 1.066591 deg/s, posRepo size: 4
2021-08-15T14:38:25.183Z,1629038305.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 356.459991 m,
      bearing: 161.095175 deg,
      approachRate: -0.297270 m/s,
      LOS rate: 1.066591 deg/s,
      cmd update: 4.266363 deg/s,
      cmd heading: 281.086298 deg,
      new cmd heading: 280.454046 deg.

2021-08-15T14:38:27.539Z,1629038307.539 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:38:27.908Z,1629038307.908 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:38:27.908Z,1629038307.908 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:38:27.910Z,1629038307.910 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:38:27.960Z,1629038307.960 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:38:27.960Z,1629038307.960 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,019A6,189,80,80,8E,FF
2021-08-15T14:38:27.960Z,1629038307.960 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:38:27.961Z,1629038307.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:38:27.962Z,1629038307.962 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:38:28.335Z,1629038308.335 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:38:29.257Z,1629038309.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D72,000,0199D,188,80,80,78,FF
2021-08-15T14:38:29.258Z,1629038309.258 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:38:29.261Z,1629038309.261 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143829.89*5A

2021-08-15T14:38:29.614Z,1629038309.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 355.919983 m, bearing: 274.474376 deg, deltaT: 4.629446 s, approachRate: -0.116646 m/s, LOS rate: 24.490880 deg/s, posRepo size: 4
2021-08-15T14:38:29.615Z,1629038309.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 24.490880 deg/s. Setting heading cmd to target bearing of 274.474376deg and heading rate command to 0 deg/s.
2021-08-15T14:38:32.006Z,1629038312.006 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:38:32.385Z,1629038312.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:38:32.386Z,1629038312.386 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:38:32.386Z,1629038312.386 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:38:32.387Z,1629038312.387 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:38:32.767Z,1629038312.767 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D72,000,0199D,188,80,80,78,FF
2021-08-15T14:38:32.767Z,1629038312.767 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:38:32.767Z,1629038312.767 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:38:32.769Z,1629038312.769 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:38:33.189Z,1629038313.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:38:34.012Z,1629038314.012 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143834.70*50

2021-08-15T14:38:34.819Z,1629038314.819 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:38:36.398Z,1629038316.398 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,188,80,80,78,FF
2021-08-15T14:38:36.398Z,1629038316.398 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,188,80,80,78,FF
2021-08-15T14:38:36.398Z,1629038316.398 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:38:37.652Z,1629038317.652 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:38:38.019Z,1629038318.019 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:38:38.019Z,1629038318.019 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:38:38.019Z,1629038318.019 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:38:38.020Z,1629038318.020 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:38:38.423Z,1629038318.423 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,188,80,80,78,FF
2021-08-15T14:38:38.423Z,1629038318.423 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:38:38.423Z,1629038318.423 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:38:38.425Z,1629038318.425 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:38:38.830Z,1629038318.830 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:38:39.668Z,1629038319.668 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,32D,000,019B5,189,80,80,4F,FF
2021-08-15T14:38:39.669Z,1629038319.669 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:38:39.672Z,1629038319.672 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143840.36*51

2021-08-15T14:38:40.097Z,1629038320.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 357.360016 m, bearing: 240.435336 deg, deltaT: 10.348368 s, approachRate: 0.139156 m/s, LOS rate: -3.289315 deg/s, posRepo size: 4
2021-08-15T14:38:40.099Z,1629038320.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 357.360016 m,
      bearing: 240.435336 deg,
      approachRate: 0.139156 m/s,
      LOS rate: -3.289315 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 274.474376 deg,
      new cmd heading: 274.474376 deg.

2021-08-15T14:38:42.530Z,1629038322.530 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:38:42.997Z,1629038322.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:38:42.997Z,1629038322.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:38:42.997Z,1629038322.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:38:42.998Z,1629038322.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:38:43.321Z,1629038323.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
32D,000,019B5,189,80,80,4F,FF
2021-08-15T14:38:43.321Z,1629038323.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:38:43.322Z,1629038323.322 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:38:43.328Z,1629038323.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:38:43.693Z,1629038323.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:38:44.495Z,1629038324.495 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F4,000,019D4,189,80,80,75,FF
2021-08-15T14:38:44.497Z,1629038324.497 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:38:44.503Z,1629038324.503 [Micromodem](INFO): Nmea in: $SNTTA,0.242146,,,,143845.26*4C

2021-08-15T14:38:44.946Z,1629038324.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 359.219971 m, bearing: 241.078903 deg, deltaT: 4.894297 s, approachRate: 0.380025 m/s, LOS rate: 0.131493 deg/s, posRepo size: 4
2021-08-15T14:38:44.949Z,1629038324.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 359.219971 m,
      bearing: 241.078903 deg,
      approachRate: 0.380025 m/s,
      LOS rate: 0.131493 deg/s,
      cmd update: 0.525974 deg/s,
      cmd heading: 215.741994 deg,
      new cmd heading: 211.493502 deg.

2021-08-15T14:38:47.407Z,1629038327.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:38:47.717Z,1629038327.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:38:47.717Z,1629038327.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:38:47.717Z,1629038327.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:38:47.718Z,1629038327.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:38:48.119Z,1629038328.119 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F4,000,019D4,189,80,80,75,FF
2021-08-15T14:38:48.119Z,1629038328.119 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:38:48.119Z,1629038328.119 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:38:48.121Z,1629038328.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:38:48.541Z,1629038328.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:38:49.374Z,1629038329.374 [Micromodem](INFO): Nmea in: $SNTTA,0.242623,,,,143850.05*4D

2021-08-15T14:38:50.171Z,1629038330.171 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:38:51.762Z,1629038331.762 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,189,80,80,75,FF
2021-08-15T14:38:51.762Z,1629038331.762 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,189,80,80,75,FF
2021-08-15T14:38:51.763Z,1629038331.763 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:38:53.083Z,1629038333.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:38:53.392Z,1629038333.392 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:38:53.392Z,1629038333.392 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:38:53.393Z,1629038333.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:38:53.393Z,1629038333.393 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:38:53.781Z,1629038333.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,189,80,80,75,FF
2021-08-15T14:38:53.781Z,1629038333.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:38:53.781Z,1629038333.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:38:53.783Z,1629038333.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:38:54.191Z,1629038334.191 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:38:55.044Z,1629038335.044 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,019FD,189,80,80,71,FF
2021-08-15T14:38:55.046Z,1629038335.046 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:38:55.063Z,1629038335.063 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143855.71*56

2021-08-15T14:38:55.515Z,1629038335.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 361.679962 m, bearing: 171.591673 deg, deltaT: 10.548645 s, approachRate: 0.233204 m/s, LOS rate: -6.587313 deg/s, posRepo size: 4
2021-08-15T14:38:55.517Z,1629038335.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 361.679962 m,
      bearing: 171.591673 deg,
      approachRate: 0.233204 m/s,
      LOS rate: -6.587313 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 221.285997 deg,
      new cmd heading: 221.486798 deg.

2021-08-15T14:38:57.874Z,1629038337.874 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:38:58.221Z,1629038338.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:38:58.221Z,1629038338.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:38:58.221Z,1629038338.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:38:58.222Z,1629038338.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:38:58.629Z,1629038338.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,019FD,189,80,80,71,FF
2021-08-15T14:38:58.629Z,1629038338.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:38:58.629Z,1629038338.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:38:58.631Z,1629038338.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:38:59.073Z,1629038339.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:38:59.861Z,1629038339.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,019E4,189,80,80,8C,FF
2021-08-15T14:38:59.861Z,1629038339.861 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:38:59.864Z,1629038339.864 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143900.56*52

2021-08-15T14:39:00.295Z,1629038340.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 360.179993 m, bearing: 152.198307 deg, deltaT: 4.739940 s, approachRate: -0.316453 m/s, LOS rate: -4.091479 deg/s, posRepo size: 4
2021-08-15T14:39:00.316Z,1629038340.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 360.179993 m,
      bearing: 152.198307 deg,
      approachRate: -0.316453 m/s,
      LOS rate: -4.091479 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 164.310966 deg,
      new cmd heading: 159.431178 deg.

2021-08-15T14:39:02.707Z,1629038342.707 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:39:03.105Z,1629038343.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:39:03.105Z,1629038343.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:39:03.105Z,1629038343.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:39:03.106Z,1629038343.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:39:03.483Z,1629038343.483 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,019E4,189,80,80,8C,FF
2021-08-15T14:39:03.483Z,1629038343.483 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:39:03.483Z,1629038343.483 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:39:03.485Z,1629038343.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:39:03.890Z,1629038343.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:39:04.718Z,1629038344.718 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143905.42*52

2021-08-15T14:39:05.534Z,1629038345.534 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:39:07.119Z,1629038347.119 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,189,80,80,8C,FF
2021-08-15T14:39:07.119Z,1629038347.119 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,189,80,80,8C,FF
2021-08-15T14:39:07.120Z,1629038347.120 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:39:08.401Z,1629038348.401 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:39:08.730Z,1629038348.730 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:39:08.730Z,1629038348.730 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:39:08.730Z,1629038348.730 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:39:08.731Z,1629038348.731 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:39:09.213Z,1629038349.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,189,80,80,8C,FF
2021-08-15T14:39:09.213Z,1629038349.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:39:09.213Z,1629038349.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:39:09.215Z,1629038349.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:39:09.641Z,1629038349.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:39:10.487Z,1629038350.487 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,180,000,019A1,186,80,80,80,FF
2021-08-15T14:39:10.487Z,1629038350.487 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:39:10.490Z,1629038350.490 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143911.15*55

2021-08-15T14:39:10.861Z,1629038350.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 356.159973 m, bearing: 153.376269 deg, deltaT: 10.634823 s, approachRate: -0.378005 m/s, LOS rate: 0.110765 deg/s, posRepo size: 4
2021-08-15T14:39:10.863Z,1629038350.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 356.159973 m,
      bearing: 153.376269 deg,
      approachRate: -0.378005 m/s,
      LOS rate: 0.110765 deg/s,
      cmd update: 0.443058 deg/s,
      cmd heading: 36.691395 deg,
      new cmd heading: 32.547807 deg.

2021-08-15T14:39:13.343Z,1629038353.343 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:39:13.653Z,1629038353.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:39:13.653Z,1629038353.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:39:13.653Z,1629038353.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:39:13.654Z,1629038353.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:39:14.057Z,1629038354.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
180,000,019A1,186,80,80,80,FF
2021-08-15T14:39:14.057Z,1629038354.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:39:14.058Z,1629038354.058 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:39:14.059Z,1629038354.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:39:14.465Z,1629038354.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:39:15.258Z,1629038355.258 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDA,000,01986,184,80,80,4F,FF
2021-08-15T14:39:15.258Z,1629038355.258 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:39:15.261Z,1629038355.261 [Micromodem](INFO): Nmea in: $SNTTA,0.427294,0.426427,,,143915.99*5A

2021-08-15T14:39:15.733Z,1629038355.733 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 354.539978 m, bearing: 154.870578 deg, deltaT: 4.875773 s, approachRate: -0.332254 m/s, LOS rate: 0.306476 deg/s, posRepo size: 4
2021-08-15T14:39:15.735Z,1629038355.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 354.539978 m,
      bearing: 154.870578 deg,
      approachRate: -0.332254 m/s,
      LOS rate: 0.306476 deg/s,
      cmd update: 1.225905 deg/s,
      cmd heading: 38.849905 deg,
      new cmd heading: 39.000564 deg.

2021-08-15T14:39:18.143Z,1629038358.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:39:18.516Z,1629038358.516 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:39:18.516Z,1629038358.516 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:39:18.517Z,1629038358.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:39:18.517Z,1629038358.517 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:39:18.940Z,1629038358.940 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDA,000,01986,184,80,80,4F,FF
2021-08-15T14:39:18.940Z,1629038358.940 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:39:18.940Z,1629038358.940 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:39:18.942Z,1629038358.942 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:39:19.342Z,1629038359.342 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:39:20.128Z,1629038360.128 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E77,000,0195A,186,80,80,6E,FF
2021-08-15T14:39:20.129Z,1629038360.129 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:39:20.149Z,1629038360.149 [Micromodem](INFO): Nmea in: $SNTTA,0.236590,,,,143920.87*49

2021-08-15T14:39:20.609Z,1629038360.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 351.900024 m, bearing: 152.807847 deg, deltaT: 4.801865 s, approachRate: -0.549777 m/s, LOS rate: -0.429569 deg/s, posRepo size: 4
2021-08-15T14:39:20.611Z,1629038360.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 351.900024 m,
      bearing: 152.807847 deg,
      approachRate: -0.549777 m/s,
      LOS rate: -0.429569 deg/s,
      cmd update: -1.718275 deg/s,
      cmd heading: 44.726327 deg,
      new cmd heading: 45.250900 deg.

2021-08-15T14:39:23.100Z,1629038363.100 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:39:23.457Z,1629038363.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:39:23.457Z,1629038363.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:39:23.457Z,1629038363.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:39:23.458Z,1629038363.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:39:23.815Z,1629038363.815 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E77,000,0195A,186,80,80,6E,FF
2021-08-15T14:39:23.815Z,1629038363.815 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:39:23.815Z,1629038363.815 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:39:23.817Z,1629038363.817 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:39:24.237Z,1629038364.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:39:25.069Z,1629038365.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C6D,000,01935,189,80,80,61,FF
2021-08-15T14:39:25.069Z,1629038365.069 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:39:25.076Z,1629038365.076 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143925.75*54

2021-08-15T14:39:25.503Z,1629038365.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 349.679993 m, bearing: 158.733214 deg, deltaT: 4.959959 s, approachRate: -0.447591 m/s, LOS rate: 1.194640 deg/s, posRepo size: 4
2021-08-15T14:39:25.509Z,1629038365.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 349.679993 m,
      bearing: 158.733214 deg,
      approachRate: -0.447591 m/s,
      LOS rate: 1.194640 deg/s,
      cmd update: 4.778561 deg/s,
      cmd heading: 36.197106 deg,
      new cmd heading: 35.581859 deg.

2021-08-15T14:39:27.885Z,1629038367.885 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:39:28.249Z,1629038368.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:39:28.249Z,1629038368.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:39:28.249Z,1629038368.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:39:28.250Z,1629038368.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:39:28.673Z,1629038368.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C6D,000,01935,189,80,80,61,FF
2021-08-15T14:39:28.673Z,1629038368.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:39:28.673Z,1629038368.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:39:28.675Z,1629038368.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:39:29.109Z,1629038369.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:39:29.875Z,1629038369.875 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,01927,189,80,80,3B,FF
2021-08-15T14:39:29.876Z,1629038369.876 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:39:29.879Z,1629038369.879 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143930.61*55

2021-08-15T14:39:30.342Z,1629038370.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 348.840027 m, bearing: 158.948283 deg, deltaT: 4.741193 s, approachRate: -0.177163 m/s, LOS rate: 0.045362 deg/s, posRepo size: 4
2021-08-15T14:39:30.344Z,1629038370.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 348.840027 m,
      bearing: 158.948283 deg,
      approachRate: -0.177163 m/s,
      LOS rate: 0.045362 deg/s,
      cmd update: 0.181447 deg/s,
      cmd heading: 58.893507 deg,
      new cmd heading: 61.031889 deg.

2021-08-15T14:39:32.743Z,1629038372.743 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:39:33.117Z,1629038373.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:39:33.117Z,1629038373.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:39:33.117Z,1629038373.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:39:33.118Z,1629038373.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:39:33.515Z,1629038373.515 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,01927,189,80,80,3B,FF
2021-08-15T14:39:33.515Z,1629038373.515 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:39:33.515Z,1629038373.515 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:39:33.518Z,1629038373.518 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:39:33.921Z,1629038373.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:39:34.738Z,1629038374.738 [Micromodem](INFO): Nmea in: $SNTTA,0.234187,,,,143935.45*43

2021-08-15T14:39:35.576Z,1629038375.576 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:39:37.221Z,1629038377.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,189,80,80,3B,FF
2021-08-15T14:39:37.221Z,1629038377.221 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,189,80,80,3B,FF
2021-08-15T14:39:37.221Z,1629038377.221 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:39:38.458Z,1629038378.458 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:39:38.761Z,1629038378.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:39:38.761Z,1629038378.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:39:38.761Z,1629038378.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:39:38.762Z,1629038378.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:39:39.169Z,1629038379.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,189,80,80,3B,FF
2021-08-15T14:39:39.169Z,1629038379.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:39:39.169Z,1629038379.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:39:39.171Z,1629038379.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:39:39.584Z,1629038379.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:39:40.406Z,1629038380.406 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE8,000,0191D,186,80,80,57,FF
2021-08-15T14:39:40.406Z,1629038380.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:39:40.427Z,1629038380.427 [Micromodem](INFO): Nmea in: $SNTTA,0.234569,,,,143941.10*44

2021-08-15T14:39:40.817Z,1629038380.817 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 348.239990 m, bearing: 72.762688 deg, deltaT: 10.581331 s, approachRate: -0.056707 m/s, LOS rate: -8.145062 deg/s, posRepo size: 4
2021-08-15T14:39:40.820Z,1629038380.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 348.239990 m,
      bearing: 72.762688 deg,
      approachRate: -0.056707 m/s,
      LOS rate: -8.145062 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 60.813464 deg,
      new cmd heading: 60.874502 deg.

2021-08-15T14:39:43.245Z,1629038383.245 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:39:43.617Z,1629038383.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:39:43.617Z,1629038383.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:39:43.617Z,1629038383.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:39:43.618Z,1629038383.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:39:44.005Z,1629038384.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE8,000,0191D,186,80,80,57,FF
2021-08-15T14:39:44.005Z,1629038384.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:39:44.005Z,1629038384.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:39:44.007Z,1629038384.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:39:44.410Z,1629038384.410 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:39:45.258Z,1629038385.258 [Micromodem](INFO): Nmea in: $SNTTA,,0.413206,,,143945.94*41

2021-08-15T14:39:46.079Z,1629038386.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:39:47.676Z,1629038387.676 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,186,80,80,57,FF
2021-08-15T14:39:47.677Z,1629038387.677 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,186,80,80,57,FF
2021-08-15T14:39:47.677Z,1629038387.677 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:39:48.906Z,1629038388.906 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:39:49.381Z,1629038389.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:39:49.381Z,1629038389.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:39:49.382Z,1629038389.382 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:39:49.382Z,1629038389.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:39:49.778Z,1629038389.778 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,186,80,80,57,FF
2021-08-15T14:39:49.778Z,1629038389.778 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:39:49.778Z,1629038389.778 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:39:49.782Z,1629038389.782 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:39:50.112Z,1629038390.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:39:50.918Z,1629038390.918 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,050,000,01962,183,80,80,71,FF
2021-08-15T14:39:50.918Z,1629038390.918 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:39:51.323Z,1629038391.323 [Micromodem](INFO): Nmea in: $SNTTA,,,,,143951.71*53

2021-08-15T14:39:51.410Z,1629038391.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 352.380005 m, bearing: 28.265742 deg, deltaT: 10.502789 s, approachRate: 0.394182 m/s, LOS rate: -4.236679 deg/s, posRepo size: 4
2021-08-15T14:39:51.417Z,1629038391.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 352.380005 m,
      bearing: 28.265742 deg,
      approachRate: 0.394182 m/s,
      LOS rate: -4.236679 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 295.173100 deg,
      new cmd heading: 289.677832 deg.

2021-08-15T14:39:53.755Z,1629038393.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:39:54.133Z,1629038394.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:39:54.133Z,1629038394.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:39:54.133Z,1629038394.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:39:54.134Z,1629038394.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:39:54.538Z,1629038394.538 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
050,000,01962,183,80,80,71,FF
2021-08-15T14:39:54.538Z,1629038394.538 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:39:54.538Z,1629038394.538 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:39:54.541Z,1629038394.541 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:39:54.940Z,1629038394.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:39:55.765Z,1629038395.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E15,000,019A1,188,80,80,3A,FF
2021-08-15T14:39:55.765Z,1629038395.765 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:39:55.769Z,1629038395.769 [Micromodem](INFO): Nmea in: $SNTTA,,0.185363,,,143956.47*45

2021-08-15T14:39:56.188Z,1629038396.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 356.159973 m, bearing: 37.521613 deg, deltaT: 4.805653 s, approachRate: 0.786567 m/s, LOS rate: 1.926038 deg/s, posRepo size: 4
2021-08-15T14:39:56.190Z,1629038396.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 356.159973 m,
      bearing: 37.521613 deg,
      approachRate: 0.786567 m/s,
      LOS rate: 1.926038 deg/s,
      cmd update: 7.704153 deg/s,
      cmd heading: 237.113066 deg,
      new cmd heading: 232.273214 deg.

2021-08-15T14:39:58.617Z,1629038398.617 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:39:58.978Z,1629038398.978 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:39:58.978Z,1629038398.978 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:39:58.978Z,1629038398.978 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:39:58.979Z,1629038398.979 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:39:59.377Z,1629038399.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E15,000,019A1,188,80,80,3A,FF
2021-08-15T14:39:59.377Z,1629038399.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:39:59.377Z,1629038399.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:39:59.379Z,1629038399.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:39:59.872Z,1629038399.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:40:00.670Z,1629038400.670 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144001.31*5C

2021-08-15T14:40:01.151Z,1629038401.151 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:40:01.857Z,1629038401.857 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-08-15T14:40:01.859Z,1629038401.859 [BPC1](INFO): Received data from all battery sticks.
2021-08-15T14:40:02.701Z,1629038402.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,188,80,80,3A,FF
2021-08-15T14:40:02.701Z,1629038402.701 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,188,80,80,3A,FF
2021-08-15T14:40:02.702Z,1629038402.702 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:40:03.122Z,1629038403.122 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T14:40:03.919Z,1629038403.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:40:04.316Z,1629038404.316 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:40:04.317Z,1629038404.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:40:04.317Z,1629038404.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:40:04.319Z,1629038404.319 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:40:04.718Z,1629038404.718 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,188,80,80,3A,FF
2021-08-15T14:40:04.718Z,1629038404.718 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:40:04.718Z,1629038404.718 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:40:04.720Z,1629038404.720 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:40:05.124Z,1629038405.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:40:05.937Z,1629038405.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22C,000,0159D,188,80,80,55,FF
2021-08-15T14:40:05.937Z,1629038405.937 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:40:05.940Z,1629038405.940 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144006.65*5A

2021-08-15T14:40:06.414Z,1629038406.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 294.480011 m, bearing: 310.140121 deg, deltaT: 10.171839 s, approachRate: -6.063797 m/s, LOS rate: -8.590530 deg/s, posRepo size: 4
2021-08-15T14:40:06.420Z,1629038406.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 294.480011 m,
      bearing: 310.140121 deg,
      approachRate: -6.063797 m/s,
      LOS rate: -8.590530 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 315.478993 deg,
      new cmd heading: 319.008073 deg.

2021-08-15T14:40:08.767Z,1629038408.767 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:40:09.157Z,1629038409.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:40:09.157Z,1629038409.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:40:09.158Z,1629038409.158 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:40:09.159Z,1629038409.159 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:40:09.562Z,1629038409.562 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22C,000,0159D,188,80,80,55,FF
2021-08-15T14:40:09.562Z,1629038409.562 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:40:09.562Z,1629038409.562 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:40:09.564Z,1629038409.564 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:40:09.972Z,1629038409.972 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:40:10.789Z,1629038410.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B8B,000,01A61,189,80,80,30,FF
2021-08-15T14:40:10.789Z,1629038410.789 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:40:10.792Z,1629038410.792 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144011.50*5A

2021-08-15T14:40:11.229Z,1629038411.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 367.679993 m, bearing: 15.361012 deg, deltaT: 4.852117 s, approachRate: 15.086195 m/s, LOS rate: 13.441740 deg/s, posRepo size: 4
2021-08-15T14:40:11.229Z,1629038411.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.441740 deg/s. Setting heading cmd to target bearing of 15.361012deg and heading rate command to 0 deg/s.
2021-08-15T14:40:13.634Z,1629038413.634 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:40:14.001Z,1629038414.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:40:14.001Z,1629038414.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:40:14.001Z,1629038414.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:40:14.002Z,1629038414.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:40:14.405Z,1629038414.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B8B,000,01A61,189,80,80,30,FF
2021-08-15T14:40:14.405Z,1629038414.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:40:14.405Z,1629038414.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:40:14.407Z,1629038414.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:40:14.822Z,1629038414.822 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:40:15.641Z,1629038415.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CB,000,01A8A,189,80,80,7F,FF
2021-08-15T14:40:15.641Z,1629038415.641 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:40:15.660Z,1629038415.660 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144016.34*5F

2021-08-15T14:40:16.061Z,1629038416.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 370.139984 m, bearing: 263.797834 deg, deltaT: 4.914696 s, approachRate: 0.500538 m/s, LOS rate: -22.699915 deg/s, posRepo size: 4
2021-08-15T14:40:16.062Z,1629038416.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -22.699915 deg/s. Setting heading cmd to target bearing of 263.797834deg and heading rate command to 0 deg/s.
2021-08-15T14:40:18.487Z,1629038418.487 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:40:18.856Z,1629038418.856 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:40:18.856Z,1629038418.856 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:40:18.856Z,1629038418.856 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:40:18.857Z,1629038418.857 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:40:19.257Z,1629038419.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CB,000,01A8A,189,80,80,7F,FF
2021-08-15T14:40:19.257Z,1629038419.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:40:19.257Z,1629038419.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:40:19.259Z,1629038419.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:40:19.661Z,1629038419.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:40:20.489Z,1629038420.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,241,000,01ABB,189,80,80,86,FF
2021-08-15T14:40:20.490Z,1629038420.490 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:40:20.493Z,1629038420.493 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144021.19*54

2021-08-15T14:40:20.913Z,1629038420.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 373.079987 m, bearing: 261.620861 deg, deltaT: 4.841853 s, approachRate: 0.607206 m/s, LOS rate: -0.449616 deg/s, posRepo size: 4
2021-08-15T14:40:20.915Z,1629038420.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 373.079987 m,
      bearing: 261.620861 deg,
      approachRate: 0.607206 m/s,
      LOS rate: -0.449616 deg/s,
      cmd update: -1.798462 deg/s,
      cmd heading: 263.797834 deg,
      new cmd heading: 263.797834 deg.

2021-08-15T14:40:23.339Z,1629038423.339 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T14:40:23.366Z,1629038423.366 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:40:23.697Z,1629038423.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:40:23.697Z,1629038423.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:40:23.697Z,1629038423.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:40:23.698Z,1629038423.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:40:24.105Z,1629038424.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
241,000,01ABB,189,80,80,86,FF
2021-08-15T14:40:24.106Z,1629038424.106 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:40:24.106Z,1629038424.106 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:40:24.107Z,1629038424.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:40:24.516Z,1629038424.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:40:25.333Z,1629038425.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,29D,000,01ADB,188,80,80,8E,FF
2021-08-15T14:40:25.334Z,1629038425.334 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:40:25.337Z,1629038425.337 [Micromodem](INFO): Nmea in: $SNTTA,0.400914,0.400745,,,144026.04*55

2021-08-15T14:40:25.765Z,1629038425.765 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 375.000000 m, bearing: 257.977338 deg, deltaT: 4.863879 s, approachRate: 0.394749 m/s, LOS rate: -0.749098 deg/s, posRepo size: 4
2021-08-15T14:40:25.767Z,1629038425.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 375.000000 m,
      bearing: 257.977338 deg,
      approachRate: 0.394749 m/s,
      LOS rate: -0.749098 deg/s,
      cmd update: -2.996393 deg/s,
      cmd heading: 255.033393 deg,
      new cmd heading: 254.428068 deg.

2021-08-15T14:40:28.159Z,1629038428.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:40:28.550Z,1629038428.550 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:40:28.550Z,1629038428.550 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:40:28.550Z,1629038428.550 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:40:28.551Z,1629038428.551 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:40:28.953Z,1629038428.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
29D,000,01ADB,188,80,80,8E,FF
2021-08-15T14:40:28.954Z,1629038428.954 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:40:28.954Z,1629038428.954 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:40:28.956Z,1629038428.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:40:29.381Z,1629038429.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:40:30.179Z,1629038430.179 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144030.89*5D

2021-08-15T14:40:30.991Z,1629038430.991 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:40:32.593Z,1629038432.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,188,80,80,8E,FF
2021-08-15T14:40:32.594Z,1629038432.594 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,188,80,80,8E,FF
2021-08-15T14:40:32.594Z,1629038432.594 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:40:33.076Z,1629038433.076 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T14:40:33.831Z,1629038433.831 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:40:34.197Z,1629038434.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:40:34.197Z,1629038434.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:40:34.197Z,1629038434.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:40:34.198Z,1629038434.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:40:34.617Z,1629038434.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,188,80,80,8E,FF
2021-08-15T14:40:34.617Z,1629038434.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:40:34.617Z,1629038434.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:40:34.619Z,1629038434.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:40:35.109Z,1629038435.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:40:35.491Z,1629038435.491 [Micromodem](INFO): Nmea in: $SNTTA,0.253437,0.253506,,,144036.55*59

2021-08-15T14:40:36.301Z,1629038436.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,410,000,03624,18A,80,80,3E,FF
2021-08-15T14:40:36.302Z,1629038436.302 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:40:36.724Z,1629038436.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 794.100098 m, bearing: 197.362237 deg, deltaT: 10.956766 s, approachRate: 38.250347 m/s, LOS rate: -5.532207 deg/s, posRepo size: 4
2021-08-15T14:40:36.726Z,1629038436.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 794.100098 m,
      bearing: 197.362237 deg,
      approachRate: 38.250347 m/s,
      LOS rate: -5.532207 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 222.227113 deg,
      new cmd heading: 221.188617 deg.

2021-08-15T14:40:39.165Z,1629038439.165 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:40:39.525Z,1629038439.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:40:39.526Z,1629038439.526 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:40:39.526Z,1629038439.526 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:40:39.527Z,1629038439.527 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:40:39.925Z,1629038439.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
410,000,03624,18A,80,80,3E,FF
2021-08-15T14:40:39.925Z,1629038439.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:40:39.925Z,1629038439.925 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:40:39.927Z,1629038439.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:40:40.364Z,1629038440.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:40:41.157Z,1629038441.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,01B07,189,80,80,77,FF
2021-08-15T14:40:41.158Z,1629038441.158 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:40:41.160Z,1629038441.160 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144041.86*54

2021-08-15T14:40:41.611Z,1629038441.611 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 377.640015 m, bearing: 166.521091 deg, deltaT: 4.856206 s, approachRate: -85.758324 m/s, LOS rate: -6.350873 deg/s, posRepo size: 4
2021-08-15T14:40:41.617Z,1629038441.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 377.640015 m,
      bearing: 166.521091 deg,
      approachRate: -85.758324 m/s,
      LOS rate: -6.350873 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 164.063160 deg,
      new cmd heading: 159.423792 deg.

2021-08-15T14:40:43.994Z,1629038443.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:40:44.381Z,1629038444.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:40:44.381Z,1629038444.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:40:44.381Z,1629038444.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:40:44.382Z,1629038444.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:40:44.774Z,1629038444.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,01B07,189,80,80,77,FF
2021-08-15T14:40:44.774Z,1629038444.774 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:40:44.774Z,1629038444.774 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:40:44.775Z,1629038444.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:40:45.191Z,1629038445.191 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:40:45.587Z,1629038445.587 [Micromodem](INFO): Nmea in: $SNTTA,0.253337,0.253368,,,144046.71*51

2021-08-15T14:40:45.998Z,1629038445.998 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,479,000,01B04,189,80,80,6F,FF
2021-08-15T14:40:45.998Z,1629038445.998 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:40:46.466Z,1629038446.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 377.459991 m, bearing: 153.693354 deg, deltaT: 4.797174 s, approachRate: -0.037527 m/s, LOS rate: -2.674020 deg/s, posRepo size: 4
2021-08-15T14:40:46.473Z,1629038446.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 377.459991 m,
      bearing: 153.693354 deg,
      approachRate: -0.037527 m/s,
      LOS rate: -2.674020 deg/s,
      cmd update: -10.696079 deg/s,
      cmd heading: 106.556651 deg,
      new cmd heading: 101.156591 deg.

2021-08-15T14:40:48.843Z,1629038448.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:40:49.232Z,1629038449.232 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:40:49.232Z,1629038449.232 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:40:49.233Z,1629038449.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:40:49.233Z,1629038449.233 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:40:49.621Z,1629038449.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
479,000,01B04,189,80,80,6F,FF
2021-08-15T14:40:49.621Z,1629038449.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:40:49.621Z,1629038449.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:40:49.623Z,1629038449.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:40:50.046Z,1629038450.046 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:40:50.872Z,1629038450.872 [Micromodem](INFO): Nmea in: $SNTTA,0.252475,,,,144051.55*46

2021-08-15T14:40:51.349Z,1629038451.349 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:40:53.261Z,1629038453.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,189,80,80,6F,FF
2021-08-15T14:40:53.261Z,1629038453.261 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,189,80,80,6F,FF
2021-08-15T14:40:53.262Z,1629038453.262 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:40:53.346Z,1629038453.346 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-15T14:40:54.101Z,1629038454.101 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:40:54.469Z,1629038454.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:40:54.469Z,1629038454.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:40:54.469Z,1629038454.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:40:54.470Z,1629038454.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:40:54.873Z,1629038454.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,189,80,80,6F,FF
2021-08-15T14:40:54.873Z,1629038454.873 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:40:54.873Z,1629038454.873 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:40:54.875Z,1629038454.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:40:55.283Z,1629038455.283 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:40:56.109Z,1629038456.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,11E,000,01AB7,186,80,80,76,FF
2021-08-15T14:40:56.109Z,1629038456.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:40:56.112Z,1629038456.112 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144056.81*55

2021-08-15T14:40:56.559Z,1629038456.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 372.839966 m, bearing: 152.610468 deg, deltaT: 10.130416 s, approachRate: -0.456055 m/s, LOS rate: -0.106894 deg/s, posRepo size: 4
2021-08-15T14:40:56.563Z,1629038456.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 372.839966 m,
      bearing: 152.610468 deg,
      approachRate: -0.456055 m/s,
      LOS rate: -0.106894 deg/s,
      cmd update: -0.427578 deg/s,
      cmd heading: 358.047146 deg,
      new cmd heading: 353.796823 deg.

2021-08-15T14:40:58.938Z,1629038458.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:40:59.336Z,1629038459.336 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:40:59.336Z,1629038459.336 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:40:59.337Z,1629038459.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:40:59.338Z,1629038459.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:40:59.725Z,1629038459.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
11E,000,01AB7,186,80,80,76,FF
2021-08-15T14:40:59.725Z,1629038459.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:40:59.725Z,1629038459.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:40:59.727Z,1629038459.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:41:00.141Z,1629038460.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:41:00.965Z,1629038460.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F88,000,010AA,187,80,80,5B,FF
2021-08-15T14:41:00.965Z,1629038460.965 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:41:00.969Z,1629038460.969 [Micromodem](INFO): Nmea in: $SNTTA,0.249123,,,,144101.67*4F

2021-08-15T14:41:01.457Z,1629038461.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 218.460007 m, bearing: 152.576290 deg, deltaT: 4.820069 s, approachRate: -32.028580 m/s, LOS rate: -0.007091 deg/s, posRepo size: 4
2021-08-15T14:41:01.459Z,1629038461.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 218.460007 m,
      bearing: 152.576290 deg,
      approachRate: -32.028580 m/s,
      LOS rate: -0.007091 deg/s,
      cmd update: -0.028363 deg/s,
      cmd heading: 355.982932 deg,
      new cmd heading: 355.790561 deg.

2021-08-15T14:41:03.783Z,1629038463.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:41:04.165Z,1629038464.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:41:04.165Z,1629038464.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:41:04.165Z,1629038464.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:41:04.166Z,1629038464.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:41:04.585Z,1629038464.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F88,000,010AA,187,80,80,5B,FF
2021-08-15T14:41:04.585Z,1629038464.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:41:04.585Z,1629038464.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:41:04.587Z,1629038464.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:41:04.985Z,1629038464.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:41:05.805Z,1629038465.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D88,000,01A63,189,80,80,5F,FF
2021-08-15T14:41:05.805Z,1629038465.805 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:41:05.809Z,1629038465.809 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144106.52*5F

2021-08-15T14:41:06.220Z,1629038466.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 367.800018 m, bearing: 156.449649 deg, deltaT: 4.874384 s, approachRate: 30.637720 m/s, LOS rate: 0.794636 deg/s, posRepo size: 4
2021-08-15T14:41:06.222Z,1629038466.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 367.800018 m,
      bearing: 156.449649 deg,
      approachRate: 30.637720 m/s,
      LOS rate: 0.794636 deg/s,
      cmd update: 3.178543 deg/s,
      cmd heading: 355.844776 deg,
      new cmd heading: 355.834569 deg.

2021-08-15T14:41:08.657Z,1629038468.657 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:41:09.036Z,1629038469.036 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:41:09.037Z,1629038469.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:41:09.037Z,1629038469.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:41:09.039Z,1629038469.039 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:41:09.421Z,1629038469.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D88,000,01A63,189,80,80,5F,FF
2021-08-15T14:41:09.421Z,1629038469.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:41:09.421Z,1629038469.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:41:09.423Z,1629038469.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:41:09.829Z,1629038469.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:41:10.657Z,1629038470.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B5C,000,01A3E,189,80,80,4E,FF
2021-08-15T14:41:10.658Z,1629038470.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:41:10.661Z,1629038470.661 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144111.36*5B

2021-08-15T14:41:11.141Z,1629038471.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 365.579987 m, bearing: 164.370633 deg, deltaT: 4.822929 s, approachRate: -0.460308 m/s, LOS rate: 1.642360 deg/s, posRepo size: 4
2021-08-15T14:41:11.143Z,1629038471.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 365.579987 m,
      bearing: 164.370633 deg,
      approachRate: -0.460308 m/s,
      LOS rate: 1.642360 deg/s,
      cmd update: 6.569439 deg/s,
      cmd heading: 11.187334 deg,
      new cmd heading: 12.617103 deg.

2021-08-15T14:41:13.489Z,1629038473.489 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:41:13.873Z,1629038473.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:41:13.873Z,1629038473.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:41:13.873Z,1629038473.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:41:13.874Z,1629038473.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:41:14.271Z,1629038474.271 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B5C,000,01A3E,189,80,80,4E,FF
2021-08-15T14:41:14.271Z,1629038474.271 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:41:14.271Z,1629038474.271 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:41:14.275Z,1629038474.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:41:14.687Z,1629038474.687 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:41:15.118Z,1629038475.118 [Micromodem](INFO): Nmea in: $SNTTA,0.317115,0.317078,,,144116.21*50

2021-08-15T14:41:15.485Z,1629038475.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,01A2E,189,80,80,94,FF
2021-08-15T14:41:15.485Z,1629038475.485 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:41:15.924Z,1629038475.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 364.619995 m, bearing: 151.706780 deg, deltaT: 4.849684 s, approachRate: -0.197949 m/s, LOS rate: -2.611274 deg/s, posRepo size: 4
2021-08-15T14:41:15.926Z,1629038475.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 364.619995 m,
      bearing: 151.706780 deg,
      approachRate: -0.197949 m/s,
      LOS rate: -2.611274 deg/s,
      cmd update: -10.445096 deg/s,
      cmd heading: 43.029902 deg,
      new cmd heading: 45.591247 deg.

2021-08-15T14:41:18.363Z,1629038478.363 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:41:18.709Z,1629038478.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:41:18.710Z,1629038478.710 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:41:18.710Z,1629038478.710 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:41:18.711Z,1629038478.711 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:41:19.117Z,1629038479.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,01A2E,189,80,80,94,FF
2021-08-15T14:41:19.118Z,1629038479.118 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:41:19.118Z,1629038479.118 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:41:19.120Z,1629038479.120 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:41:19.526Z,1629038479.526 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:41:20.361Z,1629038480.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,286,000,01A2F,189,80,80,4C,FF
2021-08-15T14:41:20.362Z,1629038480.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:41:20.364Z,1629038480.364 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144121.05*58

2021-08-15T14:41:20.762Z,1629038480.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 364.679962 m, bearing: 38.346526 deg, deltaT: 4.895741 s, approachRate: 0.012249 m/s, LOS rate: -23.154871 deg/s, posRepo size: 4
2021-08-15T14:41:20.763Z,1629038480.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -23.154871 deg/s. Setting heading cmd to target bearing of 38.346526deg and heading rate command to 0 deg/s.
2021-08-15T14:41:23.219Z,1629038483.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:41:23.565Z,1629038483.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:41:23.565Z,1629038483.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:41:23.565Z,1629038483.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:41:23.566Z,1629038483.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:41:23.978Z,1629038483.978 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
286,000,01A2F,189,80,80,4C,FF
2021-08-15T14:41:23.978Z,1629038483.978 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:41:23.978Z,1629038483.978 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:41:23.980Z,1629038483.980 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:41:24.385Z,1629038484.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:41:25.185Z,1629038485.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C51,000,01A43,188,80,80,4F,FF
2021-08-15T14:41:25.186Z,1629038485.186 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:41:25.189Z,1629038485.189 [Micromodem](INFO): Nmea in: $SNTTA,0.424824,0.424893,,,144125.91*5D

2021-08-15T14:41:25.638Z,1629038485.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 365.880005 m, bearing: 98.435245 deg, deltaT: 4.839830 s, approachRate: 0.247951 m/s, LOS rate: 12.415460 deg/s, posRepo size: 4
2021-08-15T14:41:25.639Z,1629038485.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.415460 deg/s. Setting heading cmd to target bearing of 98.435245deg and heading rate command to 0 deg/s.
2021-08-15T14:41:28.039Z,1629038488.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:41:28.421Z,1629038488.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:41:28.421Z,1629038488.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:41:28.421Z,1629038488.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:41:28.422Z,1629038488.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:41:28.825Z,1629038488.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C51,000,01A43,188,80,80,4F,FF
2021-08-15T14:41:28.825Z,1629038488.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:41:28.825Z,1629038488.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:41:28.827Z,1629038488.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:41:29.225Z,1629038489.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:41:30.048Z,1629038490.048 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC7,000,01A65,186,80,80,77,FF
2021-08-15T14:41:30.049Z,1629038490.049 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:41:30.052Z,1629038490.052 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144130.76*5C

2021-08-15T14:41:30.479Z,1629038490.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 367.919983 m, bearing: 52.436581 deg, deltaT: 4.799720 s, approachRate: 0.425020 m/s, LOS rate: -9.583614 deg/s, posRepo size: 4
2021-08-15T14:41:30.481Z,1629038490.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 367.919983 m,
      bearing: 52.436581 deg,
      approachRate: 0.425020 m/s,
      LOS rate: -9.583614 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 98.435245 deg,
      new cmd heading: 98.435245 deg.

2021-08-15T14:41:32.886Z,1629038492.886 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:41:33.261Z,1629038493.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:41:33.261Z,1629038493.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:41:33.261Z,1629038493.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:41:33.262Z,1629038493.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:41:33.338Z,1629038493.338 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-15T14:41:33.673Z,1629038493.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC7,000,01A65,186,80,80,77,FF
2021-08-15T14:41:33.673Z,1629038493.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:41:33.673Z,1629038493.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:41:33.675Z,1629038493.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:41:34.077Z,1629038494.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:41:34.893Z,1629038494.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2D,000,01AA4,187,80,80,53,FF
2021-08-15T14:41:34.893Z,1629038494.893 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:41:34.896Z,1629038494.896 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144135.61*5F

2021-08-15T14:41:35.367Z,1629038495.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 371.699982 m, bearing: 70.796625 deg, deltaT: 4.885632 s, approachRate: 0.773697 m/s, LOS rate: 3.757967 deg/s, posRepo size: 4
2021-08-15T14:41:35.370Z,1629038495.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 371.699982 m,
      bearing: 70.796625 deg,
      approachRate: 0.773697 m/s,
      LOS rate: 3.757967 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 39.908627 deg,
      new cmd heading: 34.886699 deg.

2021-08-15T14:41:37.742Z,1629038497.742 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:41:38.137Z,1629038498.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:41:38.137Z,1629038498.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:41:38.137Z,1629038498.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:41:38.138Z,1629038498.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:41:38.513Z,1629038498.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2D,000,01AA4,187,80,80,53,FF
2021-08-15T14:41:38.513Z,1629038498.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:41:38.514Z,1629038498.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:41:38.515Z,1629038498.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:41:38.921Z,1629038498.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:41:39.339Z,1629038499.339 [Micromodem](INFO): Nmea in: $SNTTA,0.250347,0.156877,,,144140.45*56

2021-08-15T14:41:39.737Z,1629038499.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,16F,000,01AB8,186,80,80,43,FF
2021-08-15T14:41:39.738Z,1629038499.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:41:40.162Z,1629038500.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 372.900024 m, bearing: 44.571998 deg, deltaT: 4.798390 s, approachRate: 0.250093 m/s, LOS rate: -5.465297 deg/s, posRepo size: 4
2021-08-15T14:41:40.165Z,1629038500.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 372.900024 m,
      bearing: 44.571998 deg,
      approachRate: 0.250093 m/s,
      LOS rate: -5.465297 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 97.589269 deg,
      new cmd heading: 102.470293 deg.

2021-08-15T14:41:42.593Z,1629038502.593 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:41:42.965Z,1629038502.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:41:42.966Z,1629038502.966 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:41:42.966Z,1629038502.966 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:41:42.967Z,1629038502.967 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:41:43.377Z,1629038503.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
16F,000,01AB8,186,80,80,43,FF
2021-08-15T14:41:43.377Z,1629038503.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:41:43.377Z,1629038503.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:41:43.379Z,1629038503.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:41:43.772Z,1629038503.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:41:44.597Z,1629038504.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDA,000,01ACA,187,80,80,75,FF
2021-08-15T14:41:44.598Z,1629038504.598 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:41:44.602Z,1629038504.602 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144145.31*5D

2021-08-15T14:41:45.071Z,1629038505.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 373.980011 m, bearing: 102.934810 deg, deltaT: 4.873080 s, approachRate: 0.221623 m/s, LOS rate: 11.976576 deg/s, posRepo size: 4
2021-08-15T14:41:45.076Z,1629038505.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.976576 deg/s. Setting heading cmd to target bearing of 102.934810deg and heading rate command to 0 deg/s.
2021-08-15T14:41:47.455Z,1629038507.455 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:41:47.801Z,1629038507.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:41:47.801Z,1629038507.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:41:47.801Z,1629038507.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:41:47.802Z,1629038507.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:41:48.205Z,1629038508.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDA,000,01ACA,187,80,80,75,FF
2021-08-15T14:41:48.205Z,1629038508.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:41:48.205Z,1629038508.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:41:48.207Z,1629038508.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:41:48.624Z,1629038508.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:41:49.057Z,1629038509.057 [Micromodem](INFO): Nmea in: $SNTTA,0.310519,0.310544,,,144150.14*56

2021-08-15T14:41:50.233Z,1629038510.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB9,000,036E3,189,80,80,5A,FF
2021-08-15T14:41:50.234Z,1629038510.234 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:41:50.674Z,1629038510.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 805.559998 m, bearing: 104.915011 deg, deltaT: 5.697171 s, approachRate: 75.753387 m/s, LOS rate: 0.347576 deg/s, posRepo size: 4
2021-08-15T14:41:50.676Z,1629038510.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 805.559998 m,
      bearing: 104.915011 deg,
      approachRate: 75.753387 m/s,
      LOS rate: 0.347576 deg/s,
      cmd update: 1.390305 deg/s,
      cmd heading: 102.934810 deg,
      new cmd heading: 102.934810 deg.

2021-08-15T14:41:53.153Z,1629038513.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:41:53.457Z,1629038513.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:41:53.457Z,1629038513.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:41:53.457Z,1629038513.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:41:53.458Z,1629038513.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:41:53.857Z,1629038513.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB9,000,036E3,189,80,80,5A,FF
2021-08-15T14:41:53.857Z,1629038513.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:41:53.858Z,1629038513.858 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:41:53.859Z,1629038513.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:41:54.269Z,1629038514.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:41:55.109Z,1629038515.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB2,000,01ADE,188,80,80,52,FF
2021-08-15T14:41:55.109Z,1629038515.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:41:55.113Z,1629038515.113 [Micromodem](INFO): Nmea in: $SNTTA,0.252186,,,,144155.79*44

2021-08-15T14:41:55.547Z,1629038515.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 375.179962 m, bearing: 111.417345 deg, deltaT: 4.884929 s, approachRate: -88.103645 m/s, LOS rate: 1.331101 deg/s, posRepo size: 4
2021-08-15T14:41:55.554Z,1629038515.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 375.179962 m,
      bearing: 111.417345 deg,
      approachRate: -88.103645 m/s,
      LOS rate: 1.331101 deg/s,
      cmd update: 5.324404 deg/s,
      cmd heading: 109.767826 deg,
      new cmd heading: 110.232650 deg.

2021-08-15T14:41:57.939Z,1629038517.939 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:41:58.322Z,1629038518.322 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:41:58.322Z,1629038518.322 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:41:58.323Z,1629038518.323 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:41:58.324Z,1629038518.324 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:41:58.717Z,1629038518.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB2,000,01ADE,188,80,80,52,FF
2021-08-15T14:41:58.717Z,1629038518.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:41:58.717Z,1629038518.717 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:41:58.719Z,1629038518.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:41:59.133Z,1629038519.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:41:59.941Z,1629038519.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,01ADB,18A,80,80,53,FF
2021-08-15T14:41:59.941Z,1629038519.941 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:41:59.945Z,1629038519.945 [Micromodem](INFO): Nmea in: $SNTTA,,0.054547,,,144200.65*47

2021-08-15T14:42:00.393Z,1629038520.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 375.000000 m, bearing: 164.985050 deg, deltaT: 4.805843 s, approachRate: -0.037447 m/s, LOS rate: 11.146370 deg/s, posRepo size: 4
2021-08-15T14:42:00.395Z,1629038520.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 375.000000 m,
      bearing: 164.985050 deg,
      approachRate: -0.037447 m/s,
      LOS rate: 11.146370 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 135.290620 deg,
      new cmd heading: 137.378335 deg.

2021-08-15T14:42:02.799Z,1629038522.799 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:42:03.153Z,1629038523.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:42:03.153Z,1629038523.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:42:03.153Z,1629038523.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:42:03.154Z,1629038523.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:42:03.567Z,1629038523.567 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,01ADB,18A,80,80,53,FF
2021-08-15T14:42:03.567Z,1629038523.567 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:42:03.567Z,1629038523.567 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:42:03.569Z,1629038523.569 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:42:03.973Z,1629038523.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:42:04.809Z,1629038524.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE9,000,01AC5,189,80,80,80,FF
2021-08-15T14:42:04.809Z,1629038524.809 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:42:04.836Z,1629038524.836 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144205.50*5D

2021-08-15T14:42:05.225Z,1629038525.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 373.679993 m, bearing: 161.125884 deg, deltaT: 4.835596 s, approachRate: -0.272977 m/s, LOS rate: -0.798075 deg/s, posRepo size: 4
2021-08-15T14:42:05.227Z,1629038525.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 373.679993 m,
      bearing: 161.125884 deg,
      approachRate: -0.272977 m/s,
      LOS rate: -0.798075 deg/s,
      cmd update: -3.192298 deg/s,
      cmd heading: 193.513002 deg,
      new cmd heading: 197.985282 deg.

2021-08-15T14:42:07.646Z,1629038527.646 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:42:08.001Z,1629038528.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:42:08.001Z,1629038528.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:42:08.001Z,1629038528.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:42:08.002Z,1629038528.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:42:08.413Z,1629038528.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CE9,000,01AC5,189,80,80,80,FF
2021-08-15T14:42:08.414Z,1629038528.414 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:42:08.414Z,1629038528.414 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:42:08.416Z,1629038528.416 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:42:08.825Z,1629038528.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:42:09.641Z,1629038529.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D97,000,01AB0,189,80,80,62,FF
2021-08-15T14:42:09.641Z,1629038529.641 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:42:09.644Z,1629038529.644 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144210.35*5A

2021-08-15T14:42:10.061Z,1629038530.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 372.419983 m, bearing: 172.364318 deg, deltaT: 4.818284 s, approachRate: -0.261506 m/s, LOS rate: 2.332456 deg/s, posRepo size: 4
2021-08-15T14:42:10.063Z,1629038530.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 372.419983 m,
      bearing: 172.364318 deg,
      approachRate: -0.261506 m/s,
      LOS rate: 2.332456 deg/s,
      cmd update: 9.329823 deg/s,
      cmd heading: 178.130947 deg,
      new cmd heading: 176.884377 deg.

2021-08-15T14:42:12.485Z,1629038532.485 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:42:12.853Z,1629038532.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:42:12.853Z,1629038532.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:42:12.854Z,1629038532.854 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:42:12.855Z,1629038532.855 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:42:13.261Z,1629038533.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D97,000,01AB0,189,80,80,62,FF
2021-08-15T14:42:13.262Z,1629038533.262 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:42:13.262Z,1629038533.262 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:42:13.264Z,1629038533.264 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:42:13.665Z,1629038533.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:42:14.485Z,1629038534.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBE,000,01A8B,184,80,80,8D,FF
2021-08-15T14:42:14.486Z,1629038534.486 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:42:14.513Z,1629038534.513 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144215.20*5B

2021-08-15T14:42:14.920Z,1629038534.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 370.200012 m, bearing: 166.448022 deg, deltaT: 4.900009 s, approachRate: -0.453054 m/s, LOS rate: -1.207405 deg/s, posRepo size: 4
2021-08-15T14:42:14.922Z,1629038534.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 370.200012 m,
      bearing: 166.448022 deg,
      approachRate: -0.453054 m/s,
      LOS rate: -1.207405 deg/s,
      cmd update: -4.829621 deg/s,
      cmd heading: 223.809613 deg,
      new cmd heading: 226.959949 deg.

2021-08-15T14:42:17.382Z,1629038537.382 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:42:17.697Z,1629038537.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:42:17.697Z,1629038537.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:42:17.697Z,1629038537.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:42:17.698Z,1629038537.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:42:18.123Z,1629038538.123 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBE,000,01A8B,184,80,80,8D,FF
2021-08-15T14:42:18.123Z,1629038538.123 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:42:18.123Z,1629038538.123 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:42:18.125Z,1629038538.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:42:18.517Z,1629038538.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:42:19.327Z,1629038539.327 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14C,000,01A5D,186,80,80,81,FF
2021-08-15T14:42:19.327Z,1629038539.327 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:42:19.330Z,1629038539.330 [Micromodem](INFO): Nmea in: $SNTTA,0.352823,0.352823,,,144220.06*59

2021-08-15T14:42:19.337Z,1629038539.337 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T14:42:19.760Z,1629038539.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 367.439972 m, bearing: 166.718511 deg, deltaT: 4.829427 s, approachRate: -0.571505 m/s, LOS rate: 0.056009 deg/s, posRepo size: 4
2021-08-15T14:42:19.762Z,1629038539.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 367.439972 m,
      bearing: 166.718511 deg,
      approachRate: -0.571505 m/s,
      LOS rate: 0.056009 deg/s,
      cmd update: 0.224034 deg/s,
      cmd heading: 200.507885 deg,
      new cmd heading: 198.729242 deg.

2021-08-15T14:42:22.187Z,1629038542.187 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:42:22.553Z,1629038542.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:42:22.554Z,1629038542.554 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:42:22.554Z,1629038542.554 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:42:22.555Z,1629038542.555 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:42:22.957Z,1629038542.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14C,000,01A5D,186,80,80,81,FF
2021-08-15T14:42:22.958Z,1629038542.958 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:42:22.958Z,1629038542.958 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:42:22.960Z,1629038542.960 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:42:23.384Z,1629038543.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:42:24.189Z,1629038544.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,366,000,01A38,188,80,80,85,FF
2021-08-15T14:42:24.189Z,1629038544.189 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:42:24.192Z,1629038544.192 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144224.89*5A

2021-08-15T14:42:24.620Z,1629038544.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 365.220001 m, bearing: 159.616890 deg, deltaT: 4.807481 s, approachRate: -0.461774 m/s, LOS rate: -1.477202 deg/s, posRepo size: 4
2021-08-15T14:42:24.622Z,1629038544.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 365.220001 m,
      bearing: 159.616890 deg,
      approachRate: -0.461774 m/s,
      LOS rate: -1.477202 deg/s,
      cmd update: -5.908808 deg/s,
      cmd heading: 201.586871 deg,
      new cmd heading: 201.679261 deg.

2021-08-15T14:42:27.071Z,1629038547.071 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:42:27.397Z,1629038547.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:42:27.397Z,1629038547.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:42:27.397Z,1629038547.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:42:27.398Z,1629038547.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:42:27.801Z,1629038547.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
366,000,01A38,188,80,80,85,FF
2021-08-15T14:42:27.801Z,1629038547.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:42:27.802Z,1629038547.802 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:42:27.803Z,1629038547.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:42:28.209Z,1629038548.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:42:29.071Z,1629038549.071 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3F6,000,01A20,189,80,80,66,FF
2021-08-15T14:42:29.071Z,1629038549.071 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:42:29.074Z,1629038549.074 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144229.74*55

2021-08-15T14:42:29.459Z,1629038549.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 363.779999 m, bearing: 158.502586 deg, deltaT: 4.943328 s, approachRate: -0.291302 m/s, LOS rate: -0.225416 deg/s, posRepo size: 4
2021-08-15T14:42:29.461Z,1629038549.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 363.779999 m,
      bearing: 158.502586 deg,
      approachRate: -0.291302 m/s,
      LOS rate: -0.225416 deg/s,
      cmd update: -0.901663 deg/s,
      cmd heading: 172.402635 deg,
      new cmd heading: 170.556126 deg.

2021-08-15T14:42:31.876Z,1629038551.876 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:42:32.241Z,1629038552.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:42:32.241Z,1629038552.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:42:32.241Z,1629038552.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:42:32.242Z,1629038552.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:42:32.653Z,1629038552.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3F6,000,01A20,189,80,80,66,FF
2021-08-15T14:42:32.653Z,1629038552.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:42:32.653Z,1629038552.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:42:32.655Z,1629038552.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:42:33.097Z,1629038553.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:42:33.461Z,1629038553.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,272,000,0061B,189,80,80,5D,FF
2021-08-15T14:42:33.462Z,1629038553.462 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:42:33.893Z,1629038553.893 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144234.59*56

2021-08-15T14:42:33.932Z,1629038553.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.279999 m, bearing: 159.954042 deg, deltaT: 4.365482 s, approachRate: -70.438957 m/s, LOS rate: 0.332485 deg/s, posRepo size: 4
2021-08-15T14:42:33.934Z,1629038553.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.279999 m,
      bearing: 159.954042 deg,
      approachRate: -70.438957 m/s,
      LOS rate: 0.332485 deg/s,
      cmd update: 1.329939 deg/s,
      cmd heading: 168.464257 deg,
      new cmd heading: 168.087727 deg.

2021-08-15T14:42:34.328Z,1629038554.328 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T14:42:36.345Z,1629038556.345 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:42:36.701Z,1629038556.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:42:36.701Z,1629038556.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:42:36.701Z,1629038556.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:42:36.702Z,1629038556.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:42:37.105Z,1629038557.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
272,000,0061B,189,80,80,5D,FF
2021-08-15T14:42:37.105Z,1629038557.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:42:37.105Z,1629038557.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:42:37.107Z,1629038557.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:42:37.521Z,1629038557.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:42:38.329Z,1629038558.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,120,000,019DD,185,80,80,66,FF
2021-08-15T14:42:38.329Z,1629038558.329 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:42:38.332Z,1629038558.332 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144239.04*53

2021-08-15T14:42:38.744Z,1629038558.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 359.760010 m, bearing: 161.320640 deg, deltaT: 4.880603 s, approachRate: 62.180843 m/s, LOS rate: 0.280006 deg/s, posRepo size: 4
2021-08-15T14:42:38.746Z,1629038558.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 359.760010 m,
      bearing: 161.320640 deg,
      approachRate: 62.180843 m/s,
      LOS rate: 0.280006 deg/s,
      cmd update: 1.120024 deg/s,
      cmd heading: 174.946619 deg,
      new cmd heading: 175.418757 deg.

2021-08-15T14:42:41.189Z,1629038561.189 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:42:41.546Z,1629038561.546 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:42:41.546Z,1629038561.546 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:42:41.547Z,1629038561.547 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:42:41.548Z,1629038561.548 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:42:41.937Z,1629038561.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
120,000,019DD,185,80,80,66,FF
2021-08-15T14:42:41.937Z,1629038561.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:42:41.937Z,1629038561.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:42:41.939Z,1629038561.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:42:42.390Z,1629038562.390 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:42:43.221Z,1629038563.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14F,000,019A7,186,80,80,5C,FF
2021-08-15T14:42:43.221Z,1629038563.221 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:42:43.225Z,1629038563.225 [Micromodem](INFO): Nmea in: $SNTTA,0.240380,,,,144243.87*46

2021-08-15T14:42:43.604Z,1629038563.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 356.519989 m, bearing: 164.153106 deg, deltaT: 4.931201 s, approachRate: -0.657045 m/s, LOS rate: 0.574397 deg/s, posRepo size: 4
2021-08-15T14:42:43.606Z,1629038563.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 356.519989 m,
      bearing: 164.153106 deg,
      approachRate: -0.657045 m/s,
      LOS rate: 0.574397 deg/s,
      cmd update: 2.297587 deg/s,
      cmd heading: 180.447337 deg,
      new cmd heading: 180.788059 deg.

2021-08-15T14:42:46.003Z,1629038566.003 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:42:46.389Z,1629038566.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:42:46.389Z,1629038566.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:42:46.389Z,1629038566.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:42:46.390Z,1629038566.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:42:46.794Z,1629038566.794 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14F,000,019A7,186,80,80,5C,FF
2021-08-15T14:42:46.794Z,1629038566.794 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:42:46.794Z,1629038566.794 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:42:46.795Z,1629038566.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:42:47.191Z,1629038567.191 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:42:48.828Z,1629038568.828 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:42:50.425Z,1629038570.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,186,80,80,5C,FF
2021-08-15T14:42:50.425Z,1629038570.425 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,186,80,80,5C,FF
2021-08-15T14:42:50.425Z,1629038570.425 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:42:51.670Z,1629038571.670 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:42:52.041Z,1629038572.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:42:52.041Z,1629038572.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:42:52.041Z,1629038572.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:42:52.042Z,1629038572.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:42:52.441Z,1629038572.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,186,80,80,5C,FF
2021-08-15T14:42:52.441Z,1629038572.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:42:52.441Z,1629038572.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:42:52.443Z,1629038572.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:42:52.848Z,1629038572.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:42:53.681Z,1629038573.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,325,000,01948,189,80,80,99,FF
2021-08-15T14:42:53.682Z,1629038573.682 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:42:53.684Z,1629038573.684 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144254.38*57

2021-08-15T14:42:54.088Z,1629038574.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 350.819977 m, bearing: 160.179916 deg, deltaT: 10.450780 s, approachRate: -0.545415 m/s, LOS rate: -0.380181 deg/s, posRepo size: 4
2021-08-15T14:42:54.090Z,1629038574.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 350.819977 m,
      bearing: 160.179916 deg,
      approachRate: -0.545415 m/s,
      LOS rate: -0.380181 deg/s,
      cmd update: -1.520725 deg/s,
      cmd heading: 204.495685 deg,
      new cmd heading: 205.233169 deg.

2021-08-15T14:42:56.532Z,1629038576.532 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:42:56.885Z,1629038576.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:42:56.885Z,1629038576.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:42:56.885Z,1629038576.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:42:56.886Z,1629038576.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:42:57.321Z,1629038577.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
325,000,01948,189,80,80,99,FF
2021-08-15T14:42:57.322Z,1629038577.322 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:42:57.322Z,1629038577.322 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:42:57.329Z,1629038577.329 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:42:57.709Z,1629038577.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:42:58.519Z,1629038578.519 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3AD,000,01923,189,80,80,70,FF
2021-08-15T14:42:58.521Z,1629038578.521 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:42:58.528Z,1629038578.528 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144259.26*55

2021-08-15T14:42:58.952Z,1629038578.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 348.600006 m, bearing: 161.664430 deg, deltaT: 4.825202 s, approachRate: -0.460078 m/s, LOS rate: 0.307658 deg/s, posRepo size: 4
2021-08-15T14:42:58.954Z,1629038578.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 348.600006 m,
      bearing: 161.664430 deg,
      approachRate: -0.460078 m/s,
      LOS rate: 0.307658 deg/s,
      cmd update: 1.230634 deg/s,
      cmd heading: 197.146067 deg,
      new cmd heading: 196.610795 deg.

2021-08-15T14:43:01.441Z,1629038581.441 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:43:01.745Z,1629038581.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:43:01.745Z,1629038581.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:43:01.746Z,1629038581.746 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:43:01.747Z,1629038581.747 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:43:02.145Z,1629038582.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3AD,000,01923,189,80,80,70,FF
2021-08-15T14:43:02.145Z,1629038582.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:43:02.145Z,1629038582.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:43:02.147Z,1629038582.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:43:02.563Z,1629038582.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:43:03.380Z,1629038583.380 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,37D,000,01902,189,80,80,91,FF
2021-08-15T14:43:03.381Z,1629038583.381 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:43:03.384Z,1629038583.384 [Micromodem](INFO): Nmea in: $SNTTA,0.233531,0.381244,,,144304.08*5D

2021-08-15T14:43:03.812Z,1629038583.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 346.619995 m, bearing: 161.466656 deg, deltaT: 4.862019 s, approachRate: -0.407240 m/s, LOS rate: -0.040678 deg/s, posRepo size: 4
2021-08-15T14:43:03.814Z,1629038583.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 346.619995 m,
      bearing: 161.466656 deg,
      approachRate: -0.407240 m/s,
      LOS rate: -0.040678 deg/s,
      cmd update: -0.162710 deg/s,
      cmd heading: 203.123674 deg,
      new cmd heading: 203.560066 deg.

2021-08-15T14:43:06.215Z,1629038586.215 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:43:06.601Z,1629038586.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:43:06.601Z,1629038586.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:43:06.601Z,1629038586.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:43:06.602Z,1629038586.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:43:06.995Z,1629038586.995 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
37D,000,01902,189,80,80,91,FF
2021-08-15T14:43:06.996Z,1629038586.996 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:43:06.997Z,1629038586.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:43:07.003Z,1629038587.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:43:07.408Z,1629038587.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:43:08.241Z,1629038588.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3F3,000,018E1,189,80,80,91,FF
2021-08-15T14:43:08.241Z,1629038588.241 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:43:08.261Z,1629038588.261 [Micromodem](INFO): Nmea in: $SNTTA,0.232263,,,,144308.94*43

2021-08-15T14:43:08.642Z,1629038588.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 344.639984 m, bearing: 158.808783 deg, deltaT: 4.863462 s, approachRate: -0.407120 m/s, LOS rate: -0.546498 deg/s, posRepo size: 4
2021-08-15T14:43:08.661Z,1629038588.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 344.639984 m,
      bearing: 158.808783 deg,
      approachRate: -0.407120 m/s,
      LOS rate: -0.546498 deg/s,
      cmd update: -2.185992 deg/s,
      cmd heading: 202.334483 deg,
      new cmd heading: 202.279959 deg.

2021-08-15T14:43:11.115Z,1629038591.115 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:43:11.449Z,1629038591.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:43:11.449Z,1629038591.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:43:11.449Z,1629038591.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:43:11.450Z,1629038591.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:43:11.847Z,1629038591.847 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3F3,000,018E1,189,80,80,91,FF
2021-08-15T14:43:11.847Z,1629038591.847 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:43:11.847Z,1629038591.847 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:43:11.849Z,1629038591.849 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:43:12.259Z,1629038592.259 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:43:13.117Z,1629038593.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,38C,000,018C3,189,80,80,89,FF
2021-08-15T14:43:13.117Z,1629038593.117 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:43:13.120Z,1629038593.120 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144313.78*51

2021-08-15T14:43:13.502Z,1629038593.502 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 342.839996 m, bearing: 162.681842 deg, deltaT: 4.895380 s, approachRate: -0.367691 m/s, LOS rate: 0.791166 deg/s, posRepo size: 4
2021-08-15T14:43:13.525Z,1629038593.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 342.839996 m,
      bearing: 162.681842 deg,
      approachRate: -0.367691 m/s,
      LOS rate: 0.791166 deg/s,
      cmd update: 3.164664 deg/s,
      cmd heading: 191.603012 deg,
      new cmd heading: 190.978717 deg.

2021-08-15T14:43:15.911Z,1629038595.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:43:16.296Z,1629038596.296 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:43:16.297Z,1629038596.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:43:16.298Z,1629038596.298 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:43:16.299Z,1629038596.299 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:43:16.693Z,1629038596.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
38C,000,018C3,189,80,80,89,FF
2021-08-15T14:43:16.693Z,1629038596.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:43:16.693Z,1629038596.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:43:16.695Z,1629038596.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:43:17.121Z,1629038597.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:43:17.921Z,1629038597.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,354,000,018A0,18A,80,80,57,FF
2021-08-15T14:43:17.921Z,1629038597.921 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:43:17.924Z,1629038597.924 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144318.63*50

2021-08-15T14:43:18.367Z,1629038598.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 340.740021 m, bearing: 158.260824 deg, deltaT: 4.715253 s, approachRate: -0.445358 m/s, LOS rate: -0.937599 deg/s, posRepo size: 4
2021-08-15T14:43:18.369Z,1629038598.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 340.740021 m,
      bearing: 158.260824 deg,
      approachRate: -0.445358 m/s,
      LOS rate: -0.937599 deg/s,
      cmd update: -3.750397 deg/s,
      cmd heading: 206.551314 deg,
      new cmd heading: 207.902078 deg.

2021-08-15T14:43:20.755Z,1629038600.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:43:21.137Z,1629038601.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:43:21.137Z,1629038601.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:43:21.137Z,1629038601.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:43:21.138Z,1629038601.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:43:21.542Z,1629038601.542 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
354,000,018A0,18A,80,80,57,FF
2021-08-15T14:43:21.542Z,1629038601.542 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:43:21.542Z,1629038601.542 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:43:21.545Z,1629038601.545 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:43:21.955Z,1629038601.955 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:43:22.769Z,1629038602.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,414,000,01880,188,80,80,6D,FF
2021-08-15T14:43:22.770Z,1629038602.770 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:43:22.785Z,1629038602.785 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144323.48*51

2021-08-15T14:43:23.228Z,1629038603.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 338.820007 m, bearing: 159.369378 deg, deltaT: 4.885851 s, approachRate: -0.392974 m/s, LOS rate: 0.226891 deg/s, posRepo size: 4
2021-08-15T14:43:23.230Z,1629038603.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 338.820007 m,
      bearing: 159.369378 deg,
      approachRate: -0.392974 m/s,
      LOS rate: 0.226891 deg/s,
      cmd update: 0.907562 deg/s,
      cmd heading: 188.242560 deg,
      new cmd heading: 186.720769 deg.

2021-08-15T14:43:25.633Z,1629038605.633 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:43:25.989Z,1629038605.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:43:25.989Z,1629038605.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:43:25.990Z,1629038605.990 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:43:25.991Z,1629038605.991 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:43:26.393Z,1629038606.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
414,000,01880,188,80,80,6D,FF
2021-08-15T14:43:26.393Z,1629038606.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:43:26.393Z,1629038606.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:43:26.395Z,1629038606.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:43:26.801Z,1629038606.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:43:27.621Z,1629038607.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,347,000,0186F,18A,80,80,6F,FF
2021-08-15T14:43:27.621Z,1629038607.621 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:43:27.648Z,1629038607.648 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144328.33*56

2021-08-15T14:43:28.058Z,1629038608.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 337.799988 m, bearing: 158.061683 deg, deltaT: 4.868344 s, approachRate: -0.209521 m/s, LOS rate: -0.268612 deg/s, posRepo size: 4
2021-08-15T14:43:28.060Z,1629038608.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 337.799988 m,
      bearing: 158.061683 deg,
      approachRate: -0.209521 m/s,
      LOS rate: -0.268612 deg/s,
      cmd update: -1.074447 deg/s,
      cmd heading: 192.647782 deg,
      new cmd heading: 192.994843 deg.

2021-08-15T14:43:30.473Z,1629038610.473 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:43:30.829Z,1629038610.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:43:30.829Z,1629038610.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:43:30.829Z,1629038610.829 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:43:30.830Z,1629038610.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:43:31.253Z,1629038611.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
347,000,0186F,18A,80,80,6F,FF
2021-08-15T14:43:31.253Z,1629038611.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:43:31.253Z,1629038611.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:43:31.255Z,1629038611.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:43:31.654Z,1629038611.654 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:43:32.457Z,1629038612.457 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144333.19*54

2021-08-15T14:43:33.341Z,1629038613.341 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:43:34.869Z,1629038614.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,18A,80,80,6F,FF
2021-08-15T14:43:34.869Z,1629038614.869 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,18A,80,80,6F,FF
2021-08-15T14:43:34.869Z,1629038614.869 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:43:36.146Z,1629038616.146 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:43:36.494Z,1629038616.494 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:43:36.494Z,1629038616.494 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:43:36.494Z,1629038616.494 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:43:36.495Z,1629038616.495 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:43:36.890Z,1629038616.890 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,18A,80,80,6F,FF
2021-08-15T14:43:36.890Z,1629038616.890 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:43:36.890Z,1629038616.890 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:43:36.893Z,1629038616.893 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:43:37.326Z,1629038617.326 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:43:38.125Z,1629038618.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D1,000,01813,188,80,80,47,FF
2021-08-15T14:43:38.126Z,1629038618.126 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:43:38.128Z,1629038618.128 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144338.83*5C

2021-08-15T14:43:38.577Z,1629038618.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 332.279999 m, bearing: 156.650525 deg, deltaT: 10.501083 s, approachRate: -0.525659 m/s, LOS rate: -0.134382 deg/s, posRepo size: 4
2021-08-15T14:43:38.579Z,1629038618.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 332.279999 m,
      bearing: 156.650525 deg,
      approachRate: -0.525659 m/s,
      LOS rate: -0.134382 deg/s,
      cmd update: -0.537529 deg/s,
      cmd heading: 181.349645 deg,
      new cmd heading: 180.935461 deg.

2021-08-15T14:43:40.954Z,1629038620.954 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:43:41.369Z,1629038621.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:43:41.369Z,1629038621.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:43:41.369Z,1629038621.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:43:41.370Z,1629038621.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:43:41.752Z,1629038621.752 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D1,000,01813,188,80,80,47,FF
2021-08-15T14:43:41.752Z,1629038621.752 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:43:41.753Z,1629038621.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:43:41.754Z,1629038621.754 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:43:42.144Z,1629038622.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:43:42.966Z,1629038622.966 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27E,000,017F2,18A,80,80,5F,FF
2021-08-15T14:43:42.967Z,1629038622.967 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:43:42.970Z,1629038622.970 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144343.69*54

2021-08-15T14:43:43.470Z,1629038623.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 330.299988 m, bearing: 156.736572 deg, deltaT: 4.795181 s, approachRate: -0.412917 m/s, LOS rate: 0.017944 deg/s, posRepo size: 4
2021-08-15T14:43:43.476Z,1629038623.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 330.299988 m,
      bearing: 156.736572 deg,
      approachRate: -0.412917 m/s,
      LOS rate: 0.017944 deg/s,
      cmd update: 0.071778 deg/s,
      cmd heading: 178.769813 deg,
      new cmd heading: 178.512015 deg.

2021-08-15T14:43:45.392Z,1629038625.392 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T14:43:45.809Z,1629038625.809 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:43:46.181Z,1629038626.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:43:46.181Z,1629038626.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:43:46.181Z,1629038626.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:43:46.182Z,1629038626.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:43:46.593Z,1629038626.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27E,000,017F2,18A,80,80,5F,FF
2021-08-15T14:43:46.593Z,1629038626.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:43:46.593Z,1629038626.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:43:46.595Z,1629038626.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:43:46.989Z,1629038626.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:43:47.407Z,1629038627.407 [Micromodem](INFO): Nmea in: $SNTTA,0.113970,0.112595,,,144348.53*50

2021-08-15T14:43:48.609Z,1629038628.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,236,000,03696,188,80,80,51,FF
2021-08-15T14:43:48.609Z,1629038628.609 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:43:49.132Z,1629038629.132 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 800.940063 m, bearing: 156.941983 deg, deltaT: 5.682473 s, approachRate: 82.823105 m/s, LOS rate: 0.036148 deg/s, posRepo size: 4
2021-08-15T14:43:49.135Z,1629038629.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 800.940063 m,
      bearing: 156.941983 deg,
      approachRate: 82.823105 m/s,
      LOS rate: 0.036148 deg/s,
      cmd update: 0.144593 deg/s,
      cmd heading: 179.177102 deg,
      new cmd heading: 179.210322 deg.

2021-08-15T14:43:51.478Z,1629038631.478 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:43:51.849Z,1629038631.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:43:51.849Z,1629038631.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:43:51.849Z,1629038631.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:43:51.850Z,1629038631.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:43:52.257Z,1629038632.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
236,000,03696,188,80,80,51,FF
2021-08-15T14:43:52.257Z,1629038632.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:43:52.257Z,1629038632.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:43:52.259Z,1629038632.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:43:52.660Z,1629038632.660 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:43:54.350Z,1629038634.350 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:43:55.877Z,1629038635.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,188,80,80,51,FF
2021-08-15T14:43:55.877Z,1629038635.877 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,188,80,80,51,FF
2021-08-15T14:43:55.877Z,1629038635.877 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:43:56.461Z,1629038636.461 [CBIT](IMPORTANT): Beginning ground fault scan
2021-08-15T14:43:57.158Z,1629038637.158 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:43:57.229Z,1629038637.229 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T14:43:57.493Z,1629038637.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:43:57.493Z,1629038637.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:43:57.493Z,1629038637.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:43:57.494Z,1629038637.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:43:57.901Z,1629038637.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,188,80,80,51,FF
2021-08-15T14:43:57.901Z,1629038637.901 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:43:57.901Z,1629038637.901 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:43:57.903Z,1629038637.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:43:58.234Z,1629038638.234 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T14:43:58.332Z,1629038638.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:43:59.137Z,1629038639.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,215,000,01779,187,80,80,61,FF
2021-08-15T14:43:59.138Z,1629038639.138 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:43:59.140Z,1629038639.140 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144359.84*5C

2021-08-15T14:43:59.234Z,1629038639.234 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T14:43:59.567Z,1629038639.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 323.040009 m, bearing: 158.122185 deg, deltaT: 10.531218 s, approachRate: -45.379372 m/s, LOS rate: 0.112067 deg/s, posRepo size: 4
2021-08-15T14:43:59.570Z,1629038639.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 323.040009 m,
      bearing: 158.122185 deg,
      approachRate: -45.379372 m/s,
      LOS rate: 0.112067 deg/s,
      cmd update: 0.448268 deg/s,
      cmd heading: 180.701050 deg,
      new cmd heading: 180.753555 deg.

2021-08-15T14:44:00.238Z,1629038640.238 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T14:44:01.242Z,1629038641.242 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T14:44:01.951Z,1629038641.951 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:44:02.246Z,1629038642.246 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T14:44:02.373Z,1629038642.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:44:02.373Z,1629038642.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:44:02.373Z,1629038642.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:44:02.374Z,1629038642.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:44:02.741Z,1629038642.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
215,000,01779,187,80,80,61,FF
2021-08-15T14:44:02.741Z,1629038642.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:44:02.741Z,1629038642.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:44:02.743Z,1629038642.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:44:03.160Z,1629038643.160 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:44:03.250Z,1629038643.250 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T14:44:04.034Z,1629038644.034 [Micromodem](INFO): Nmea in: $SNTTA,0.081836,,,,144404.68*4B

2021-08-15T14:44:04.254Z,1629038644.254 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T14:44:04.471Z,1629038644.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:44:05.258Z,1629038645.258 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T14:44:06.057Z,1629038646.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,187,80,80,61,FF
2021-08-15T14:44:06.057Z,1629038646.057 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,187,80,80,61,FF
2021-08-15T14:44:06.058Z,1629038646.058 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:44:06.266Z,1629038646.266 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T14:44:07.266Z,1629038647.266 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T14:44:07.391Z,1629038647.391 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:44:07.669Z,1629038647.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:44:07.669Z,1629038647.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:44:07.669Z,1629038647.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:44:07.670Z,1629038647.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:44:07.847Z,1629038647.847 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.005152
CHAN A1 (24V): -0.023422
CHAN A2 (12V): -0.005502
CHAN A3 (5V): -0.001189
CHAN B0 (3.3V): 0.000911
CHAN B1 (3.15aV): 0.000393
CHAN B2 (3.15bV): 0.000746
CHAN B3 (GND): 0.002192
OPEN: 0.006073
Full Scale Calc: 4.765 mA, -1.589 mA
2021-08-15T14:44:08.082Z,1629038648.082 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,187,80,80,61,FF
2021-08-15T14:44:08.082Z,1629038648.082 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:44:08.082Z,1629038648.082 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:44:08.084Z,1629038648.084 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:44:08.481Z,1629038648.481 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:44:09.330Z,1629038649.330 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,290,000,0171F,18A,80,80,49,FF
2021-08-15T14:44:09.331Z,1629038649.331 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:44:09.334Z,1629038649.334 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144410.02*58

2021-08-15T14:44:09.832Z,1629038649.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 317.639984 m, bearing: 155.461376 deg, deltaT: 10.258571 s, approachRate: -0.526392 m/s, LOS rate: -0.259374 deg/s, posRepo size: 4
2021-08-15T14:44:09.834Z,1629038649.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 317.639984 m,
      bearing: 155.461376 deg,
      approachRate: -0.526392 m/s,
      LOS rate: -0.259374 deg/s,
      cmd update: -1.037497 deg/s,
      cmd heading: 185.290821 deg,
      new cmd heading: 185.457733 deg.

2021-08-15T14:44:12.221Z,1629038652.221 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:44:12.601Z,1629038652.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:44:12.601Z,1629038652.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:44:12.601Z,1629038652.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:44:12.602Z,1629038652.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:44:13.035Z,1629038653.035 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
290,000,0171F,18A,80,80,49,FF
2021-08-15T14:44:13.040Z,1629038653.040 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:44:13.041Z,1629038653.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:44:13.050Z,1629038653.050 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:44:13.434Z,1629038653.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:44:14.253Z,1629038654.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BA,000,016F6,189,80,80,52,FF
2021-08-15T14:44:14.254Z,1629038654.254 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:44:14.257Z,1629038654.257 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144414.99*5E

2021-08-15T14:44:14.678Z,1629038654.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 315.179993 m, bearing: 155.201104 deg, deltaT: 4.872911 s, approachRate: -0.504830 m/s, LOS rate: -0.053412 deg/s, posRepo size: 4
2021-08-15T14:44:14.680Z,1629038654.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 315.179993 m,
      bearing: 155.201104 deg,
      approachRate: -0.504830 m/s,
      LOS rate: -0.053412 deg/s,
      cmd update: -0.213647 deg/s,
      cmd heading: 180.231279 deg,
      new cmd heading: 179.860142 deg.

2021-08-15T14:44:17.146Z,1629038657.146 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:44:17.465Z,1629038657.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:44:17.465Z,1629038657.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:44:17.465Z,1629038657.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:44:17.466Z,1629038657.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:44:17.873Z,1629038657.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BA,000,016F6,189,80,80,52,FF
2021-08-15T14:44:17.873Z,1629038657.873 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:44:17.874Z,1629038657.874 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:44:17.875Z,1629038657.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:44:18.295Z,1629038658.295 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:44:19.117Z,1629038659.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,284,000,016C9,189,80,80,55,FF
2021-08-15T14:44:19.117Z,1629038659.117 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:44:19.120Z,1629038659.120 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144419.81*5A

2021-08-15T14:44:19.530Z,1629038659.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 312.479980 m, bearing: 154.268907 deg, deltaT: 4.820298 s, approachRate: -0.560134 m/s, LOS rate: -0.193390 deg/s, posRepo size: 4
2021-08-15T14:44:19.553Z,1629038659.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 312.479980 m,
      bearing: 154.268907 deg,
      approachRate: -0.560134 m/s,
      LOS rate: -0.193390 deg/s,
      cmd update: -0.773560 deg/s,
      cmd heading: 179.198048 deg,
      new cmd heading: 179.118384 deg.

2021-08-15T14:44:21.933Z,1629038661.933 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:44:22.336Z,1629038662.336 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:44:22.337Z,1629038662.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:44:22.337Z,1629038662.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:44:22.337Z,1629038662.337 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:44:22.717Z,1629038662.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
284,000,016C9,189,80,80,55,FF
2021-08-15T14:44:22.717Z,1629038662.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:44:22.718Z,1629038662.718 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:44:22.719Z,1629038662.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:44:23.125Z,1629038663.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:44:23.935Z,1629038663.935 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,23E,000,016A8,189,80,80,57,FF
2021-08-15T14:44:23.935Z,1629038663.935 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:44:24.424Z,1629038664.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 310.499969 m, bearing: 155.958777 deg, deltaT: 4.798199 s, approachRate: -0.412657 m/s, LOS rate: 0.352189 deg/s, posRepo size: 4
2021-08-15T14:44:24.426Z,1629038664.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 310.499969 m,
      bearing: 155.958777 deg,
      approachRate: -0.412657 m/s,
      LOS rate: 0.352189 deg/s,
      cmd update: 1.408754 deg/s,
      cmd heading: 175.486469 deg,
      new cmd heading: 175.123301 deg.

2021-08-15T14:44:26.776Z,1629038666.776 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:44:27.169Z,1629038667.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:44:27.169Z,1629038667.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:44:27.170Z,1629038667.170 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:44:27.171Z,1629038667.171 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:44:27.569Z,1629038667.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
23E,000,016A8,189,80,80,57,FF
2021-08-15T14:44:27.569Z,1629038667.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:44:27.570Z,1629038667.570 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:44:27.571Z,1629038667.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:44:27.977Z,1629038667.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:44:28.799Z,1629038668.799 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144429.51*54

2021-08-15T14:44:29.623Z,1629038669.623 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:44:31.207Z,1629038671.207 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,189,80,80,57,FF
2021-08-15T14:44:31.207Z,1629038671.207 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,189,80,80,57,FF
2021-08-15T14:44:31.208Z,1629038671.208 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:44:32.451Z,1629038672.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:44:32.825Z,1629038672.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:44:32.825Z,1629038672.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:44:32.826Z,1629038672.826 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:44:32.826Z,1629038672.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:44:33.228Z,1629038673.228 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,189,80,80,57,FF
2021-08-15T14:44:33.229Z,1629038673.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:44:33.229Z,1629038673.229 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:44:33.230Z,1629038673.230 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:44:33.637Z,1629038673.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:44:34.469Z,1629038674.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CF,000,0165E,18A,80,80,33,FF
2021-08-15T14:44:34.469Z,1629038674.469 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:44:34.472Z,1629038674.472 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144435.16*5A

2021-08-15T14:44:34.880Z,1629038674.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 306.059998 m, bearing: 153.221552 deg, deltaT: 10.581489 s, approachRate: -0.419598 m/s, LOS rate: -0.258681 deg/s, posRepo size: 4
2021-08-15T14:44:34.882Z,1629038674.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 306.059998 m,
      bearing: 153.221552 deg,
      approachRate: -0.419598 m/s,
      LOS rate: -0.258681 deg/s,
      cmd update: -1.034722 deg/s,
      cmd heading: 190.341154 deg,
      new cmd heading: 190.878394 deg.

2021-08-15T14:44:37.375Z,1629038677.375 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:44:37.661Z,1629038677.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:44:37.661Z,1629038677.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:44:37.662Z,1629038677.662 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:44:37.663Z,1629038677.663 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:44:38.069Z,1629038678.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CF,000,0165E,18A,80,80,33,FF
2021-08-15T14:44:38.070Z,1629038678.070 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:44:38.070Z,1629038678.070 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:44:38.071Z,1629038678.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:44:38.477Z,1629038678.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:44:39.317Z,1629038679.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,325,000,0162A,189,80,80,67,FF
2021-08-15T14:44:39.319Z,1629038679.319 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:44:39.329Z,1629038679.329 [Micromodem](INFO): Nmea in: $SNTTA,,0.417798,,,144440.01*44

2021-08-15T14:44:39.728Z,1629038679.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 302.940002 m, bearing: 154.556335 deg, deltaT: 4.883919 s, approachRate: -0.638830 m/s, LOS rate: 0.273302 deg/s, posRepo size: 4
2021-08-15T14:44:39.730Z,1629038679.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 302.940002 m,
      bearing: 154.556335 deg,
      approachRate: -0.638830 m/s,
      LOS rate: 0.273302 deg/s,
      cmd update: 1.093206 deg/s,
      cmd heading: 185.249625 deg,
      new cmd heading: 184.930506 deg.

2021-08-15T14:44:42.127Z,1629038682.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:44:42.522Z,1629038682.522 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:44:42.522Z,1629038682.522 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:44:42.522Z,1629038682.522 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:44:42.523Z,1629038682.523 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:44:42.921Z,1629038682.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
325,000,0162A,189,80,80,67,FF
2021-08-15T14:44:42.921Z,1629038682.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:44:42.921Z,1629038682.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:44:42.923Z,1629038682.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:44:43.348Z,1629038683.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:44:44.161Z,1629038684.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,308,000,0160F,188,80,80,47,FF
2021-08-15T14:44:44.161Z,1629038684.161 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:44:44.164Z,1629038684.164 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144444.86*55

2021-08-15T14:44:44.591Z,1629038684.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 301.319977 m, bearing: 152.516908 deg, deltaT: 4.761542 s, approachRate: -0.340231 m/s, LOS rate: -0.428312 deg/s, posRepo size: 4
2021-08-15T14:44:44.593Z,1629038684.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 301.319977 m,
      bearing: 152.516908 deg,
      approachRate: -0.340231 m/s,
      LOS rate: -0.428312 deg/s,
      cmd update: -1.713248 deg/s,
      cmd heading: 190.453295 deg,
      new cmd heading: 190.903580 deg.

2021-08-15T14:44:47.072Z,1629038687.072 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:44:47.377Z,1629038687.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:44:47.377Z,1629038687.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:44:47.377Z,1629038687.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:44:47.378Z,1629038687.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:44:47.785Z,1629038687.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
308,000,0160F,188,80,80,47,FF
2021-08-15T14:44:47.785Z,1629038687.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:44:47.785Z,1629038687.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:44:47.787Z,1629038687.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:44:48.189Z,1629038688.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:44:48.989Z,1629038688.989 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144449.72*53

2021-08-15T14:44:49.803Z,1629038689.803 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:44:51.401Z,1629038691.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,188,80,80,47,FF
2021-08-15T14:44:51.402Z,1629038691.402 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,188,80,80,47,FF
2021-08-15T14:44:51.402Z,1629038691.402 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:44:52.667Z,1629038692.667 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:44:53.030Z,1629038693.030 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:44:53.030Z,1629038693.030 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:44:53.031Z,1629038693.031 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:44:53.035Z,1629038693.035 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:44:53.422Z,1629038693.422 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,188,80,80,47,FF
2021-08-15T14:44:53.422Z,1629038693.422 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:44:53.422Z,1629038693.422 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:44:53.441Z,1629038693.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:44:53.824Z,1629038693.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:44:54.653Z,1629038694.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BC,000,015C0,18A,80,80,6F,FF
2021-08-15T14:44:54.653Z,1629038694.653 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:44:54.656Z,1629038694.656 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144455.38*50

2021-08-15T14:44:55.135Z,1629038695.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 296.579987 m, bearing: 150.111220 deg, deltaT: 10.501258 s, approachRate: -0.451374 m/s, LOS rate: -0.229086 deg/s, posRepo size: 4
2021-08-15T14:44:55.138Z,1629038695.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 296.579987 m,
      bearing: 150.111220 deg,
      approachRate: -0.451374 m/s,
      LOS rate: -0.229086 deg/s,
      cmd update: -0.916343 deg/s,
      cmd heading: 172.458764 deg,
      new cmd heading: 171.682846 deg.

2021-08-15T14:44:57.565Z,1629038697.565 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:44:57.861Z,1629038697.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:44:57.862Z,1629038697.862 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:44:57.862Z,1629038697.862 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:44:57.863Z,1629038697.863 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:44:58.294Z,1629038698.294 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BC,000,015C0,18A,80,80,6F,FF
2021-08-15T14:44:58.294Z,1629038698.294 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:44:58.295Z,1629038698.295 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:44:58.331Z,1629038698.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:44:58.697Z,1629038698.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:44:59.108Z,1629038699.108 [Micromodem](INFO): Nmea in: $SNTTA,0.286933,0.286683,,,144500.27*5B

2021-08-15T14:44:59.509Z,1629038699.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B6,000,0159C,186,80,80,9C,FF
2021-08-15T14:44:59.509Z,1629038699.509 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:44:59.938Z,1629038699.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 294.419983 m, bearing: 157.108025 deg, deltaT: 4.889149 s, approachRate: -0.441795 m/s, LOS rate: 1.431088 deg/s, posRepo size: 4
2021-08-15T14:44:59.942Z,1629038699.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 294.419983 m,
      bearing: 157.108025 deg,
      approachRate: -0.441795 m/s,
      LOS rate: 1.431088 deg/s,
      cmd update: 5.724354 deg/s,
      cmd heading: 168.001576 deg,
      new cmd heading: 167.642808 deg.

2021-08-15T14:45:02.417Z,1629038702.417 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:45:02.717Z,1629038702.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:45:02.718Z,1629038702.718 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:45:02.718Z,1629038702.718 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:45:02.719Z,1629038702.719 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:45:03.122Z,1629038703.122 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B6,000,0159C,186,80,80,9C,FF
2021-08-15T14:45:03.122Z,1629038703.122 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:45:03.122Z,1629038703.122 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:45:03.123Z,1629038703.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:45:03.572Z,1629038703.572 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:45:04.374Z,1629038704.374 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144505.06*59

2021-08-15T14:45:05.214Z,1629038705.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:45:06.394Z,1629038706.394 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,1B6,000,0159C,186,80,80,9C,FF
2021-08-15T14:45:06.394Z,1629038706.394 [DUSBL_Hydroid](INFO): No reply:!U1,N,1B6,000,0159C,186,80,80,9C,FF
2021-08-15T14:45:06.394Z,1629038706.394 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:45:08.030Z,1629038708.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:45:08.405Z,1629038708.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:45:08.405Z,1629038708.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:45:08.405Z,1629038708.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:45:08.406Z,1629038708.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:45:08.817Z,1629038708.817 [DUSBL_Hydroid](INFO): DUSBL response received:80,80,63,E4
!U1,P
C,186,80,80,9C,FF
2021-08-15T14:45:08.817Z,1629038708.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:45:08.817Z,1629038708.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:45:08.819Z,1629038708.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:45:09.217Z,1629038709.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:45:10.026Z,1629038710.026 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B0,000,01549,189,80,80,66,FF
2021-08-15T14:45:10.026Z,1629038710.026 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:45:10.466Z,1629038710.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 289.440002 m, bearing: 153.070727 deg, deltaT: 10.475949 s, approachRate: -0.475373 m/s, LOS rate: -0.385387 deg/s, posRepo size: 4
2021-08-15T14:45:10.468Z,1629038710.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 289.440002 m,
      bearing: 153.070727 deg,
      approachRate: -0.475373 m/s,
      LOS rate: -0.385387 deg/s,
      cmd update: -1.541549 deg/s,
      cmd heading: 228.113021 deg,
      new cmd heading: 230.508560 deg.

2021-08-15T14:45:12.873Z,1629038712.873 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:45:13.259Z,1629038713.259 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:45:13.259Z,1629038713.259 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:45:13.260Z,1629038713.260 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:45:13.261Z,1629038713.261 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:45:13.662Z,1629038713.662 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3B0,000,01549,189,80,80,66,FF
2021-08-15T14:45:13.662Z,1629038713.662 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:45:13.662Z,1629038713.662 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:45:13.663Z,1629038713.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:45:14.064Z,1629038714.064 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:45:14.898Z,1629038714.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,01529,189,80,80,61,FF
2021-08-15T14:45:14.899Z,1629038714.899 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:45:14.902Z,1629038714.902 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144515.60*58

2021-08-15T14:45:15.374Z,1629038715.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 287.519989 m, bearing: 156.422028 deg, deltaT: 4.897737 s, approachRate: -0.392021 m/s, LOS rate: 0.684255 deg/s, posRepo size: 4
2021-08-15T14:45:15.378Z,1629038715.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 287.519989 m,
      bearing: 156.422028 deg,
      approachRate: -0.392021 m/s,
      LOS rate: 0.684255 deg/s,
      cmd update: 2.737020 deg/s,
      cmd heading: 220.606482 deg,
      new cmd heading: 219.908080 deg.

2021-08-15T14:45:17.723Z,1629038717.723 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:45:18.101Z,1629038718.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:45:18.101Z,1629038718.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:45:18.101Z,1629038718.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:45:18.102Z,1629038718.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:45:18.505Z,1629038718.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,01529,189,80,80,61,FF
2021-08-15T14:45:18.505Z,1629038718.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:45:18.505Z,1629038718.505 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:45:18.507Z,1629038718.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:45:18.931Z,1629038718.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:45:19.749Z,1629038719.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D50,000,01028,188,80,80,6C,FF
2021-08-15T14:45:19.750Z,1629038719.750 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:45:19.753Z,1629038719.753 [Micromodem](INFO): Nmea in: $SNTTA,0.193516,,,,144520.44*4F

2021-08-15T14:45:20.160Z,1629038720.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 210.659973 m, bearing: 268.303764 deg, deltaT: 4.855975 s, approachRate: -15.827927 m/s, LOS rate: 23.040014 deg/s, posRepo size: 4
2021-08-15T14:45:20.161Z,1629038720.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 23.040014 deg/s. Setting heading cmd to target bearing of 268.303764deg and heading rate command to 0 deg/s.
2021-08-15T14:45:22.618Z,1629038722.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:45:22.955Z,1629038722.955 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:45:22.955Z,1629038722.955 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:45:22.955Z,1629038722.955 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:45:22.956Z,1629038722.956 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:45:23.361Z,1629038723.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D50,000,01028,188,80,80,6C,FF
2021-08-15T14:45:23.361Z,1629038723.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:45:23.361Z,1629038723.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:45:23.363Z,1629038723.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:45:23.765Z,1629038723.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:45:24.600Z,1629038724.600 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D76,000,01523,189,80,80,74,FF
2021-08-15T14:45:24.601Z,1629038724.601 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:45:24.604Z,1629038724.604 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144525.30*5E

2021-08-15T14:45:25.061Z,1629038725.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 287.160004 m, bearing: 277.583259 deg, deltaT: 4.830431 s, approachRate: 15.837103 m/s, LOS rate: 1.921049 deg/s, posRepo size: 4
2021-08-15T14:45:25.063Z,1629038725.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 287.160004 m,
      bearing: 277.583259 deg,
      approachRate: 15.837103 m/s,
      LOS rate: 1.921049 deg/s,
      cmd update: 7.684196 deg/s,
      cmd heading: 268.303764 deg,
      new cmd heading: 268.303764 deg.

2021-08-15T14:45:27.461Z,1629038727.461 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:45:27.801Z,1629038727.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:45:27.802Z,1629038727.802 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:45:27.802Z,1629038727.802 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:45:27.803Z,1629038727.803 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:45:28.201Z,1629038728.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D76,000,01523,189,80,80,74,FF
2021-08-15T14:45:28.201Z,1629038728.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:45:28.201Z,1629038728.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:45:28.203Z,1629038728.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:45:28.604Z,1629038728.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:45:29.437Z,1629038729.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,071,000,0152D,187,80,80,5D,FF
2021-08-15T14:45:29.437Z,1629038729.437 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:45:29.440Z,1629038729.440 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144530.14*5C

2021-08-15T14:45:29.855Z,1629038729.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 287.759979 m, bearing: 261.461117 deg, deltaT: 4.879857 s, approachRate: 0.122949 m/s, LOS rate: -3.303815 deg/s, posRepo size: 4
2021-08-15T14:45:29.858Z,1629038729.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 287.759979 m,
      bearing: 261.461117 deg,
      approachRate: 0.122949 m/s,
      LOS rate: -3.303815 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 305.783760 deg,
      new cmd heading: 308.455809 deg.

2021-08-15T14:45:32.259Z,1629038732.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:45:32.657Z,1629038732.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:45:32.657Z,1629038732.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:45:32.657Z,1629038732.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:45:32.658Z,1629038732.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:45:33.097Z,1629038733.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
071,000,0152D,187,80,80,5D,FF
2021-08-15T14:45:33.097Z,1629038733.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:45:33.097Z,1629038733.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:45:33.099Z,1629038733.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:45:33.511Z,1629038733.511 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:45:34.331Z,1629038734.331 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,28D,000,01541,188,80,80,56,FF
2021-08-15T14:45:34.331Z,1629038734.331 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:45:34.334Z,1629038734.334 [Micromodem](INFO): Nmea in: $SNTTA,0.194962,,,,144535.03*40

2021-08-15T14:45:34.746Z,1629038734.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 288.959991 m, bearing: 257.818058 deg, deltaT: 4.901251 s, approachRate: 0.244838 m/s, LOS rate: -0.743292 deg/s, posRepo size: 4
2021-08-15T14:45:34.748Z,1629038734.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 288.959991 m,
      bearing: 257.818058 deg,
      approachRate: 0.244838 m/s,
      LOS rate: -0.743292 deg/s,
      cmd update: -2.973167 deg/s,
      cmd heading: 247.019062 deg,
      new cmd heading: 242.928034 deg.

2021-08-15T14:45:37.191Z,1629038737.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:45:37.537Z,1629038737.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:45:37.538Z,1629038737.538 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:45:37.538Z,1629038737.538 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:45:37.539Z,1629038737.539 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:45:37.941Z,1629038737.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
28D,000,01541,188,80,80,56,FF
2021-08-15T14:45:37.941Z,1629038737.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:45:37.941Z,1629038737.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:45:37.943Z,1629038737.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:45:38.374Z,1629038738.374 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:45:39.169Z,1629038739.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25E,000,01571,189,80,80,9E,FF
2021-08-15T14:45:39.169Z,1629038739.169 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:45:39.172Z,1629038739.172 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144539.88*50

2021-08-15T14:45:39.592Z,1629038739.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 291.839996 m, bearing: 266.689845 deg, deltaT: 4.858380 s, approachRate: 0.592791 m/s, LOS rate: 1.826079 deg/s, posRepo size: 4
2021-08-15T14:45:39.594Z,1629038739.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 291.839996 m,
      bearing: 266.689845 deg,
      approachRate: 0.592791 m/s,
      LOS rate: 1.826079 deg/s,
      cmd update: 7.304317 deg/s,
      cmd heading: 232.588753 deg,
      new cmd heading: 231.595716 deg.

2021-08-15T14:45:42.011Z,1629038742.011 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:45:42.377Z,1629038742.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:45:42.377Z,1629038742.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:45:42.377Z,1629038742.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:45:42.378Z,1629038742.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:45:42.785Z,1629038742.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
25E,000,01571,189,80,80,9E,FF
2021-08-15T14:45:42.785Z,1629038742.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:45:42.786Z,1629038742.786 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:45:42.787Z,1629038742.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:45:43.198Z,1629038743.198 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:45:44.013Z,1629038744.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22C,000,015A3,188,80,80,6E,FF
2021-08-15T14:45:44.013Z,1629038744.013 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:45:44.016Z,1629038744.016 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144544.72*5F

2021-08-15T14:45:44.426Z,1629038744.426 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T14:45:44.442Z,1629038744.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 294.839996 m, bearing: 252.508952 deg, deltaT: 4.762643 s, approachRate: 0.629902 m/s, LOS rate: -2.977526 deg/s, posRepo size: 4
2021-08-15T14:45:44.443Z,1629038744.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 294.839996 m,
      bearing: 252.508952 deg,
      approachRate: 0.629902 m/s,
      LOS rate: -2.977526 deg/s,
      cmd update: -11.910104 deg/s,
      cmd heading: 267.472024 deg,
      new cmd heading: 270.449716 deg.

2021-08-15T14:45:46.849Z,1629038746.849 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:45:47.237Z,1629038747.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:45:47.238Z,1629038747.238 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:45:47.238Z,1629038747.238 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:45:47.239Z,1629038747.239 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:45:47.633Z,1629038747.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22C,000,015A3,188,80,80,6E,FF
2021-08-15T14:45:47.633Z,1629038747.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:45:47.633Z,1629038747.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:45:47.635Z,1629038747.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:45:48.048Z,1629038748.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:45:48.869Z,1629038748.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,075,000,015C2,186,80,80,59,FF
2021-08-15T14:45:48.869Z,1629038748.869 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:45:48.873Z,1629038748.873 [Micromodem](INFO): Nmea in: $SNTTA,0.199672,,,,144549.57*49

2021-08-15T14:45:49.357Z,1629038749.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 296.699982 m, bearing: 264.526069 deg, deltaT: 4.856240 s, approachRate: 0.383009 m/s, LOS rate: 2.474572 deg/s, posRepo size: 4
2021-08-15T14:45:49.359Z,1629038749.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 296.699982 m,
      bearing: 264.526069 deg,
      approachRate: 0.383009 m/s,
      LOS rate: 2.474572 deg/s,
      cmd update: 9.898289 deg/s,
      cmd heading: 209.634534 deg,
      new cmd heading: 204.077363 deg.

2021-08-15T14:45:51.717Z,1629038751.717 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:45:52.089Z,1629038752.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:45:52.089Z,1629038752.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:45:52.089Z,1629038752.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:45:52.090Z,1629038752.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:45:52.485Z,1629038752.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
075,000,015C2,186,80,80,59,FF
2021-08-15T14:45:52.485Z,1629038752.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:45:52.485Z,1629038752.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:45:52.487Z,1629038752.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:45:52.909Z,1629038752.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:45:53.722Z,1629038753.722 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144554.42*5D

2021-08-15T14:45:54.515Z,1629038754.515 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,436,000,035E1,18A,80,80,6A,FF
2021-08-15T14:45:54.515Z,1629038754.515 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:45:54.937Z,1629038754.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 790.080078 m, bearing: 199.671018 deg, deltaT: 5.682844 s, approachRate: 86.819221 m/s, LOS rate: -11.412428 deg/s, posRepo size: 4
2021-08-15T14:45:54.939Z,1629038754.939 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 790.080078 m,
      bearing: 199.671018 deg,
      approachRate: 86.819221 m/s,
      LOS rate: -11.412428 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 265.721019 deg,
      new cmd heading: 269.484428 deg.

2021-08-15T14:45:57.419Z,1629038757.419 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:45:57.749Z,1629038757.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:45:57.749Z,1629038757.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:45:57.750Z,1629038757.750 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:45:57.751Z,1629038757.751 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:45:58.141Z,1629038758.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
436,000,035E1,18A,80,80,6A,FF
2021-08-15T14:45:58.141Z,1629038758.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:45:58.142Z,1629038758.142 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:45:58.143Z,1629038758.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:45:58.556Z,1629038758.556 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:45:59.377Z,1629038759.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,015E2,189,80,80,77,FF
2021-08-15T14:45:59.378Z,1629038759.378 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:45:59.383Z,1629038759.383 [Micromodem](INFO): Nmea in: $SNTTA,0.341522,0.339947,,,144600.08*51

2021-08-15T14:45:59.796Z,1629038759.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 298.619995 m, bearing: 186.699082 deg, deltaT: 4.913179 s, approachRate: -100.028938 m/s, LOS rate: -2.640233 deg/s, posRepo size: 4
2021-08-15T14:45:59.798Z,1629038759.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 298.619995 m,
      bearing: 186.699082 deg,
      approachRate: -100.028938 m/s,
      LOS rate: -2.640233 deg/s,
      cmd update: -10.560931 deg/s,
      cmd heading: 206.611058 deg,
      new cmd heading: 202.848206 deg.

2021-08-15T14:46:02.202Z,1629038762.202 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:46:02.590Z,1629038762.590 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:46:02.590Z,1629038762.590 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:46:02.590Z,1629038762.590 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:46:02.591Z,1629038762.591 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:46:02.985Z,1629038762.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,015E2,189,80,80,77,FF
2021-08-15T14:46:02.985Z,1629038762.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:46:02.985Z,1629038762.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:46:02.987Z,1629038762.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:46:03.393Z,1629038763.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:46:03.467Z,1629038763.467 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T14:46:04.218Z,1629038764.218 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09E,000,015F4,185,80,80,6A,FF
2021-08-15T14:46:04.218Z,1629038764.218 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:46:04.223Z,1629038764.223 [Micromodem](INFO): Nmea in: $SNTTA,0.201596,,,,144604.92*41

2021-08-15T14:46:04.648Z,1629038764.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 299.700012 m, bearing: 252.682138 deg, deltaT: 4.836270 s, approachRate: 0.223316 m/s, LOS rate: 13.643377 deg/s, posRepo size: 4
2021-08-15T14:46:04.649Z,1629038764.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.643377 deg/s. Setting heading cmd to target bearing of 252.682138deg and heading rate command to 0 deg/s.
2021-08-15T14:46:07.117Z,1629038767.117 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:46:07.425Z,1629038767.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:46:07.425Z,1629038767.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:46:07.425Z,1629038767.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:46:07.426Z,1629038767.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:46:07.837Z,1629038767.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09E,000,015F4,185,80,80,6A,FF
2021-08-15T14:46:07.837Z,1629038767.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:46:07.837Z,1629038767.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:46:07.839Z,1629038767.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:46:08.236Z,1629038768.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:46:08.643Z,1629038768.643 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T14:46:09.090Z,1629038769.090 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144609.77*50

2021-08-15T14:46:09.850Z,1629038769.850 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D33,000,03602,18A,80,80,32,FF
2021-08-15T14:46:09.850Z,1629038769.850 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:46:10.322Z,1629038770.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 792.060059 m, bearing: 276.744157 deg, deltaT: 5.549370 s, approachRate: 88.723595 m/s, LOS rate: 4.335991 deg/s, posRepo size: 4
2021-08-15T14:46:10.328Z,1629038770.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 792.060059 m,
      bearing: 276.744157 deg,
      approachRate: 88.723595 m/s,
      LOS rate: 4.335991 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 252.682138 deg,
      new cmd heading: 252.682138 deg.

2021-08-15T14:46:10.728Z,1629038770.728 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-15T14:46:10.728Z,1629038770.728 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-15T14:46:10.729Z,1629038770.729 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-15T14:46:10.729Z,1629038770.729 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T14:46:10.729Z,1629038770.729 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-15T14:46:11.361Z,1629038771.361 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 10181961180000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2021-08-15T14:46:11.362Z,1629038771.362 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F53B08612FBF911D6AE090130943E26CC3AC8DF8D94F6E2A89DF48D61302FD0645226A875AF15FB
2021-08-15T14:46:11.363Z,1629038771.363 [Micromodem](INFO): Outgoing frame #3, 60 bytes: EA22C45FEB6B4C7917EDA6FC9E19C72368AB86A3066F911556374D3F08EF08EE6F76E631FD693A8A03C17816E2FEA1D1FB9C80E7862E17FDC9F80000
2021-08-15T14:46:11.363Z,1629038771.363 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-08-15T14:46:11.617Z,1629038771.617 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-08-15T14:46:12.009Z,1629038772.009 [Micromodem](INFO): Nmea in: $CADRQ,144613,1,10,0,64,1*73

2021-08-15T14:46:12.009Z,1629038772.009 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,10181961180000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*4A

2021-08-15T14:46:12.406Z,1629038772.406 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-15T14:46:12.480Z,1629038772.480 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:46:12.790Z,1629038772.790 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:46:12.790Z,1629038772.790 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:46:12.790Z,1629038772.790 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:46:12.791Z,1629038772.791 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:46:12.813Z,1629038772.813 [Micromodem](INFO): Nmea in: $CADRQ,144613,1,10,0,64,2*70

2021-08-15T14:46:12.813Z,1629038772.813 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F53B08612FBF911D6AE090130943E26CC3AC8DF8D94F6E2A89DF48D61302FD0645226A875AF15FB*42

2021-08-15T14:46:13.445Z,1629038773.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D33,000,03602,18A,80,80,32,FF
2021-08-15T14:46:13.445Z,1629038773.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:46:13.445Z,1629038773.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:46:13.447Z,1629038773.447 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-15T14:46:13.448Z,1629038773.448 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:46:13.470Z,1629038773.470 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T14:46:13.839Z,1629038773.839 [Micromodem](INFO): Nmea in: $CADRQ,144614,1,10,0,64,3*76

2021-08-15T14:46:13.839Z,1629038773.839 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,144614,1,10,0,64,3*76

2021-08-15T14:46:14.253Z,1629038774.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:46:14.673Z,1629038774.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,01608,189,80,80,58,FF
2021-08-15T14:46:14.674Z,1629038774.674 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:46:14.677Z,1629038774.677 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144615.38*56

2021-08-15T14:46:15.145Z,1629038775.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 300.899994 m, bearing: 162.051730 deg, deltaT: 4.848263 s, approachRate: -101.306396 m/s, LOS rate: -23.656396 deg/s, posRepo size: 4
2021-08-15T14:46:15.146Z,1629038775.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -23.656396 deg/s. Setting heading cmd to target bearing of 162.051730deg and heading rate command to 0 deg/s.
2021-08-15T14:46:17.746Z,1629038777.746 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:46:17.905Z,1629038777.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:46:17.905Z,1629038777.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:46:17.905Z,1629038777.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:46:17.906Z,1629038777.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:46:18.337Z,1629038778.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,01608,189,80,80,58,FF
2021-08-15T14:46:18.337Z,1629038778.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:46:18.337Z,1629038778.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:46:18.339Z,1629038778.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:46:18.411Z,1629038778.411 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T14:46:18.716Z,1629038778.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:46:19.524Z,1629038779.524 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D46,000,015F8,188,80,80,A7,FF
2021-08-15T14:46:19.525Z,1629038779.525 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:46:19.542Z,1629038779.542 [Micromodem](INFO): Nmea in: $SNTTA,0.283835,,,,144620.27*47

2021-08-15T14:46:20.046Z,1629038780.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 299.940002 m, bearing: 269.782992 deg, deltaT: 5.134235 s, approachRate: -0.186978 m/s, LOS rate: 20.982923 deg/s, posRepo size: 4
2021-08-15T14:46:20.046Z,1629038780.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 20.982923 deg/s. Setting heading cmd to target bearing of 269.782992deg and heading rate command to 0 deg/s.
2021-08-15T14:46:22.451Z,1629038782.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:46:22.821Z,1629038782.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:46:22.821Z,1629038782.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:46:22.821Z,1629038782.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:46:22.822Z,1629038782.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:46:23.224Z,1629038783.224 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D46,000,015F8,188,80,80,A7,FF
2021-08-15T14:46:23.225Z,1629038783.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:46:23.225Z,1629038783.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:46:23.226Z,1629038783.226 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:46:23.373Z,1629038783.373 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T14:46:23.628Z,1629038783.628 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:46:24.513Z,1629038784.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,015FC,189,80,80,99,FF
2021-08-15T14:46:24.513Z,1629038784.513 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:46:24.516Z,1629038784.516 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144625.16*59

2021-08-15T14:46:24.944Z,1629038784.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 300.179993 m, bearing: 186.119417 deg, deltaT: 4.760739 s, approachRate: 0.050410 m/s, LOS rate: -17.573653 deg/s, posRepo size: 4
2021-08-15T14:46:24.945Z,1629038784.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.573653 deg/s. Setting heading cmd to target bearing of 186.119417deg and heading rate command to 0 deg/s.
2021-08-15T14:46:27.141Z,1629038787.141 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:46:27.453Z,1629038787.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:46:27.453Z,1629038787.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:46:27.453Z,1629038787.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:46:27.454Z,1629038787.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:46:27.874Z,1629038787.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,015FC,189,80,80,99,FF
2021-08-15T14:46:27.874Z,1629038787.874 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:46:27.874Z,1629038787.874 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:46:27.893Z,1629038787.893 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:46:28.272Z,1629038788.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:46:28.338Z,1629038788.338 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T14:46:29.109Z,1629038789.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0160F,189,80,80,6C,FF
2021-08-15T14:46:29.109Z,1629038789.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:46:29.139Z,1629038789.139 [Micromodem](INFO): Nmea in: $SNTTA,0.463602,,,,144629.83*42

2021-08-15T14:46:29.528Z,1629038789.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 301.319977 m, bearing: 190.813123 deg, deltaT: 4.582326 s, approachRate: 0.248778 m/s, LOS rate: 1.024306 deg/s, posRepo size: 4
2021-08-15T14:46:29.531Z,1629038789.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 301.319977 m,
      bearing: 190.813123 deg,
      approachRate: 0.248778 m/s,
      LOS rate: 1.024306 deg/s,
      cmd update: 4.097226 deg/s,
      cmd heading: 186.119417 deg,
      new cmd heading: 186.119417 deg.

2021-08-15T14:46:31.957Z,1629038791.957 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:46:32.315Z,1629038792.315 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:46:32.320Z,1629038792.320 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:46:32.320Z,1629038792.320 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:46:32.321Z,1629038792.321 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:46:32.717Z,1629038792.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0160F,189,80,80,6C,FF
2021-08-15T14:46:32.717Z,1629038792.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:46:32.718Z,1629038792.718 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:46:32.721Z,1629038792.721 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:46:33.381Z,1629038793.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:46:33.733Z,1629038793.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFC,000,0161E,183,80,80,40,FF
2021-08-15T14:46:33.734Z,1629038793.734 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:46:34.189Z,1629038794.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 302.220001 m, bearing: 257.122389 deg, deltaT: 4.554502 s, approachRate: 0.197612 m/s, LOS rate: 14.559059 deg/s, posRepo size: 4
2021-08-15T14:46:34.190Z,1629038794.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.559059 deg/s. Setting heading cmd to target bearing of 257.122389deg and heading rate command to 0 deg/s.
2021-08-15T14:46:36.604Z,1629038796.604 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:46:36.953Z,1629038796.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:46:36.953Z,1629038796.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:46:36.953Z,1629038796.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:46:36.954Z,1629038796.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:46:37.369Z,1629038797.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFC,000,0161E,183,80,80,40,FF
2021-08-15T14:46:37.370Z,1629038797.370 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:46:37.370Z,1629038797.370 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:46:37.371Z,1629038797.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:46:37.940Z,1629038797.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:46:38.734Z,1629038798.734 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144639.31*51

2021-08-15T14:46:39.217Z,1629038799.217 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:46:40.742Z,1629038800.742 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,183,80,80,40,FF
2021-08-15T14:46:40.742Z,1629038800.742 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,183,80,80,40,FF
2021-08-15T14:46:40.742Z,1629038800.742 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:46:41.982Z,1629038801.982 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:46:42.373Z,1629038802.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:46:42.374Z,1629038802.374 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:46:42.374Z,1629038802.374 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:46:42.375Z,1629038802.375 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:46:42.765Z,1629038802.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,183,80,80,40,FF
2021-08-15T14:46:42.765Z,1629038802.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:46:42.766Z,1629038802.766 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:46:42.767Z,1629038802.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:46:43.173Z,1629038803.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:46:43.610Z,1629038803.610 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T14:46:44.831Z,1629038804.831 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:46:46.497Z,1629038806.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,183,80,80,40,FF
2021-08-15T14:46:46.498Z,1629038806.498 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,183,80,80,40,FF
2021-08-15T14:46:46.498Z,1629038806.498 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:46:46.499Z,1629038806.499 [Micromodem](INFO): Nmea in: $CATXF,128*5F

2021-08-15T14:46:46.907Z,1629038806.907 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144644.70*5E

2021-08-15T14:46:47.323Z,1629038807.323 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,144644.861346,3,0,200,4000,14500,1,1,10,1,3,2,3,128,14500*60

2021-08-15T14:46:47.445Z,1629038807.445 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:46:47.705Z,1629038807.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:46:47.705Z,1629038807.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:46:47.705Z,1629038807.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:46:47.706Z,1629038807.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:46:48.117Z,1629038808.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,183,80,80,40,FF
2021-08-15T14:46:48.117Z,1629038808.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:46:48.117Z,1629038808.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:46:48.120Z,1629038808.120 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:46:48.517Z,1629038808.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:46:48.561Z,1629038808.561 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T14:46:49.355Z,1629038809.355 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144650.06*5A

2021-08-15T14:46:50.183Z,1629038810.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:46:51.765Z,1629038811.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,183,80,80,40,FF
2021-08-15T14:46:51.766Z,1629038811.766 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,183,80,80,40,FF
2021-08-15T14:46:51.766Z,1629038811.766 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:46:52.843Z,1629038812.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:46:53.065Z,1629038813.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:46:53.065Z,1629038813.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:46:53.065Z,1629038813.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:46:53.066Z,1629038813.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:46:53.425Z,1629038813.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,183,80,80,40,FF
2021-08-15T14:46:53.425Z,1629038813.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:46:53.425Z,1629038813.425 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:46:53.427Z,1629038813.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:46:53.483Z,1629038813.483 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T14:46:53.838Z,1629038813.838 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:46:54.657Z,1629038814.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B0,000,01671,187,80,80,28,FF
2021-08-15T14:46:54.658Z,1629038814.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:46:54.660Z,1629038814.660 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144655.37*5D

2021-08-15T14:46:55.178Z,1629038815.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 307.199982 m, bearing: 257.600093 deg, deltaT: 21.004902 s, approachRate: 0.237087 m/s, LOS rate: 0.022742 deg/s, posRepo size: 4
2021-08-15T14:46:55.180Z,1629038815.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 307.199982 m,
      bearing: 257.600093 deg,
      approachRate: 0.237087 m/s,
      LOS rate: 0.022742 deg/s,
      cmd update: 0.090970 deg/s,
      cmd heading: 257.122389 deg,
      new cmd heading: 257.122389 deg.

2021-08-15T14:46:57.424Z,1629038817.424 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:46:57.593Z,1629038817.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:46:57.593Z,1629038817.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:46:57.593Z,1629038817.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:46:57.594Z,1629038817.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:46:58.002Z,1629038818.002 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B0,000,01671,187,80,80,28,FF
2021-08-15T14:46:58.002Z,1629038818.002 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:46:58.002Z,1629038818.002 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:46:58.004Z,1629038818.004 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:46:58.407Z,1629038818.407 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:46:59.195Z,1629038819.195 [Micromodem](INFO): Nmea in: $SNTTA,0.410772,0.410059,,,144659.94*56

2021-08-15T14:47:00.133Z,1629038820.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:47:01.338Z,1629038821.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,187,80,80,28,FF
2021-08-15T14:47:01.339Z,1629038821.339 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,187,80,80,28,FF
2021-08-15T14:47:01.339Z,1629038821.339 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:47:02.966Z,1629038822.966 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:47:03.365Z,1629038823.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:47:03.365Z,1629038823.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:47:03.365Z,1629038823.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:47:03.366Z,1629038823.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:47:03.741Z,1629038823.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,187,80,80,28,FF
2021-08-15T14:47:03.741Z,1629038823.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:47:03.741Z,1629038823.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:47:03.743Z,1629038823.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:47:04.377Z,1629038824.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:47:04.752Z,1629038824.752 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A6,000,0169B,185,80,80,28,FF
2021-08-15T14:47:04.753Z,1629038824.753 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:47:05.157Z,1629038825.157 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144705.68*53

2021-08-15T14:47:05.234Z,1629038825.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 309.720001 m, bearing: 256.110866 deg, deltaT: 10.020610 s, approachRate: 0.251484 m/s, LOS rate: -0.148616 deg/s, posRepo size: 4
2021-08-15T14:47:05.236Z,1629038825.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 309.720001 m,
      bearing: 256.110866 deg,
      approachRate: 0.251484 m/s,
      LOS rate: -0.148616 deg/s,
      cmd update: -0.594466 deg/s,
      cmd heading: 258.034709 deg,
      new cmd heading: 258.076242 deg.

2021-08-15T14:47:07.331Z,1629038827.331 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:47:07.613Z,1629038827.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:47:07.613Z,1629038827.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:47:07.613Z,1629038827.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:47:07.614Z,1629038827.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:47:08.011Z,1629038828.011 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A6,000,0169B,185,80,80,28,FF
2021-08-15T14:47:08.011Z,1629038828.011 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:47:08.011Z,1629038828.011 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:47:08.013Z,1629038828.013 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:47:08.426Z,1629038828.426 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:47:09.250Z,1629038829.250 [Micromodem](INFO): Nmea in: $SNTTA,0.444554,,,,144709.95*43

2021-08-15T14:47:10.082Z,1629038830.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:47:11.646Z,1629038831.646 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,185,80,80,28,FF
2021-08-15T14:47:11.646Z,1629038831.646 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,185,80,80,28,FF
2021-08-15T14:47:11.646Z,1629038831.646 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:47:12.723Z,1629038832.723 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:47:12.889Z,1629038832.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:47:12.889Z,1629038832.889 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:47:12.889Z,1629038832.889 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:47:12.890Z,1629038832.890 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:47:13.297Z,1629038833.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,185,80,80,28,FF
2021-08-15T14:47:13.298Z,1629038833.298 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:47:13.298Z,1629038833.298 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:47:13.304Z,1629038833.304 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:47:13.745Z,1629038833.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:47:14.561Z,1629038834.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,140,000,016E5,186,80,80,55,FF
2021-08-15T14:47:14.561Z,1629038834.561 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:47:14.565Z,1629038834.565 [Micromodem](INFO): Nmea in: $SNTTA,0.211714,,,,144715.24*44

2021-08-15T14:47:14.989Z,1629038834.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 314.160004 m, bearing: 245.183683 deg, deltaT: 9.837333 s, approachRate: 0.451342 m/s, LOS rate: -1.110787 deg/s, posRepo size: 4
2021-08-15T14:47:14.994Z,1629038834.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 314.160004 m,
      bearing: 245.183683 deg,
      approachRate: 0.451342 m/s,
      LOS rate: -1.110787 deg/s,
      cmd update: -4.443148 deg/s,
      cmd heading: 252.189339 deg,
      new cmd heading: 251.964676 deg.

2021-08-15T14:47:16.584Z,1629038836.584 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-15T14:47:17.227Z,1629038837.227 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 10181961180000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2021-08-15T14:47:17.228Z,1629038837.228 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F53B08612FBF911D6AE090130943E26CC3AC8DF8D94F6E2A89DF48D61302FD0645226A875AF15FB
2021-08-15T14:47:17.229Z,1629038837.229 [Micromodem](INFO): Outgoing frame #3, 60 bytes: EA22C45FEB6B4C7917EDA6FC9E19C72368AB86A3066F911556374D3F08EF08EE6F76E631FD693A8A03C17816E2FEA1D1FB9C80E7862E17FDC9F80000
2021-08-15T14:47:17.229Z,1629038837.229 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-08-15T14:47:17.600Z,1629038837.600 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:47:17.773Z,1629038837.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:47:17.773Z,1629038837.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:47:17.773Z,1629038837.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:47:17.774Z,1629038837.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:47:17.782Z,1629038837.782 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-08-15T14:47:18.165Z,1629038838.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
140,000,016E5,186,80,80,55,FF
2021-08-15T14:47:18.165Z,1629038838.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:47:18.165Z,1629038838.165 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:47:18.167Z,1629038838.167 [Micromodem](INFO): Nmea in: $CADRQ,144719,1,10,0,64,1*78

2021-08-15T14:47:18.168Z,1629038838.168 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,10181961180000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*4A

2021-08-15T14:47:18.582Z,1629038838.582 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-15T14:47:18.582Z,1629038838.582 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:47:18.979Z,1629038838.979 [Micromodem](INFO): Nmea in: $CADRQ,144720,1,10,0,64,2*71

2021-08-15T14:47:18.979Z,1629038838.979 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,144720,1,10,0,64,2*71

2021-08-15T14:47:19.386Z,1629038839.386 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:47:20.216Z,1629038840.216 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,016E5,186,80,80,55,FF
2021-08-15T14:47:20.217Z,1629038840.217 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:47:20.673Z,1629038840.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 314.160004 m, bearing: 189.891075 deg, deltaT: 5.625374 s, approachRate: 0.000000 m/s, LOS rate: -9.829143 deg/s, posRepo size: 4
2021-08-15T14:47:20.675Z,1629038840.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 314.160004 m,
      bearing: 189.891075 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -9.829143 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 227.180941 deg,
      new cmd heading: 225.252771 deg.

2021-08-15T14:47:23.144Z,1629038843.144 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:47:23.441Z,1629038843.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:47:23.442Z,1629038843.442 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:47:23.442Z,1629038843.442 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:47:23.443Z,1629038843.443 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:47:23.857Z,1629038843.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,016E5,186,80,80,55,FF
2021-08-15T14:47:23.857Z,1629038843.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:47:23.857Z,1629038843.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:47:23.859Z,1629038843.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:47:24.413Z,1629038844.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:47:25.212Z,1629038845.212 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,01708,18A,80,80,70,FF
2021-08-15T14:47:25.213Z,1629038845.213 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:47:25.215Z,1629038845.215 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144725.80*57

2021-08-15T14:47:25.681Z,1629038845.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 316.259979 m, bearing: 167.339607 deg, deltaT: 5.110305 s, approachRate: 0.410930 m/s, LOS rate: -4.412940 deg/s, posRepo size: 4
2021-08-15T14:47:25.683Z,1629038845.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 316.259979 m,
      bearing: 167.339607 deg,
      approachRate: 0.410930 m/s,
      LOS rate: -4.412940 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 165.895811 deg,
      new cmd heading: 161.869403 deg.

2021-08-15T14:47:28.139Z,1629038848.139 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:47:28.489Z,1629038848.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:47:28.489Z,1629038848.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:47:28.489Z,1629038848.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:47:28.490Z,1629038848.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:47:28.899Z,1629038848.899 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,01708,18A,80,80,70,FF
2021-08-15T14:47:28.899Z,1629038848.899 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:47:28.899Z,1629038848.899 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:47:28.902Z,1629038848.902 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:47:29.319Z,1629038849.319 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:47:30.142Z,1629038850.142 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144730.84*57

2021-08-15T14:47:30.767Z,1629038850.767 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:47:30.921Z,1629038850.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,035FD,188,80,80,6C,FF
2021-08-15T14:47:30.921Z,1629038850.921 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:47:31.406Z,1629038851.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 791.760010 m, bearing: 144.386962 deg, deltaT: 5.588780 s, approachRate: 85.081184 m/s, LOS rate: -4.106915 deg/s, posRepo size: 4
2021-08-15T14:47:31.409Z,1629038851.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 791.760010 m,
      bearing: 144.386962 deg,
      approachRate: 85.081184 m/s,
      LOS rate: -4.106915 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 98.776821 deg,
      new cmd heading: 93.170049 deg.

2021-08-15T14:47:33.455Z,1629038853.455 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:47:33.766Z,1629038853.766 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:47:33.766Z,1629038853.766 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:47:33.766Z,1629038853.766 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:47:33.767Z,1629038853.767 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:47:34.161Z,1629038854.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,035FD,188,80,80,6C,FF
2021-08-15T14:47:34.161Z,1629038854.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:47:34.161Z,1629038854.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:47:34.163Z,1629038854.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:47:34.593Z,1629038854.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:47:35.377Z,1629038855.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,35C,000,016E2,189,80,80,94,FF
2021-08-15T14:47:35.378Z,1629038855.378 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:47:35.382Z,1629038855.382 [Micromodem](INFO): Nmea in: $SNTTA,0.370799,0.370724,,,144736.10*5A

2021-08-15T14:47:35.808Z,1629038855.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 313.979980 m, bearing: 147.402750 deg, deltaT: 4.546946 s, approachRate: -105.077126 m/s, LOS rate: 0.663256 deg/s, posRepo size: 4
2021-08-15T14:47:35.810Z,1629038855.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 313.979980 m,
      bearing: 147.402750 deg,
      approachRate: -105.077126 m/s,
      LOS rate: 0.663256 deg/s,
      cmd update: 2.653023 deg/s,
      cmd heading: 44.213744 deg,
      new cmd heading: 40.353656 deg.

2021-08-15T14:47:38.371Z,1629038858.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:47:38.677Z,1629038858.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:47:38.677Z,1629038858.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:47:38.678Z,1629038858.678 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:47:38.678Z,1629038858.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:47:39.097Z,1629038859.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
35C,000,016E2,189,80,80,94,FF
2021-08-15T14:47:39.097Z,1629038859.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:47:39.097Z,1629038859.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:47:39.099Z,1629038859.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:47:39.748Z,1629038859.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:47:40.129Z,1629038860.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E0,000,00829,189,80,80,2E,FF
2021-08-15T14:47:40.130Z,1629038860.130 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:47:40.550Z,1629038860.550 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144741.04*59

2021-08-15T14:47:40.601Z,1629038860.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.839996 m, bearing: 134.086230 deg, deltaT: 4.660542 s, approachRate: -48.522251 m/s, LOS rate: -2.857290 deg/s, posRepo size: 4
2021-08-15T14:47:40.603Z,1629038860.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.839996 m,
      bearing: 134.086230 deg,
      approachRate: -48.522251 m/s,
      LOS rate: -2.857290 deg/s,
      cmd update: -11.429160 deg/s,
      cmd heading: 56.578227 deg,
      new cmd heading: 57.783861 deg.

2021-08-15T14:47:41.402Z,1629038861.402 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T14:47:43.065Z,1629038863.065 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:47:43.385Z,1629038863.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:47:43.386Z,1629038863.386 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:47:43.388Z,1629038863.388 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:47:43.399Z,1629038863.399 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:47:43.424Z,1629038863.424 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E0,000,00829,189,80,80,2E,FF
2021-08-15T14:47:43.424Z,1629038863.424 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:47:43.424Z,1629038863.424 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:47:43.426Z,1629038863.426 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:47:43.925Z,1629038863.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:47:44.721Z,1629038864.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CE,000,01692,186,80,80,4B,FF
2021-08-15T14:47:44.722Z,1629038864.722 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:47:44.725Z,1629038864.725 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144745.36*5C

2021-08-15T14:47:45.227Z,1629038865.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 309.179993 m, bearing: 142.651984 deg, deltaT: 4.639491 s, approachRate: 47.707817 m/s, LOS rate: 1.846270 deg/s, posRepo size: 4
2021-08-15T14:47:45.229Z,1629038865.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 309.179993 m,
      bearing: 142.651984 deg,
      approachRate: 47.707817 m/s,
      LOS rate: 1.846270 deg/s,
      cmd update: 7.385081 deg/s,
      cmd heading: 3.598757 deg,
      new cmd heading: 358.512781 deg.

2021-08-15T14:47:47.677Z,1629038867.677 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:47:48.005Z,1629038868.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:47:48.005Z,1629038868.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:47:48.005Z,1629038868.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:47:48.006Z,1629038868.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:47:48.429Z,1629038868.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CE,000,01692,186,80,80,4B,FF
2021-08-15T14:47:48.429Z,1629038868.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:47:48.429Z,1629038868.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:47:48.433Z,1629038868.433 [Micromodem](INFO): Nmea in: $CAERR,144750,DATA_TIMEOUT,2*4E

2021-08-15T14:47:48.434Z,1629038868.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:47:48.818Z,1629038868.818 [Micromodem](INFO): Nmea in: $CATXP,64*70

2021-08-15T14:47:48.818Z,1629038868.818 [Micromodem](ERROR): Response from modem unexpected: $CATXP,64*70

2021-08-15T14:47:50.359Z,1629038870.359 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:47:50.474Z,1629038870.474 [Micromodem](INFO): Nmea in: $CATXF,64*66

2021-08-15T14:47:50.474Z,1629038870.474 [Micromodem](ERROR): Response from modem unexpected: $CATXF,64*66

2021-08-15T14:47:50.882Z,1629038870.882 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,144750.145252,3,0,200,4000,14500,1,1,10,1,3,1,3,64,14500*55

2021-08-15T14:47:50.882Z,1629038870.882 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210815,144750.145252,3,0,200,4000,14500,1,1,10,1,3,1,3,64,14500*55

2021-08-15T14:47:52.559Z,1629038872.559 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-15T14:47:52.922Z,1629038872.922 [Micromodem](INFO): Nmea in: $CACST,6,0,20210815144753.380078,06,32767,45,0147,0150,07,01,01,00,02,1,010,001,0,4,1,0,150,18.5,13.88,25,-10.88,-01,-0.55,34,14500,4000*43

2021-08-15T14:47:52.922Z,1629038872.922 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210815144753.380078,06,32767,45,0147,0150,07,01,01,00,02,1,010,001,0,4,1,0,150,18.5,13.88,25,-10.88,-01,-0.55,34,14500,4000*43

2021-08-15T14:47:52.939Z,1629038872.939 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:47:54.144Z,1629038874.144 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.138018
2021-08-15T14:47:55.442Z,1629038875.442 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:47:55.741Z,1629038875.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:47:55.741Z,1629038875.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:47:55.742Z,1629038875.742 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:47:55.742Z,1629038875.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:47:56.145Z,1629038876.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CE,000,01692,186,80,80,4B,FF
2021-08-15T14:47:56.145Z,1629038876.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:47:56.145Z,1629038876.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:47:58.245Z,1629038878.245 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:47:59.782Z,1629038879.782 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:48:00.196Z,1629038880.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:48:01.035Z,1629038881.035 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07C,000,01622,187,80,80,63,FF
2021-08-15T14:48:01.040Z,1629038881.040 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:48:01.061Z,1629038881.061 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144801.72*53

2021-08-15T14:48:01.447Z,1629038881.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 302.459991 m, bearing: 89.223294 deg, deltaT: 16.341112 s, approachRate: -0.411233 m/s, LOS rate: -3.269587 deg/s, posRepo size: 4
2021-08-15T14:48:01.451Z,1629038881.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 302.459991 m,
      bearing: 89.223294 deg,
      approachRate: -0.411233 m/s,
      LOS rate: -3.269587 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 124.306459 deg,
      new cmd heading: 126.664700 deg.

2021-08-15T14:48:04.007Z,1629038884.007 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:48:04.381Z,1629038884.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:48:04.381Z,1629038884.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:48:04.381Z,1629038884.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:48:04.382Z,1629038884.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:48:04.793Z,1629038884.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07C,000,01622,187,80,80,63,FF
2021-08-15T14:48:04.793Z,1629038884.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:48:04.793Z,1629038884.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:48:04.795Z,1629038884.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:48:05.188Z,1629038885.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:48:05.833Z,1629038885.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C83,000,01608,189,80,80,47,FF
2021-08-15T14:48:05.834Z,1629038885.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:48:06.237Z,1629038886.237 [Micromodem](INFO): Nmea in: $SNTTA,0.202787,,,,144806.74*44

2021-08-15T14:48:06.279Z,1629038886.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 300.899994 m, bearing: 151.187877 deg, deltaT: 4.724848 s, approachRate: -0.330169 m/s, LOS rate: 13.114619 deg/s, posRepo size: 4
2021-08-15T14:48:06.281Z,1629038886.281 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.114619 deg/s. Setting heading cmd to target bearing of 151.187877deg and heading rate command to 0 deg/s.
2021-08-15T14:48:08.695Z,1629038888.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:48:09.097Z,1629038889.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:48:09.097Z,1629038889.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:48:09.097Z,1629038889.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:48:09.098Z,1629038889.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:48:09.465Z,1629038889.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C83,000,01608,189,80,80,47,FF
2021-08-15T14:48:09.466Z,1629038889.466 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:48:09.466Z,1629038889.466 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:48:09.467Z,1629038889.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:48:09.977Z,1629038889.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:48:10.773Z,1629038890.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CFD,000,015DC,189,80,80,64,FF
2021-08-15T14:48:10.774Z,1629038890.774 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:48:10.777Z,1629038890.777 [Micromodem](INFO): Nmea in: $SNTTA,0.201382,,,,144811.41*46

2021-08-15T14:48:11.276Z,1629038891.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 298.259979 m, bearing: 149.463787 deg, deltaT: 5.000207 s, approachRate: -0.527981 m/s, LOS rate: -0.344804 deg/s, posRepo size: 4
2021-08-15T14:48:11.278Z,1629038891.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 298.259979 m,
      bearing: 149.463787 deg,
      approachRate: -0.527981 m/s,
      LOS rate: -0.344804 deg/s,
      cmd update: -1.379215 deg/s,
      cmd heading: 151.187877 deg,
      new cmd heading: 151.187877 deg.

2021-08-15T14:48:13.407Z,1629038893.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:48:13.706Z,1629038893.706 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:48:13.706Z,1629038893.706 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:48:13.707Z,1629038893.707 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:48:13.707Z,1629038893.707 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:48:14.093Z,1629038894.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CFD,000,015DC,189,80,80,64,FF
2021-08-15T14:48:14.093Z,1629038894.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:48:14.093Z,1629038894.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:48:14.095Z,1629038894.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:48:14.503Z,1629038894.503 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:48:15.365Z,1629038895.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C65,000,015C2,189,80,80,69,FF
2021-08-15T14:48:15.366Z,1629038895.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:48:15.369Z,1629038895.369 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144816.03*53

2021-08-15T14:48:15.770Z,1629038895.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 296.699982 m, bearing: 152.883485 deg, deltaT: 4.619053 s, approachRate: -0.337731 m/s, LOS rate: 0.740346 deg/s, posRepo size: 4
2021-08-15T14:48:15.773Z,1629038895.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 296.699982 m,
      bearing: 152.883485 deg,
      approachRate: -0.337731 m/s,
      LOS rate: 0.740346 deg/s,
      cmd update: 2.961385 deg/s,
      cmd heading: 144.831745 deg,
      new cmd heading: 144.405019 deg.

2021-08-15T14:48:18.494Z,1629038898.494 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:48:18.653Z,1629038898.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:48:18.653Z,1629038898.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:48:18.653Z,1629038898.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:48:18.654Z,1629038898.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:48:19.089Z,1629038899.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C65,000,015C2,189,80,80,69,FF
2021-08-15T14:48:19.089Z,1629038899.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:48:19.090Z,1629038899.090 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:48:19.091Z,1629038899.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:48:19.460Z,1629038899.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:48:20.276Z,1629038900.276 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,205,000,015A6,187,80,80,54,FF
2021-08-15T14:48:20.277Z,1629038900.277 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:48:20.295Z,1629038900.295 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144821.03*57

2021-08-15T14:48:20.712Z,1629038900.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 295.019989 m, bearing: 96.919783 deg, deltaT: 4.916388 s, approachRate: -0.341713 m/s, LOS rate: -11.383093 deg/s, posRepo size: 4
2021-08-15T14:48:20.714Z,1629038900.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 295.019989 m,
      bearing: 96.919783 deg,
      approachRate: -0.341713 m/s,
      LOS rate: -11.383093 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 159.408195 deg,
      new cmd heading: 160.380785 deg.

2021-08-15T14:48:22.325Z,1629038902.325 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-15T14:48:22.910Z,1629038902.910 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 10181961180000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2021-08-15T14:48:22.910Z,1629038902.910 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F53B08612FBF911D6AE090130943E26CC3AC8DF8D94F6E2A89DF48D61302FD0645226A875AF15FB
2021-08-15T14:48:22.911Z,1629038902.911 [Micromodem](INFO): Outgoing frame #3, 60 bytes: EA22C45FEB6B4C7917EDA6FC9E19C72368AB86A3066F911556374D3F08EF08EE6F76E631FD693A8A03C17816E2FEA1D1FB9C80E7862E17FDC9F80000
2021-08-15T14:48:22.911Z,1629038902.911 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-08-15T14:48:23.253Z,1629038903.253 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:48:23.485Z,1629038903.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:48:23.485Z,1629038903.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:48:23.485Z,1629038903.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:48:23.486Z,1629038903.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:48:23.494Z,1629038903.494 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-08-15T14:48:23.857Z,1629038903.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
205,000,015A6,187,80,80,54,FF
2021-08-15T14:48:23.857Z,1629038903.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:48:23.857Z,1629038903.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:48:23.859Z,1629038903.859 [Micromodem](INFO): Nmea in: $CADRQ,144824,1,10,0,64,1*79

2021-08-15T14:48:23.859Z,1629038903.859 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,10181961180000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*4A

2021-08-15T14:48:24.270Z,1629038904.270 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-15T14:48:24.271Z,1629038904.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:48:24.671Z,1629038904.671 [Micromodem](INFO): Nmea in: $CADRQ,144825,1,10,0,64,2*7B

2021-08-15T14:48:24.671Z,1629038904.671 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,144825,1,10,0,64,2*7B

2021-08-15T14:48:25.108Z,1629038905.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:48:25.677Z,1629038905.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F24,000,01571,187,80,80,53,FF
2021-08-15T14:48:25.678Z,1629038905.678 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:48:25.681Z,1629038905.681 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144826.21*50

2021-08-15T14:48:26.120Z,1629038906.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 291.839996 m, bearing: 153.851664 deg, deltaT: 5.308245 s, approachRate: -0.599067 m/s, LOS rate: 10.725180 deg/s, posRepo size: 4
2021-08-15T14:48:26.122Z,1629038906.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 291.839996 m,
      bearing: 153.851664 deg,
      approachRate: -0.599067 m/s,
      LOS rate: 10.725180 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 95.656034 deg,
      new cmd heading: 90.571501 deg.

2021-08-15T14:48:28.569Z,1629038908.569 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:48:28.913Z,1629038908.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:48:28.913Z,1629038908.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:48:28.914Z,1629038908.914 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:48:28.915Z,1629038908.915 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:48:29.337Z,1629038909.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F24,000,01571,187,80,80,53,FF
2021-08-15T14:48:29.337Z,1629038909.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:48:29.337Z,1629038909.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:48:29.338Z,1629038909.338 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:48:29.892Z,1629038909.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:48:30.305Z,1629038910.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2C,000,01571,187,80,80,53,FF
2021-08-15T14:48:30.307Z,1629038910.307 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:48:30.705Z,1629038910.705 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144831.28*5F

2021-08-15T14:48:30.767Z,1629038910.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 291.839996 m, bearing: 150.401913 deg, deltaT: 4.695015 s, approachRate: 0.000000 m/s, LOS rate: -0.734769 deg/s, posRepo size: 4
2021-08-15T14:48:30.785Z,1629038910.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 291.839996 m,
      bearing: 150.401913 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.734769 deg/s,
      cmd update: -2.939076 deg/s,
      cmd heading: 151.950255 deg,
      new cmd heading: 156.497055 deg.

2021-08-15T14:48:33.178Z,1629038913.178 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:48:33.517Z,1629038913.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:48:33.518Z,1629038913.518 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:48:33.518Z,1629038913.518 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:48:33.519Z,1629038913.519 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:48:33.925Z,1629038913.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2C,000,01571,187,80,80,53,FF
2021-08-15T14:48:33.926Z,1629038913.926 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:48:33.926Z,1629038913.926 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:48:33.927Z,1629038913.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:48:34.369Z,1629038914.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:48:35.161Z,1629038915.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E55,000,01527,187,80,80,72,FF
2021-08-15T14:48:35.161Z,1629038915.161 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:48:35.164Z,1629038915.164 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144835.87*5E

2021-08-15T14:48:35.603Z,1629038915.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 287.399994 m, bearing: 149.413516 deg, deltaT: 4.855337 s, approachRate: -0.914458 m/s, LOS rate: -0.203569 deg/s, posRepo size: 4
2021-08-15T14:48:35.605Z,1629038915.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 287.399994 m,
      bearing: 149.413516 deg,
      approachRate: -0.914458 m/s,
      LOS rate: -0.203569 deg/s,
      cmd update: -0.814276 deg/s,
      cmd heading: 137.680011 deg,
      new cmd heading: 136.620589 deg.

2021-08-15T14:48:38.210Z,1629038918.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:48:38.404Z,1629038918.404 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:48:38.404Z,1629038918.404 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:48:38.407Z,1629038918.407 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:48:38.456Z,1629038918.456 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:48:38.456Z,1629038918.456 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E55,000,01527,187,80,80,72,FF
2021-08-15T14:48:38.456Z,1629038918.456 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:48:38.457Z,1629038918.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:48:38.458Z,1629038918.458 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:48:38.797Z,1629038918.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:48:40.018Z,1629038920.018 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144840.40*57

2021-08-15T14:48:40.837Z,1629038920.837 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:48:41.226Z,1629038921.226 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T14:48:42.029Z,1629038922.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,187,80,80,72,FF
2021-08-15T14:48:42.029Z,1629038922.029 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,187,80,80,72,FF
2021-08-15T14:48:42.030Z,1629038922.030 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:48:43.349Z,1629038923.349 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:48:43.657Z,1629038923.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:48:43.657Z,1629038923.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:48:43.657Z,1629038923.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:48:43.658Z,1629038923.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:48:44.065Z,1629038924.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,187,80,80,72,FF
2021-08-15T14:48:44.066Z,1629038924.066 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:48:44.066Z,1629038924.066 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:48:44.067Z,1629038924.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:48:44.477Z,1629038924.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:48:44.925Z,1629038924.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F38,000,00D9C,186,80,80,4E,FF
2021-08-15T14:48:44.926Z,1629038924.926 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:48:45.365Z,1629038925.365 [Micromodem](INFO): Nmea in: $SNTTA,0.376605,0.417542,,,144846.01*54

2021-08-15T14:48:45.467Z,1629038925.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 171.539993 m, bearing: 149.775899 deg, deltaT: 9.725338 s, approachRate: -11.913211 m/s, LOS rate: 0.037262 deg/s, posRepo size: 4
2021-08-15T14:48:45.473Z,1629038925.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.539993 m,
      bearing: 149.775899 deg,
      approachRate: -11.913211 m/s,
      LOS rate: 0.037262 deg/s,
      cmd update: 0.149047 deg/s,
      cmd heading: 129.760869 deg,
      new cmd heading: 129.354439 deg.

2021-08-15T14:48:47.788Z,1629038927.788 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:48:48.153Z,1629038928.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:48:48.153Z,1629038928.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:48:48.153Z,1629038928.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:48:48.154Z,1629038928.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:48:48.560Z,1629038928.560 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F38,000,00D9C,186,80,80,4E,FF
2021-08-15T14:48:48.560Z,1629038928.560 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:48:48.561Z,1629038928.561 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:48:48.562Z,1629038928.562 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:48:48.961Z,1629038928.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:48:49.565Z,1629038929.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E95,000,01492,186,80,80,75,FF
2021-08-15T14:48:49.566Z,1629038929.566 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:48:49.569Z,1629038929.569 [Micromodem](INFO): Nmea in: $SNTTA,0.130547,0.130647,,,144850.50*54

2021-08-15T14:48:49.976Z,1629038929.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 278.459991 m, bearing: 153.233655 deg, deltaT: 4.649521 s, approachRate: 22.995916 m/s, LOS rate: 0.743680 deg/s, posRepo size: 4
2021-08-15T14:48:49.978Z,1629038929.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 278.459991 m,
      bearing: 153.233655 deg,
      approachRate: 22.995916 m/s,
      LOS rate: 0.743680 deg/s,
      cmd update: 2.974720 deg/s,
      cmd heading: 130.450502 deg,
      new cmd heading: 130.507336 deg.

2021-08-15T14:48:52.552Z,1629038932.552 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:48:52.894Z,1629038932.894 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:48:52.894Z,1629038932.894 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:48:52.895Z,1629038932.895 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:48:52.895Z,1629038932.895 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:48:53.316Z,1629038933.316 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E95,000,01492,186,80,80,75,FF
2021-08-15T14:48:53.316Z,1629038933.316 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:48:53.317Z,1629038933.317 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:48:53.319Z,1629038933.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:48:53.752Z,1629038933.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:48:54.159Z,1629038934.159 [Micromodem](INFO): Nmea in: $CAERR,144855,DATA_TIMEOUT,2*44

2021-08-15T14:48:54.570Z,1629038934.570 [Micromodem](INFO): Nmea in: $CATXP,64*70

2021-08-15T14:48:55.056Z,1629038935.056 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:48:56.242Z,1629038936.242 [Micromodem](INFO): Nmea in: $CATXF,64*66

2021-08-15T14:48:56.637Z,1629038936.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,186,80,80,75,FF
2021-08-15T14:48:56.637Z,1629038936.637 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,186,80,80,75,FF
2021-08-15T14:48:56.637Z,1629038936.637 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:48:56.639Z,1629038936.639 [Micromodem](INFO): Nmea in: $SNTTA,0.186183,,,,144855.26*48

2021-08-15T14:48:57.843Z,1629038937.843 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,144855.844478,3,0,200,4000,14500,1,1,10,1,3,1,3,64,14500*59

2021-08-15T14:48:58.123Z,1629038938.123 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:48:58.383Z,1629038938.383 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:48:58.383Z,1629038938.383 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:48:58.383Z,1629038938.383 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:48:58.384Z,1629038938.384 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:48:58.392Z,1629038938.392 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-15T14:48:58.773Z,1629038938.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,186,80,80,75,FF
2021-08-15T14:48:58.773Z,1629038938.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:48:58.774Z,1629038938.774 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:48:58.779Z,1629038938.779 [Micromodem](INFO): Nmea in: $CACST,6,0,20210815144859.035127,06,32767,45,0193,0150,22,01,01,00,01,1,010,001,0,4,1,0,150,12.3,10.33,24,-7.33,-01,-0.60,39,14500,4000*7E

2021-08-15T14:48:58.780Z,1629038938.780 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:49:00.013Z,1629038940.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,016,000,01437,183,80,80,5C,FF
2021-08-15T14:49:00.013Z,1629038940.013 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:49:00.019Z,1629038940.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:49:00.459Z,1629038940.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 273.000000 m, bearing: 153.197578 deg, deltaT: 10.472639 s, approachRate: -0.521358 m/s, LOS rate: -0.003445 deg/s, posRepo size: 4
2021-08-15T14:49:00.466Z,1629038940.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 273.000000 m,
      bearing: 153.197578 deg,
      approachRate: -0.521358 m/s,
      LOS rate: -0.003445 deg/s,
      cmd update: -0.013780 deg/s,
      cmd heading: 161.626621 deg,
      new cmd heading: 162.703491 deg.

2021-08-15T14:49:02.718Z,1629038942.718 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:49:02.877Z,1629038942.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:49:02.877Z,1629038942.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:49:02.877Z,1629038942.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:49:02.878Z,1629038942.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:49:03.281Z,1629038943.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
016,000,01437,183,80,80,5C,FF
2021-08-15T14:49:03.281Z,1629038943.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:49:03.282Z,1629038943.282 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:49:03.288Z,1629038943.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:49:03.700Z,1629038943.700 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:49:04.542Z,1629038944.542 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,105,000,01408,186,80,80,90,FF
2021-08-15T14:49:04.542Z,1629038944.542 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:49:04.550Z,1629038944.550 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144905.23*52

2021-08-15T14:49:05.102Z,1629038945.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 270.179993 m, bearing: 152.604991 deg, deltaT: 4.710464 s, approachRate: -0.598669 m/s, LOS rate: -0.125802 deg/s, posRepo size: 4
2021-08-15T14:49:05.104Z,1629038945.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 270.179993 m,
      bearing: 152.604991 deg,
      approachRate: -0.598669 m/s,
      LOS rate: -0.125802 deg/s,
      cmd update: -0.503209 deg/s,
      cmd heading: 161.561456 deg,
      new cmd heading: 161.557356 deg.

2021-08-15T14:49:07.517Z,1629038947.517 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:49:07.821Z,1629038947.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:49:07.821Z,1629038947.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:49:07.821Z,1629038947.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:49:07.822Z,1629038947.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:49:08.241Z,1629038948.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
105,000,01408,186,80,80,90,FF
2021-08-15T14:49:08.242Z,1629038948.242 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:49:08.242Z,1629038948.242 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:49:08.245Z,1629038948.245 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:49:08.625Z,1629038948.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:49:09.506Z,1629038949.506 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,167,000,00ED9,185,80,80,82,FF
2021-08-15T14:49:09.507Z,1629038949.507 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:49:09.510Z,1629038949.510 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144910.19*5F

2021-08-15T14:49:09.948Z,1629038949.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 190.559998 m, bearing: 149.230085 deg, deltaT: 4.728427 s, approachRate: -16.838579 m/s, LOS rate: -0.713748 deg/s, posRepo size: 4
2021-08-15T14:49:09.950Z,1629038949.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.559998 m,
      bearing: 149.230085 deg,
      approachRate: -16.838579 m/s,
      LOS rate: -0.713748 deg/s,
      cmd update: -2.854992 deg/s,
      cmd heading: 159.183546 deg,
      new cmd heading: 158.973175 deg.

2021-08-15T14:49:12.051Z,1629038952.051 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:49:12.437Z,1629038952.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:49:12.437Z,1629038952.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:49:12.437Z,1629038952.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:49:12.438Z,1629038952.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:49:12.849Z,1629038952.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
167,000,00ED9,185,80,80,82,FF
2021-08-15T14:49:12.850Z,1629038952.850 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:49:12.850Z,1629038952.850 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:49:12.852Z,1629038952.852 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:49:13.257Z,1629038953.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:49:14.077Z,1629038954.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10F,000,013A5,186,80,80,74,FF
2021-08-15T14:49:14.077Z,1629038954.077 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:49:14.080Z,1629038954.080 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144914.79*5D

2021-08-15T14:49:14.503Z,1629038954.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 264.239990 m, bearing: 149.547142 deg, deltaT: 4.563437 s, approachRate: 16.145723 m/s, LOS rate: 0.069478 deg/s, posRepo size: 4
2021-08-15T14:49:14.505Z,1629038954.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 264.239990 m,
      bearing: 149.547142 deg,
      approachRate: 16.145723 m/s,
      LOS rate: 0.069478 deg/s,
      cmd update: 0.277911 deg/s,
      cmd heading: 146.147074 deg,
      new cmd heading: 144.984021 deg.

2021-08-15T14:49:16.959Z,1629038956.959 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:49:17.320Z,1629038957.320 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:49:17.321Z,1629038957.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:49:17.321Z,1629038957.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:49:17.322Z,1629038957.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:49:17.731Z,1629038957.731 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10F,000,013A5,186,80,80,74,FF
2021-08-15T14:49:17.731Z,1629038957.731 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:49:17.732Z,1629038957.732 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:49:17.734Z,1629038957.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:49:18.268Z,1629038958.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:49:18.649Z,1629038958.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02F,000,013A5,186,80,80,74,FF
2021-08-15T14:49:18.650Z,1629038958.650 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:49:19.105Z,1629038959.105 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144919.67*5F

2021-08-15T14:49:19.185Z,1629038959.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 264.239990 m, bearing: 150.856571 deg, deltaT: 4.622600 s, approachRate: 0.000000 m/s, LOS rate: 0.283267 deg/s, posRepo size: 4
2021-08-15T14:49:19.187Z,1629038959.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 264.239990 m,
      bearing: 150.856571 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.283267 deg/s,
      cmd update: 1.133067 deg/s,
      cmd heading: 147.430581 deg,
      new cmd heading: 147.561322 deg.

2021-08-15T14:49:21.502Z,1629038961.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:49:21.877Z,1629038961.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:49:21.877Z,1629038961.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:49:21.877Z,1629038961.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:49:21.878Z,1629038961.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:49:22.314Z,1629038962.314 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02F,000,013A5,186,80,80,74,FF
2021-08-15T14:49:22.314Z,1629038962.314 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:49:22.315Z,1629038962.315 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:49:22.321Z,1629038962.321 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:49:22.875Z,1629038962.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:49:23.269Z,1629038963.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,068,000,01352,186,80,80,74,FF
2021-08-15T14:49:23.270Z,1629038963.270 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:49:23.685Z,1629038963.685 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144924.26*54

2021-08-15T14:49:23.739Z,1629038963.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 259.260010 m, bearing: 149.143123 deg, deltaT: 4.654761 s, approachRate: -1.069868 m/s, LOS rate: -0.368107 deg/s, posRepo size: 4
2021-08-15T14:49:23.741Z,1629038963.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 259.260010 m,
      bearing: 149.143123 deg,
      approachRate: -1.069868 m/s,
      LOS rate: -0.368107 deg/s,
      cmd update: -1.472427 deg/s,
      cmd heading: 152.709257 deg,
      new cmd heading: 153.123491 deg.

2021-08-15T14:49:26.169Z,1629038966.169 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:49:26.530Z,1629038966.530 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:49:26.530Z,1629038966.530 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:49:26.530Z,1629038966.530 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:49:26.531Z,1629038966.531 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:49:26.934Z,1629038966.934 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
068,000,01352,186,80,80,74,FF
2021-08-15T14:49:26.934Z,1629038966.934 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:49:26.934Z,1629038966.934 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:49:26.937Z,1629038966.937 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:49:27.376Z,1629038967.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:49:27.397Z,1629038967.397 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T14:49:28.165Z,1629038968.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,065,000,0131F,186,80,80,84,FF
2021-08-15T14:49:28.165Z,1629038968.165 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:49:28.168Z,1629038968.168 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144928.88*5C

2021-08-15T14:49:28.169Z,1629038968.169 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-15T14:49:28.779Z,1629038968.779 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 10181961180000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895
2021-08-15T14:49:28.779Z,1629038968.779 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F53B08612FBF911D6AE090130943E26CC3AC8DF8D94F6E2A89DF48D61302FD0645226A875AF15FB
2021-08-15T14:49:28.780Z,1629038968.780 [Micromodem](INFO): Outgoing frame #3, 60 bytes: EA22C45FEB6B4C7917EDA6FC9E19C72368AB86A3066F911556374D3F08EF08EE6F76E631FD693A8A03C17816E2FEA1D1FB9C80E7862E17FDC9F80000
2021-08-15T14:49:28.780Z,1629038968.780 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-08-15T14:49:28.874Z,1629038968.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 256.200012 m, bearing: 152.287701 deg, deltaT: 4.834757 s, approachRate: -0.632917 m/s, LOS rate: 0.650411 deg/s, posRepo size: 4
2021-08-15T14:49:28.876Z,1629038968.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 256.200012 m,
      bearing: 152.287701 deg,
      approachRate: -0.632917 m/s,
      LOS rate: 0.650411 deg/s,
      cmd update: 2.601643 deg/s,
      cmd heading: 145.625205 deg,
      new cmd heading: 144.609413 deg.

2021-08-15T14:49:29.610Z,1629038969.610 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-08-15T14:49:29.989Z,1629038969.989 [Micromodem](INFO): Nmea in: $CADRQ,144930,1,10,0,64,1*7D

2021-08-15T14:49:29.989Z,1629038969.989 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,10181961180000005D00000400CF0000000000000000151D80030C5669BF3148E2FA22188B6A3173E51AA1508F2C2560E38C4E31BE8E0EFE5E41AD29BB47E895*4A

2021-08-15T14:49:30.397Z,1629038970.397 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-15T14:49:30.794Z,1629038970.794 [Micromodem](INFO): Nmea in: $CADRQ,144931,1,10,0,64,2*7F

2021-08-15T14:49:30.795Z,1629038970.795 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,4CAB4C1EBBB97A1756A06107373D1D7AB27E5ACDB870D0D98F53B08612FBF911D6AE090130943E26CC3AC8DF8D94F6E2A89DF48D61302FD0645226A875AF15FB*42

2021-08-15T14:49:30.920Z,1629038970.920 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:49:31.189Z,1629038971.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:49:31.189Z,1629038971.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:49:31.189Z,1629038971.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:49:31.190Z,1629038971.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:49:31.199Z,1629038971.199 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-15T14:49:31.651Z,1629038971.651 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
065,000,0131F,186,80,80,84,FF
2021-08-15T14:49:31.651Z,1629038971.651 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:49:31.651Z,1629038971.651 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:49:31.653Z,1629038971.653 [Micromodem](INFO): Nmea in: $CADRQ,144932,1,10,0,64,3*7D

2021-08-15T14:49:31.653Z,1629038971.653 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,EA22C45FEB6B4C7917EDA6FC9E19C72368AB86A3066F911556374D3F08EF08EE6F76E631FD693A8A03C17816E2FEA1D1FB9C80E7862E17FDC9F80000*4E

2021-08-15T14:49:32.052Z,1629038972.052 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-15T14:49:32.052Z,1629038972.052 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:49:32.460Z,1629038972.460 [Micromodem](INFO): Nmea in: $CATXP,188*43

2021-08-15T14:49:32.460Z,1629038972.460 [Micromodem](ERROR): Response from modem unexpected: $CATXP,188*43

2021-08-15T14:49:33.686Z,1629038973.686 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:49:36.130Z,1629038976.130 [Micromodem](INFO): Nmea in: $CATXF,188*55

2021-08-15T14:49:36.130Z,1629038976.130 [Micromodem](ERROR): Response from modem unexpected: $CATXF,188*55

2021-08-15T14:49:36.528Z,1629038976.528 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,144933.639113,3,0,200,4000,14500,1,1,10,1,3,3,3,188,14500*65

2021-08-15T14:49:36.529Z,1629038976.529 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210815,144933.639113,3,0,200,4000,14500,1,1,10,1,3,3,3,188,14500*65

2021-08-15T14:49:36.593Z,1629038976.593 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:49:37.372Z,1629038977.372 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.182002
2021-08-15T14:49:39.452Z,1629038979.452 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:49:39.776Z,1629038979.776 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:49:39.777Z,1629038979.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:49:39.777Z,1629038979.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:49:39.778Z,1629038979.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:49:39.785Z,1629038979.785 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-15T14:49:40.176Z,1629038980.176 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
065,000,0131F,186,80,80,84,FF
2021-08-15T14:49:40.177Z,1629038980.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:49:40.177Z,1629038980.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:49:40.179Z,1629038980.179 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-08-15T14:49:40.594Z,1629038980.594 [Micromodem](INFO): Nmea in: $CAACK,10,1,3,1*79

2021-08-15T14:49:40.595Z,1629038980.595 [Micromodem](INFO): Sent 180 bytes from file Logs/20210815T133512/Courier0024.lzma.parts
2021-08-15T14:49:40.595Z,1629038980.595 [Micromodem](INFO): Packets left to send: 0
2021-08-15T14:49:40.985Z,1629038980.985 [Micromodem](INFO): Nmea in: $CACST,6,0,20210815144940.564116,06,22844,43,0210,0150,82,02,02,00,02,1,010,001,0,4,1,0,150,-34.4,6.79,18,-3.79,-01,-0.33,62,14500,4000*66

2021-08-15T14:49:40.985Z,1629038980.985 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210815144940.564116,06,22844,43,0210,0150,82,02,02,00,02,1,010,001,0,4,1,0,150,-34.4,6.79,18,-3.79,-01,-0.33,62,14500,4000*66

2021-08-15T14:49:41.943Z,1629038981.943 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-15T14:49:41.943Z,1629038981.943 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-15T14:49:41.943Z,1629038981.943 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-15T14:49:41.943Z,1629038981.943 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T14:49:41.943Z,1629038981.943 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-15T14:49:42.608Z,1629038982.608 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:49:43.142Z,1629038983.142 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:49:43.547Z,1629038983.547 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:49:44.377Z,1629038984.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,30C,000,01288,189,80,80,79,FF
2021-08-15T14:49:44.378Z,1629038984.378 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:49:44.381Z,1629038984.381 [Micromodem](INFO): Nmea in: $SNTTA,0.167281,,,,144945.08*4A

2021-08-15T14:49:44.805Z,1629038984.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 247.139984 m, bearing: 147.287948 deg, deltaT: 16.198675 s, approachRate: -0.559307 m/s, LOS rate: -0.308652 deg/s, posRepo size: 4
2021-08-15T14:49:44.807Z,1629038984.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 247.139984 m,
      bearing: 147.287948 deg,
      approachRate: -0.559307 m/s,
      LOS rate: -0.308652 deg/s,
      cmd update: -1.234608 deg/s,
      cmd heading: 187.831160 deg,
      new cmd heading: 188.866091 deg.

2021-08-15T14:49:47.229Z,1629038987.229 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:49:47.589Z,1629038987.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:49:47.589Z,1629038987.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:49:47.589Z,1629038987.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:49:47.590Z,1629038987.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:49:47.985Z,1629038987.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
30C,000,01288,189,80,80,79,FF
2021-08-15T14:49:47.985Z,1629038987.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:49:47.985Z,1629038987.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:49:47.987Z,1629038987.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:49:48.396Z,1629038988.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:49:49.197Z,1629038989.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3C8,000,01266,189,80,80,9F,FF
2021-08-15T14:49:49.197Z,1629038989.197 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:49:49.201Z,1629038989.201 [Micromodem](INFO): Nmea in: $SNTTA,0.165908,0.415770,,,144949.92*53

2021-08-15T14:49:49.646Z,1629038989.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 245.099991 m, bearing: 145.123830 deg, deltaT: 4.864835 s, approachRate: -0.419335 m/s, LOS rate: -0.444849 deg/s, posRepo size: 4
2021-08-15T14:49:49.664Z,1629038989.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 245.099991 m,
      bearing: 145.123830 deg,
      approachRate: -0.419335 m/s,
      LOS rate: -0.444849 deg/s,
      cmd update: -1.779397 deg/s,
      cmd heading: 181.838419 deg,
      new cmd heading: 181.362638 deg.

2021-08-15T14:49:52.067Z,1629038992.067 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:49:52.429Z,1629038992.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:49:52.429Z,1629038992.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:49:52.429Z,1629038992.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:49:52.430Z,1629038992.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:49:52.842Z,1629038992.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3C8,000,01266,189,80,80,9F,FF
2021-08-15T14:49:52.842Z,1629038992.842 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:49:52.842Z,1629038992.842 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:49:52.843Z,1629038992.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:49:53.240Z,1629038993.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:49:54.069Z,1629038994.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,337,000,0124C,189,80,80,93,FF
2021-08-15T14:49:54.069Z,1629038994.069 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:49:54.072Z,1629038994.072 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144954.78*58

2021-08-15T14:49:54.488Z,1629038994.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 243.539993 m, bearing: 145.628567 deg, deltaT: 4.848379 s, approachRate: -0.321757 m/s, LOS rate: 0.104104 deg/s, posRepo size: 4
2021-08-15T14:49:54.490Z,1629038994.490 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 243.539993 m,
      bearing: 145.628567 deg,
      approachRate: -0.321757 m/s,
      LOS rate: 0.104104 deg/s,
      cmd update: 0.416417 deg/s,
      cmd heading: 173.248948 deg,
      new cmd heading: 172.537358 deg.

2021-08-15T14:49:56.891Z,1629038996.891 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:49:57.289Z,1629038997.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:49:57.289Z,1629038997.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:49:57.290Z,1629038997.290 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:49:57.291Z,1629038997.291 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:49:57.681Z,1629038997.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
337,000,0124C,189,80,80,93,FF
2021-08-15T14:49:57.681Z,1629038997.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:49:57.681Z,1629038997.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:49:57.683Z,1629038997.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:49:58.088Z,1629038998.088 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:49:58.920Z,1629038998.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F0,000,0122B,189,80,80,A0,FF
2021-08-15T14:49:58.921Z,1629038998.921 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:49:58.924Z,1629038998.924 [Micromodem](INFO): Nmea in: $SNTTA,,,,,144959.62*5E

2021-08-15T14:49:59.378Z,1629038999.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 241.559982 m, bearing: 144.530491 deg, deltaT: 4.824628 s, approachRate: -0.410397 m/s, LOS rate: -0.227598 deg/s, posRepo size: 4
2021-08-15T14:49:59.381Z,1629038999.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 241.559982 m,
      bearing: 144.530491 deg,
      approachRate: -0.410397 m/s,
      LOS rate: -0.227598 deg/s,
      cmd update: -0.910392 deg/s,
      cmd heading: 175.270866 deg,
      new cmd heading: 175.451924 deg.

2021-08-15T14:50:01.745Z,1629039001.745 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:50:02.129Z,1629039002.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:50:02.130Z,1629039002.130 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:50:02.130Z,1629039002.130 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:50:02.131Z,1629039002.131 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:50:02.526Z,1629039002.526 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F0,000,0122B,189,80,80,A0,FF
2021-08-15T14:50:02.526Z,1629039002.526 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:50:02.526Z,1629039002.526 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:50:02.529Z,1629039002.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:50:02.936Z,1629039002.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:50:03.805Z,1629039003.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2DB,000,01205,189,80,80,83,FF
2021-08-15T14:50:03.805Z,1629039003.805 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:50:03.808Z,1629039003.808 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145004.47*59

2021-08-15T14:50:04.225Z,1629039004.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 239.279999 m, bearing: 143.994676 deg, deltaT: 4.878801 s, approachRate: -0.467325 m/s, LOS rate: -0.109825 deg/s, posRepo size: 4
2021-08-15T14:50:04.227Z,1629039004.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 239.279999 m,
      bearing: 143.994676 deg,
      approachRate: -0.467325 m/s,
      LOS rate: -0.109825 deg/s,
      cmd update: -0.439300 deg/s,
      cmd heading: 170.828169 deg,
      new cmd heading: 170.462313 deg.

2021-08-15T14:50:06.634Z,1629039006.634 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:50:07.032Z,1629039007.032 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:50:07.032Z,1629039007.032 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:50:07.033Z,1629039007.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:50:07.034Z,1629039007.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:50:07.413Z,1629039007.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2DB,000,01205,189,80,80,83,FF
2021-08-15T14:50:07.413Z,1629039007.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:50:07.413Z,1629039007.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:50:07.415Z,1629039007.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:50:07.824Z,1629039007.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:50:08.649Z,1629039008.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A1,000,011D7,189,80,80,9C,FF
2021-08-15T14:50:08.649Z,1629039008.649 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:50:08.652Z,1629039008.652 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145009.35*51

2021-08-15T14:50:09.129Z,1629039009.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 236.519989 m, bearing: 143.495963 deg, deltaT: 4.855008 s, approachRate: -0.568487 m/s, LOS rate: -0.102721 deg/s, posRepo size: 4
2021-08-15T14:50:09.131Z,1629039009.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 236.519989 m,
      bearing: 143.495963 deg,
      approachRate: -0.568487 m/s,
      LOS rate: -0.102721 deg/s,
      cmd update: -0.410886 deg/s,
      cmd heading: 168.695363 deg,
      new cmd heading: 168.497545 deg.

2021-08-15T14:50:11.490Z,1629039011.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:50:11.857Z,1629039011.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:50:11.857Z,1629039011.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:50:11.857Z,1629039011.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:50:11.858Z,1629039011.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:50:12.267Z,1629039012.267 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A1,000,011D7,189,80,80,9C,FF
2021-08-15T14:50:12.268Z,1629039012.268 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:50:12.268Z,1629039012.268 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:50:12.270Z,1629039012.270 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:50:12.680Z,1629039012.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:50:13.110Z,1629039013.110 [Micromodem](INFO): Nmea in: $SNTTA,0.313379,0.313623,,,145014.21*52

2021-08-15T14:50:13.119Z,1629039013.119 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-15T14:50:13.479Z,1629039013.479 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27A,000,011B4,189,80,80,7E,FF
2021-08-15T14:50:13.483Z,1629039013.483 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:50:13.912Z,1629039013.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 234.419998 m, bearing: 143.275253 deg, deltaT: 4.895745 s, approachRate: -0.428942 m/s, LOS rate: -0.045082 deg/s, posRepo size: 4
2021-08-15T14:50:13.914Z,1629039013.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 234.419998 m,
      bearing: 143.275253 deg,
      approachRate: -0.428942 m/s,
      LOS rate: -0.045082 deg/s,
      cmd update: -0.180329 deg/s,
      cmd heading: 166.685397 deg,
      new cmd heading: 166.545198 deg.

2021-08-15T14:50:16.355Z,1629039016.355 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:50:16.705Z,1629039016.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:50:16.705Z,1629039016.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:50:16.705Z,1629039016.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:50:16.706Z,1629039016.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:50:17.114Z,1629039017.114 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27A,000,011B4,189,80,80,7E,FF
2021-08-15T14:50:17.114Z,1629039017.114 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:50:17.114Z,1629039017.114 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:50:17.115Z,1629039017.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:50:17.517Z,1629039017.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:50:18.361Z,1629039018.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,255,000,0118B,189,80,80,9F,FF
2021-08-15T14:50:18.361Z,1629039018.361 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:50:18.364Z,1629039018.364 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145019.05*53

2021-08-15T14:50:18.764Z,1629039018.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 231.959976 m, bearing: 143.834932 deg, deltaT: 4.856191 s, approachRate: -0.506574 m/s, LOS rate: 0.115251 deg/s, posRepo size: 4
2021-08-15T14:50:18.766Z,1629039018.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 231.959976 m,
      bearing: 143.834932 deg,
      approachRate: -0.506574 m/s,
      LOS rate: 0.115251 deg/s,
      cmd update: 0.461003 deg/s,
      cmd heading: 165.811174 deg,
      new cmd heading: 165.748911 deg.

2021-08-15T14:50:21.633Z,1629039021.633 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:50:21.854Z,1629039021.854 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:50:21.854Z,1629039021.854 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:50:21.855Z,1629039021.855 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:50:21.856Z,1629039021.856 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:50:22.193Z,1629039022.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
255,000,0118B,189,80,80,9F,FF
2021-08-15T14:50:22.194Z,1629039022.194 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:50:22.194Z,1629039022.194 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:50:22.195Z,1629039022.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:50:22.605Z,1629039022.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:50:23.018Z,1629039023.018 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20A,000,00470,187,80,80,97,FF
2021-08-15T14:50:23.019Z,1629039023.019 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:50:23.449Z,1629039023.449 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145024.14*5D

2021-08-15T14:50:23.541Z,1629039023.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.659998 m, bearing: 145.484068 deg, deltaT: 4.708613 s, approachRate: -42.751438 m/s, LOS rate: 0.350238 deg/s, posRepo size: 4
2021-08-15T14:50:23.542Z,1629039023.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 30.66 m.
2021-08-15T14:50:23.550Z,1629039023.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.659998 m,
      bearing: 145.484068 deg,
      approachRate: -42.751438 m/s,
      LOS rate: 0.350238 deg/s,
      cmd update: 1.400952 deg/s,
      cmd heading: 167.987462 deg,
      new cmd heading: 168.170361 deg.

2021-08-15T14:50:23.858Z,1629039023.858 [PowerOnly](INFO): Powering up loadControl
2021-08-15T14:50:23.917Z,1629039023.917 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T14:50:23.918Z,1629039023.918 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T14:50:23.918Z,1629039023.918 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T14:50:23.918Z,1629039023.918 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T14:50:23.919Z,1629039023.919 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T14:50:23.919Z,1629039023.919 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T14:50:24.277Z,1629039024.277 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T14:50:24.278Z,1629039024.278 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T14:50:24.278Z,1629039024.278 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T14:50:24.278Z,1629039024.278 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T14:50:25.964Z,1629039025.964 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:50:26.237Z,1629039026.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:50:26.237Z,1629039026.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:50:26.237Z,1629039026.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:50:26.238Z,1629039026.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:50:26.646Z,1629039026.646 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20A,000,00470,187,80,80,97,FF
2021-08-15T14:50:26.646Z,1629039026.646 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:50:26.646Z,1629039026.646 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:50:26.648Z,1629039026.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:50:27.092Z,1629039027.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:50:27.890Z,1629039027.890 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145028.59*58

2021-08-15T14:50:28.705Z,1629039028.705 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:50:30.277Z,1629039030.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,187,80,80,97,FF
2021-08-15T14:50:30.277Z,1629039030.277 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,187,80,80,97,FF
2021-08-15T14:50:30.277Z,1629039030.277 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:50:31.555Z,1629039031.555 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:50:31.908Z,1629039031.908 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:50:31.908Z,1629039031.908 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:50:31.909Z,1629039031.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:50:31.910Z,1629039031.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:50:32.305Z,1629039032.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,187,80,80,97,FF
2021-08-15T14:50:32.305Z,1629039032.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:50:32.306Z,1629039032.306 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:50:32.311Z,1629039032.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:50:32.700Z,1629039032.700 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:50:33.544Z,1629039033.544 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145034.25*5E

2021-08-15T14:50:34.364Z,1629039034.364 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:50:35.937Z,1629039035.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,187,80,80,97,FF
2021-08-15T14:50:35.937Z,1629039035.937 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,187,80,80,97,FF
2021-08-15T14:50:35.938Z,1629039035.938 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:50:37.198Z,1629039037.198 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:50:37.557Z,1629039037.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:50:37.557Z,1629039037.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:50:37.557Z,1629039037.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:50:37.558Z,1629039037.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:50:37.953Z,1629039037.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,187,80,80,97,FF
2021-08-15T14:50:37.953Z,1629039037.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:50:37.953Z,1629039037.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:50:37.955Z,1629039037.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:50:38.377Z,1629039038.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:50:39.189Z,1629039039.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,380,000,010DE,189,80,80,8F,FF
2021-08-15T14:50:39.189Z,1629039039.189 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:50:39.192Z,1629039039.192 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145039.89*55

2021-08-15T14:50:39.321Z,1629039039.321 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:50:39.627Z,1629039039.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 221.579987 m, bearing: 143.133813 deg, deltaT: 16.178970 s, approachRate: 11.800503 m/s, LOS rate: -0.145266 deg/s, posRepo size: 4
2021-08-15T14:50:39.645Z,1629039039.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 221.579987 m,
      bearing: 143.133813 deg,
      approachRate: 11.800503 m/s,
      LOS rate: -0.145266 deg/s,
      cmd update: -0.581064 deg/s,
      cmd heading: 190.613847 deg,
      new cmd heading: 191.085578 deg.

2021-08-15T14:50:40.005Z,1629039040.005 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T14:50:40.005Z,1629039040.005 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T14:50:40.006Z,1629039040.006 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T14:50:40.006Z,1629039040.006 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T14:50:40.006Z,1629039040.006 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T14:50:40.006Z,1629039040.006 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T14:50:40.421Z,1629039040.421 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T14:50:40.421Z,1629039040.421 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T14:50:40.421Z,1629039040.421 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T14:50:40.421Z,1629039040.421 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T14:50:42.026Z,1629039042.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:50:42.397Z,1629039042.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:50:42.397Z,1629039042.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:50:42.397Z,1629039042.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:50:42.398Z,1629039042.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:50:42.797Z,1629039042.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
380,000,010DE,189,80,80,8F,FF
2021-08-15T14:50:42.797Z,1629039042.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:50:42.797Z,1629039042.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:50:42.799Z,1629039042.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:50:43.204Z,1629039043.204 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:50:43.619Z,1629039043.619 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T14:50:44.033Z,1629039044.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3EE,000,010C5,189,80,80,B4,FF
2021-08-15T14:50:44.033Z,1629039044.033 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:50:44.037Z,1629039044.037 [Micromodem](INFO): Nmea in: $SNTTA,0.149228,,,,145044.74*47

2021-08-15T14:50:44.460Z,1629039044.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 220.079987 m, bearing: 143.227592 deg, deltaT: 4.763683 s, approachRate: -0.314882 m/s, LOS rate: 0.019686 deg/s, posRepo size: 4
2021-08-15T14:50:44.462Z,1629039044.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 220.079987 m,
      bearing: 143.227592 deg,
      approachRate: -0.314882 m/s,
      LOS rate: 0.019686 deg/s,
      cmd update: 0.078745 deg/s,
      cmd heading: 187.845880 deg,
      new cmd heading: 187.609570 deg.

2021-08-15T14:50:46.859Z,1629039046.859 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:50:47.245Z,1629039047.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:50:47.245Z,1629039047.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:50:47.245Z,1629039047.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:50:47.246Z,1629039047.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:50:47.657Z,1629039047.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3EE,000,010C5,189,80,80,B4,FF
2021-08-15T14:50:47.657Z,1629039047.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:50:47.657Z,1629039047.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:50:47.659Z,1629039047.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:50:48.053Z,1629039048.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:50:48.881Z,1629039048.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3DF,000,010AD,189,80,80,A8,FF
2021-08-15T14:50:48.881Z,1629039048.881 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:50:48.885Z,1629039048.885 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145049.60*55

2021-08-15T14:50:49.379Z,1629039049.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 218.639999 m, bearing: 145.745322 deg, deltaT: 4.824400 s, approachRate: -0.298480 m/s, LOS rate: 0.521874 deg/s, posRepo size: 4
2021-08-15T14:50:49.381Z,1629039049.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 218.639999 m,
      bearing: 145.745322 deg,
      approachRate: -0.298480 m/s,
      LOS rate: 0.521874 deg/s,
      cmd update: 2.087497 deg/s,
      cmd heading: 188.228010 deg,
      new cmd heading: 188.265208 deg.

2021-08-15T14:50:51.722Z,1629039051.722 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:50:52.097Z,1629039052.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:50:52.097Z,1629039052.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:50:52.097Z,1629039052.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:50:52.098Z,1629039052.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:50:52.498Z,1629039052.498 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3DF,000,010AD,189,80,80,A8,FF
2021-08-15T14:50:52.498Z,1629039052.498 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:50:52.498Z,1629039052.498 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:50:52.499Z,1629039052.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:50:52.906Z,1629039052.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:50:53.745Z,1629039053.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,41C,000,0108E,18A,80,80,AD,FF
2021-08-15T14:50:53.746Z,1629039053.746 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:50:53.749Z,1629039053.749 [Micromodem](INFO): Nmea in: $SNTTA,0.199472,,,,145054.44*41

2021-08-15T14:50:54.171Z,1629039054.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 216.779999 m, bearing: 144.841265 deg, deltaT: 4.858994 s, approachRate: -0.382795 m/s, LOS rate: -0.186059 deg/s, posRepo size: 4
2021-08-15T14:50:54.174Z,1629039054.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 216.779999 m,
      bearing: 144.841265 deg,
      approachRate: -0.382795 m/s,
      LOS rate: -0.186059 deg/s,
      cmd update: -0.744234 deg/s,
      cmd heading: 198.370630 deg,
      new cmd heading: 199.219247 deg.

2021-08-15T14:50:56.591Z,1629039056.591 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:50:56.941Z,1629039056.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:50:56.941Z,1629039056.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:50:56.941Z,1629039056.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:50:56.942Z,1629039056.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:50:57.359Z,1629039057.359 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
41C,000,0108E,18A,80,80,AD,FF
2021-08-15T14:50:57.359Z,1629039057.359 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:50:57.359Z,1629039057.359 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:50:57.361Z,1629039057.361 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:50:57.761Z,1629039057.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:50:58.613Z,1629039058.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0107B,189,80,80,BC,FF
2021-08-15T14:50:58.613Z,1629039058.613 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:50:58.616Z,1629039058.616 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145059.30*51

2021-08-15T14:50:59.074Z,1629039059.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 215.639999 m, bearing: 138.116657 deg, deltaT: 4.906368 s, approachRate: -0.232351 m/s, LOS rate: -1.370588 deg/s, posRepo size: 4
2021-08-15T14:50:59.080Z,1629039059.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 215.639999 m,
      bearing: 138.116657 deg,
      approachRate: -0.232351 m/s,
      LOS rate: -1.370588 deg/s,
      cmd update: -5.482351 deg/s,
      cmd heading: 194.725007 deg,
      new cmd heading: 194.419674 deg.

2021-08-15T14:51:01.474Z,1629039061.474 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:51:01.781Z,1629039061.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:51:01.782Z,1629039061.782 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:51:01.782Z,1629039061.782 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:51:01.783Z,1629039061.783 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:51:02.202Z,1629039062.202 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0107B,189,80,80,BC,FF
2021-08-15T14:51:02.203Z,1629039062.203 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:51:02.203Z,1629039062.203 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:51:02.206Z,1629039062.206 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:51:02.604Z,1629039062.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:51:03.425Z,1629039063.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4C6,000,01066,189,80,80,A3,FF
2021-08-15T14:51:03.425Z,1629039063.425 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:51:03.428Z,1629039063.428 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145104.15*5F

2021-08-15T14:51:03.880Z,1629039063.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 214.379974 m, bearing: 137.294616 deg, deltaT: 4.823573 s, approachRate: -0.261222 m/s, LOS rate: -0.170422 deg/s, posRepo size: 4
2021-08-15T14:51:03.882Z,1629039063.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 214.379974 m,
      bearing: 137.294616 deg,
      approachRate: -0.261222 m/s,
      LOS rate: -0.170422 deg/s,
      cmd update: -0.681686 deg/s,
      cmd heading: 168.257986 deg,
      new cmd heading: 166.213656 deg.

2021-08-15T14:51:06.316Z,1629039066.316 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:51:06.633Z,1629039066.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:51:06.634Z,1629039066.634 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:51:06.634Z,1629039066.634 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:51:06.635Z,1629039066.635 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:51:07.107Z,1629039067.107 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4C6,000,01066,189,80,80,A3,FF
2021-08-15T14:51:07.107Z,1629039067.107 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:51:07.107Z,1629039067.107 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:51:07.109Z,1629039067.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:51:07.527Z,1629039067.527 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:51:08.354Z,1629039068.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,31E,000,0104D,189,80,80,A4,FF
2021-08-15T14:51:08.354Z,1629039068.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:51:08.357Z,1629039068.357 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145109.05*53

2021-08-15T14:51:08.757Z,1629039068.757 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 212.880005 m, bearing: 143.557257 deg, deltaT: 4.941541 s, approachRate: -0.303543 m/s, LOS rate: 1.267346 deg/s, posRepo size: 4
2021-08-15T14:51:08.759Z,1629039068.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 212.880005 m,
      bearing: 143.557257 deg,
      approachRate: -0.303543 m/s,
      LOS rate: 1.267346 deg/s,
      cmd update: 5.069383 deg/s,
      cmd heading: 164.892788 deg,
      new cmd heading: 164.668465 deg.

2021-08-15T14:51:11.210Z,1629039071.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:51:11.561Z,1629039071.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:51:11.561Z,1629039071.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:51:11.561Z,1629039071.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:51:11.562Z,1629039071.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:51:11.958Z,1629039071.958 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
31E,000,0104D,189,80,80,A4,FF
2021-08-15T14:51:11.958Z,1629039071.958 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:51:11.959Z,1629039071.959 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:51:11.961Z,1629039071.961 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:51:12.369Z,1629039072.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:51:13.193Z,1629039073.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,297,000,01027,189,80,80,B9,FF
2021-08-15T14:51:13.193Z,1629039073.193 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:51:13.196Z,1629039073.196 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145113.90*54

2021-08-15T14:51:13.671Z,1629039073.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 210.599991 m, bearing: 141.866540 deg, deltaT: 4.811162 s, approachRate: -0.473901 m/s, LOS rate: -0.351416 deg/s, posRepo size: 4
2021-08-15T14:51:13.677Z,1629039073.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 210.599991 m,
      bearing: 141.866540 deg,
      approachRate: -0.473901 m/s,
      LOS rate: -0.351416 deg/s,
      cmd update: -1.405663 deg/s,
      cmd heading: 189.245681 deg,
      new cmd heading: 191.470963 deg.

2021-08-15T14:51:16.060Z,1629039076.060 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:51:16.413Z,1629039076.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:51:16.413Z,1629039076.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:51:16.413Z,1629039076.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:51:16.414Z,1629039076.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:51:16.806Z,1629039076.806 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
297,000,01027,189,80,80,B9,FF
2021-08-15T14:51:16.806Z,1629039076.806 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:51:16.807Z,1629039076.807 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:51:16.809Z,1629039076.809 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:51:17.212Z,1629039077.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:51:18.049Z,1629039078.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3BE,000,01000,189,80,80,B8,FF
2021-08-15T14:51:18.050Z,1629039078.050 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:51:18.057Z,1629039078.057 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145118.75*54

2021-08-15T14:51:18.497Z,1629039078.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 208.259979 m, bearing: 139.920974 deg, deltaT: 4.825661 s, approachRate: -0.484910 m/s, LOS rate: -0.403171 deg/s, posRepo size: 4
2021-08-15T14:51:18.499Z,1629039078.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 208.259979 m,
      bearing: 139.920974 deg,
      approachRate: -0.484910 m/s,
      LOS rate: -0.403171 deg/s,
      cmd update: -1.612683 deg/s,
      cmd heading: 182.439592 deg,
      new cmd heading: 181.850299 deg.

2021-08-15T14:51:20.861Z,1629039080.861 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:51:21.253Z,1629039081.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:51:21.254Z,1629039081.254 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:51:21.254Z,1629039081.254 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:51:21.255Z,1629039081.255 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:51:21.641Z,1629039081.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3BE,000,01000,189,80,80,B8,FF
2021-08-15T14:51:21.641Z,1629039081.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:51:21.642Z,1629039081.642 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:51:21.643Z,1629039081.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:51:22.061Z,1629039082.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:51:22.889Z,1629039082.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3D7,000,00FE3,189,80,80,B0,FF
2021-08-15T14:51:22.889Z,1629039082.889 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:51:22.892Z,1629039082.892 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145123.58*53

2021-08-15T14:51:23.395Z,1629039083.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 206.519989 m, bearing: 141.800984 deg, deltaT: 4.867720 s, approachRate: -0.357455 m/s, LOS rate: 0.386220 deg/s, posRepo size: 4
2021-08-15T14:51:23.401Z,1629039083.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 206.519989 m,
      bearing: 141.800984 deg,
      approachRate: -0.357455 m/s,
      LOS rate: 0.386220 deg/s,
      cmd update: 1.544879 deg/s,
      cmd heading: 174.641897 deg,
      new cmd heading: 173.858478 deg.

2021-08-15T14:51:25.719Z,1629039085.719 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:51:26.104Z,1629039086.104 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:51:26.104Z,1629039086.104 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:51:26.105Z,1629039086.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:51:26.105Z,1629039086.105 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:51:26.497Z,1629039086.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3D7,000,00FE3,189,80,80,B0,FF
2021-08-15T14:51:26.497Z,1629039086.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:51:26.497Z,1629039086.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:51:26.499Z,1629039086.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:51:26.916Z,1629039086.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:51:27.741Z,1629039087.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,351,000,00FC4,189,80,80,BA,FF
2021-08-15T14:51:27.741Z,1629039087.741 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:51:27.764Z,1629039087.764 [Micromodem](INFO): Nmea in: $SNTTA,0.148955,,,,145128.44*4F

2021-08-15T14:51:28.174Z,1629039088.174 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 204.659988 m, bearing: 142.644116 deg, deltaT: 4.838656 s, approachRate: -0.384404 m/s, LOS rate: 0.174249 deg/s, posRepo size: 4
2021-08-15T14:51:28.177Z,1629039088.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.659988 m,
      bearing: 142.644116 deg,
      approachRate: -0.384404 m/s,
      LOS rate: 0.174249 deg/s,
      cmd update: 0.696997 deg/s,
      cmd heading: 182.166911 deg,
      new cmd heading: 182.753760 deg.

2021-08-15T14:51:30.581Z,1629039090.581 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:51:30.941Z,1629039090.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:51:30.942Z,1629039090.942 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:51:30.942Z,1629039090.942 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:51:30.943Z,1629039090.943 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:51:31.373Z,1629039091.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
351,000,00FC4,189,80,80,BA,FF
2021-08-15T14:51:31.373Z,1629039091.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:51:31.374Z,1629039091.374 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:51:31.375Z,1629039091.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:51:31.764Z,1629039091.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:51:32.597Z,1629039092.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3CF,000,00FA5,189,80,80,B0,FF
2021-08-15T14:51:32.598Z,1629039092.598 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:51:32.600Z,1629039092.600 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145133.32*5E

2021-08-15T14:51:33.067Z,1629039093.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 202.799988 m, bearing: 139.613561 deg, deltaT: 4.875468 s, approachRate: -0.381502 m/s, LOS rate: -0.621593 deg/s, posRepo size: 4
2021-08-15T14:51:33.073Z,1629039093.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 202.799988 m,
      bearing: 139.613561 deg,
      approachRate: -0.381502 m/s,
      LOS rate: -0.621593 deg/s,
      cmd update: -2.486370 deg/s,
      cmd heading: 185.559405 deg,
      new cmd heading: 185.851934 deg.

2021-08-15T14:51:35.457Z,1629039095.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:51:35.805Z,1629039095.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:51:35.805Z,1629039095.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:51:35.805Z,1629039095.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:51:35.806Z,1629039095.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:51:36.206Z,1629039096.206 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3CF,000,00FA5,189,80,80,B0,FF
2021-08-15T14:51:36.206Z,1629039096.206 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:51:36.206Z,1629039096.206 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:51:36.207Z,1629039096.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:51:36.616Z,1629039096.616 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:51:37.445Z,1629039097.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3C5,000,00F8B,189,80,80,B3,FF
2021-08-15T14:51:37.445Z,1629039097.445 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:51:37.448Z,1629039097.448 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145138.15*50

2021-08-15T14:51:37.860Z,1629039097.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 201.239990 m, bearing: 141.076956 deg, deltaT: 4.889331 s, approachRate: -0.319062 m/s, LOS rate: 0.299304 deg/s, posRepo size: 4
2021-08-15T14:51:37.862Z,1629039097.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 201.239990 m,
      bearing: 141.076956 deg,
      approachRate: -0.319062 m/s,
      LOS rate: 0.299304 deg/s,
      cmd update: 1.197215 deg/s,
      cmd heading: 173.388666 deg,
      new cmd heading: 172.598890 deg.

2021-08-15T14:51:40.280Z,1629039100.280 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:51:40.649Z,1629039100.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:51:40.649Z,1629039100.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:51:40.649Z,1629039100.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:51:40.650Z,1629039100.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:51:41.089Z,1629039101.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3C5,000,00F8B,189,80,80,B3,FF
2021-08-15T14:51:41.089Z,1629039101.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:51:41.089Z,1629039101.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:51:41.091Z,1629039101.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:51:41.488Z,1629039101.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:51:42.322Z,1629039102.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,370,000,00F6F,189,80,80,B7,FF
2021-08-15T14:51:42.322Z,1629039102.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:51:42.325Z,1629039102.325 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145143.03*5B

2021-08-15T14:51:42.740Z,1629039102.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 199.559998 m, bearing: 140.008810 deg, deltaT: 4.829971 s, approachRate: -0.347827 m/s, LOS rate: -0.221150 deg/s, posRepo size: 4
2021-08-15T14:51:42.742Z,1629039102.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 199.559998 m,
      bearing: 140.008810 deg,
      approachRate: -0.347827 m/s,
      LOS rate: -0.221150 deg/s,
      cmd update: -0.884598 deg/s,
      cmd heading: 179.169340 deg,
      new cmd heading: 179.611853 deg.

2021-08-15T14:51:45.184Z,1629039105.184 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:51:45.526Z,1629039105.526 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:51:45.526Z,1629039105.526 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:51:45.526Z,1629039105.526 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:51:45.527Z,1629039105.527 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:51:45.929Z,1629039105.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
370,000,00F6F,189,80,80,B7,FF
2021-08-15T14:51:45.929Z,1629039105.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:51:45.929Z,1629039105.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:51:45.931Z,1629039105.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:51:46.364Z,1629039106.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:51:47.169Z,1629039107.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,399,000,00F4B,189,80,80,B0,FF
2021-08-15T14:51:47.169Z,1629039107.169 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:51:47.172Z,1629039107.172 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145147.87*53

2021-08-15T14:51:47.587Z,1629039107.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 197.399994 m, bearing: 137.785420 deg, deltaT: 4.896253 s, approachRate: -0.441154 m/s, LOS rate: -0.454100 deg/s, posRepo size: 4
2021-08-15T14:51:47.590Z,1629039107.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 197.399994 m,
      bearing: 137.785420 deg,
      approachRate: -0.441154 m/s,
      LOS rate: -0.454100 deg/s,
      cmd update: -1.816402 deg/s,
      cmd heading: 174.844945 deg,
      new cmd heading: 174.554352 deg.

2021-08-15T14:51:50.001Z,1629039110.001 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:51:50.373Z,1629039110.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:51:50.373Z,1629039110.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:51:50.373Z,1629039110.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:51:50.374Z,1629039110.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:51:50.785Z,1629039110.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
399,000,00F4B,189,80,80,B0,FF
2021-08-15T14:51:50.785Z,1629039110.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:51:50.786Z,1629039110.786 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:51:50.787Z,1629039110.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:51:51.201Z,1629039111.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:51:52.009Z,1629039112.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,37B,000,00F2C,189,80,80,B7,FF
2021-08-15T14:51:52.010Z,1629039112.010 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:51:52.039Z,1629039112.039 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145152.73*5C

2021-08-15T14:51:52.459Z,1629039112.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 195.539993 m, bearing: 136.982927 deg, deltaT: 4.784943 s, approachRate: -0.388719 m/s, LOS rate: -0.167712 deg/s, posRepo size: 4
2021-08-15T14:51:52.461Z,1629039112.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.539993 m,
      bearing: 136.982927 deg,
      approachRate: -0.388719 m/s,
      LOS rate: -0.167712 deg/s,
      cmd update: -0.670848 deg/s,
      cmd heading: 166.132196 deg,
      new cmd heading: 165.400282 deg.

2021-08-15T14:51:54.863Z,1629039114.863 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:51:55.241Z,1629039115.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:51:55.241Z,1629039115.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:51:55.241Z,1629039115.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:51:55.242Z,1629039115.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:51:55.633Z,1629039115.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
37B,000,00F2C,189,80,80,B7,FF
2021-08-15T14:51:55.633Z,1629039115.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:51:55.633Z,1629039115.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:51:55.635Z,1629039115.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:51:56.040Z,1629039116.040 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:51:56.869Z,1629039116.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,307,000,00F0B,18A,80,80,B7,FF
2021-08-15T14:51:56.870Z,1629039116.870 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:51:56.872Z,1629039116.872 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145157.58*50

2021-08-15T14:51:57.357Z,1629039117.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 193.559982 m, bearing: 136.555521 deg, deltaT: 4.833149 s, approachRate: -0.409673 m/s, LOS rate: -0.088432 deg/s, posRepo size: 4
2021-08-15T14:51:57.359Z,1629039117.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.559982 m,
      bearing: 136.555521 deg,
      approachRate: -0.409673 m/s,
      LOS rate: -0.088432 deg/s,
      cmd update: -0.353729 deg/s,
      cmd heading: 162.890048 deg,
      new cmd heading: 162.576020 deg.

2021-08-15T14:51:59.708Z,1629039119.708 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:52:00.089Z,1629039120.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:52:00.089Z,1629039120.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:52:00.090Z,1629039120.090 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:52:00.091Z,1629039120.091 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:52:00.477Z,1629039120.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
307,000,00F0B,18A,80,80,B7,FF
2021-08-15T14:52:00.477Z,1629039120.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:52:00.477Z,1629039120.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:52:00.479Z,1629039120.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:52:00.900Z,1629039120.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:52:01.320Z,1629039121.320 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,307,000,00F0B,18A,80,80,B7,FF
2021-08-15T14:52:01.321Z,1629039121.321 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:52:01.731Z,1629039121.731 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145202.42*58

2021-08-15T14:52:01.747Z,1629039121.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 193.559982 m, bearing: 132.719277 deg, deltaT: 4.527171 s, approachRate: 0.000000 m/s, LOS rate: -0.847382 deg/s, posRepo size: 4
2021-08-15T14:52:01.749Z,1629039121.749 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.559982 m,
      bearing: 132.719277 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.847382 deg/s,
      cmd update: -3.389529 deg/s,
      cmd heading: 161.291372 deg,
      new cmd heading: 161.171489 deg.

2021-08-15T14:52:04.144Z,1629039124.144 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:52:04.517Z,1629039124.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:52:04.518Z,1629039124.518 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:52:04.518Z,1629039124.518 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:52:04.519Z,1629039124.519 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:52:04.925Z,1629039124.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
307,000,00F0B,18A,80,80,B7,FF
2021-08-15T14:52:04.925Z,1629039124.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:52:04.925Z,1629039124.925 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:52:04.927Z,1629039124.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:52:05.357Z,1629039125.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:52:06.157Z,1629039126.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25D,000,00EC0,189,80,80,9F,FF
2021-08-15T14:52:06.157Z,1629039126.157 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:52:06.160Z,1629039126.160 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145206.87*55

2021-08-15T14:52:06.594Z,1629039126.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 189.059998 m, bearing: 135.243756 deg, deltaT: 4.760789 s, approachRate: -0.945218 m/s, LOS rate: 0.530265 deg/s, posRepo size: 4
2021-08-15T14:52:06.596Z,1629039126.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 189.059998 m,
      bearing: 135.243756 deg,
      approachRate: -0.945218 m/s,
      LOS rate: 0.530265 deg/s,
      cmd update: 2.121059 deg/s,
      cmd heading: 145.129049 deg,
      new cmd heading: 143.713449 deg.

2021-08-15T14:52:09.058Z,1629039129.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:52:09.373Z,1629039129.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:52:09.373Z,1629039129.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:52:09.373Z,1629039129.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:52:09.374Z,1629039129.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:52:09.781Z,1629039129.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
25D,000,00EC0,189,80,80,9F,FF
2021-08-15T14:52:09.781Z,1629039129.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:52:09.781Z,1629039129.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:52:09.783Z,1629039129.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:52:10.176Z,1629039130.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:52:10.598Z,1629039130.598 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10D,000,00EC0,189,80,80,9F,FF
2021-08-15T14:52:10.598Z,1629039130.598 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:52:11.025Z,1629039131.025 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145211.72*59

2021-08-15T14:52:11.102Z,1629039131.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 189.059998 m, bearing: 143.612049 deg, deltaT: 4.490096 s, approachRate: 0.000000 m/s, LOS rate: 1.863723 deg/s, posRepo size: 4
2021-08-15T14:52:11.105Z,1629039131.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 189.059998 m,
      bearing: 143.612049 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.863723 deg/s,
      cmd update: 7.454890 deg/s,
      cmd heading: 154.644990 deg,
      new cmd heading: 155.577211 deg.

2021-08-15T14:52:13.450Z,1629039133.450 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:52:13.817Z,1629039133.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:52:13.817Z,1629039133.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:52:13.818Z,1629039133.818 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:52:13.818Z,1629039133.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:52:14.213Z,1629039134.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10D,000,00EC0,189,80,80,9F,FF
2021-08-15T14:52:14.213Z,1629039134.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:52:14.213Z,1629039134.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:52:14.215Z,1629039134.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:52:14.631Z,1629039134.631 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:52:15.049Z,1629039135.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,182,000,00E68,189,80,80,9F,FF
2021-08-15T14:52:15.050Z,1629039135.050 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:52:15.471Z,1629039135.471 [Micromodem](INFO): Nmea in: $SNTTA,0.127014,,,,145216.16*43

2021-08-15T14:52:15.511Z,1629039135.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 183.780014 m, bearing: 141.724677 deg, deltaT: 4.469816 s, approachRate: -1.181253 m/s, LOS rate: -0.422248 deg/s, posRepo size: 4
2021-08-15T14:52:15.513Z,1629039135.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.780014 m,
      bearing: 141.724677 deg,
      approachRate: -1.181253 m/s,
      LOS rate: -0.422248 deg/s,
      cmd update: -1.688994 deg/s,
      cmd heading: 187.935548 deg,
      new cmd heading: 190.786954 deg.

2021-08-15T14:52:17.902Z,1629039137.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:52:18.287Z,1629039138.287 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:52:18.287Z,1629039138.287 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:52:18.290Z,1629039138.290 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:52:18.291Z,1629039138.291 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:52:18.667Z,1629039138.667 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
182,000,00E68,189,80,80,9F,FF
2021-08-15T14:52:18.667Z,1629039138.667 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:52:18.668Z,1629039138.668 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:52:18.670Z,1629039138.670 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:52:19.093Z,1629039139.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:52:19.889Z,1629039139.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E8,000,00E43,189,80,80,C3,FF
2021-08-15T14:52:19.890Z,1629039139.890 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:52:19.893Z,1629039139.893 [Micromodem](INFO): Nmea in: $SNTTA,0.126856,,,,145220.61*49

2021-08-15T14:52:20.382Z,1629039140.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 181.559998 m, bearing: 140.379157 deg, deltaT: 4.818994 s, approachRate: -0.460680 m/s, LOS rate: -0.279212 deg/s, posRepo size: 4
2021-08-15T14:52:20.388Z,1629039140.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.559998 m,
      bearing: 140.379157 deg,
      approachRate: -0.460680 m/s,
      LOS rate: -0.279212 deg/s,
      cmd update: -1.116847 deg/s,
      cmd heading: 179.788757 deg,
      new cmd heading: 179.071923 deg.

2021-08-15T14:52:22.716Z,1629039142.716 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:52:23.101Z,1629039143.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:52:23.101Z,1629039143.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:52:23.101Z,1629039143.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:52:23.102Z,1629039143.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:52:23.509Z,1629039143.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E8,000,00E43,189,80,80,C3,FF
2021-08-15T14:52:23.509Z,1629039143.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:52:23.509Z,1629039143.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:52:23.511Z,1629039143.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:52:23.925Z,1629039143.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:52:24.338Z,1629039144.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3DE,000,00E43,189,80,80,C3,FF
2021-08-15T14:52:24.338Z,1629039144.338 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:52:24.761Z,1629039144.761 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145225.46*59

2021-08-15T14:52:24.807Z,1629039144.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 181.559998 m, bearing: 137.969357 deg, deltaT: 4.485970 s, approachRate: 0.000000 m/s, LOS rate: -0.537186 deg/s, posRepo size: 4
2021-08-15T14:52:24.813Z,1629039144.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.559998 m,
      bearing: 137.969357 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.537186 deg/s,
      cmd update: -2.148744 deg/s,
      cmd heading: 174.778805 deg,
      new cmd heading: 174.366357 deg.

2021-08-15T14:52:27.199Z,1629039147.199 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:52:27.549Z,1629039147.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:52:27.550Z,1629039147.550 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:52:27.550Z,1629039147.550 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:52:27.551Z,1629039147.551 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:52:27.953Z,1629039147.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3DE,000,00E43,189,80,80,C3,FF
2021-08-15T14:52:27.953Z,1629039147.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:52:27.953Z,1629039147.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:52:27.955Z,1629039147.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:52:28.392Z,1629039148.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:52:28.768Z,1629039148.768 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,316,000,00E43,189,80,80,C3,FF
2021-08-15T14:52:28.770Z,1629039148.770 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:52:29.197Z,1629039149.197 [Micromodem](INFO): Nmea in: $SNTTA,0.121335,,,,145229.90*47

2021-08-15T14:52:29.252Z,1629039149.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 181.559998 m, bearing: 143.296576 deg, deltaT: 4.379111 s, approachRate: 0.000000 m/s, LOS rate: 1.216507 deg/s, posRepo size: 4
2021-08-15T14:52:29.255Z,1629039149.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 181.559998 m,
      bearing: 143.296576 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.216507 deg/s,
      cmd update: 4.866029 deg/s,
      cmd heading: 165.421644 deg,
      new cmd heading: 164.436351 deg.

2021-08-15T14:52:31.646Z,1629039151.646 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:52:31.997Z,1629039151.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:52:31.997Z,1629039151.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:52:31.998Z,1629039151.998 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:52:31.999Z,1629039151.999 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:52:32.413Z,1629039152.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
316,000,00E43,189,80,80,C3,FF
2021-08-15T14:52:32.413Z,1629039152.413 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:52:32.413Z,1629039152.413 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:52:32.415Z,1629039152.415 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:52:32.816Z,1629039152.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:52:33.662Z,1629039153.662 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145234.36*5E

2021-08-15T14:52:34.421Z,1629039154.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,30A,000,0360E,189,80,80,BD,FF
2021-08-15T14:52:34.422Z,1629039154.422 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:52:34.856Z,1629039154.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 792.780090 m, bearing: 138.234505 deg, deltaT: 5.629180 s, approachRate: 108.580666 m/s, LOS rate: -0.899256 deg/s, posRepo size: 4
2021-08-15T14:52:34.858Z,1629039154.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 792.780090 m,
      bearing: 138.234505 deg,
      approachRate: 108.580666 m/s,
      LOS rate: -0.899256 deg/s,
      cmd update: -3.597023 deg/s,
      cmd heading: 192.952573 deg,
      new cmd heading: 194.927028 deg.

2021-08-15T14:52:37.353Z,1629039157.353 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:52:37.654Z,1629039157.654 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:52:37.654Z,1629039157.654 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:52:37.654Z,1629039157.654 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:52:37.655Z,1629039157.655 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:52:38.049Z,1629039158.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
30A,000,0360E,189,80,80,BD,FF
2021-08-15T14:52:38.049Z,1629039158.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:52:38.050Z,1629039158.050 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:52:38.051Z,1629039158.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:52:38.461Z,1629039158.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:52:38.866Z,1629039158.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,483,000,0360E,189,80,80,BD,FF
2021-08-15T14:52:38.866Z,1629039158.866 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:52:39.325Z,1629039159.325 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145239.99*56

2021-08-15T14:52:39.405Z,1629039159.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 792.780090 m, bearing: 132.558426 deg, deltaT: 4.459539 s, approachRate: 0.000000 m/s, LOS rate: -1.272795 deg/s, posRepo size: 4
2021-08-15T14:52:39.407Z,1629039159.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 792.780090 m,
      bearing: 132.558426 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.272795 deg/s,
      cmd update: -5.091179 deg/s,
      cmd heading: 176.988408 deg,
      new cmd heading: 175.145056 deg.

2021-08-15T14:52:41.708Z,1629039161.708 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:52:42.093Z,1629039162.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:52:42.093Z,1629039162.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:52:42.093Z,1629039162.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:52:42.094Z,1629039162.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:52:42.506Z,1629039162.506 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
483,000,0360E,189,80,80,BD,FF
2021-08-15T14:52:42.506Z,1629039162.506 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:52:42.506Z,1629039162.506 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:52:42.508Z,1629039162.508 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:52:42.904Z,1629039162.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:52:43.325Z,1629039163.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,42F,000,0060E,189,80,80,BD,FF
2021-08-15T14:52:43.326Z,1629039163.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:52:43.749Z,1629039163.749 [Micromodem](INFO): Nmea in: $SNTTA,0.117320,,,,145244.45*45

2021-08-15T14:52:43.772Z,1629039163.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.500000 m, bearing: 137.139448 deg, deltaT: 4.511889 s, approachRate: -163.408295 m/s, LOS rate: 1.015322 deg/s, posRepo size: 4
2021-08-15T14:52:43.774Z,1629039163.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.500000 m,
      bearing: 137.139448 deg,
      approachRate: -163.408295 m/s,
      LOS rate: 1.015322 deg/s,
      cmd update: 4.061289 deg/s,
      cmd heading: 153.952806 deg,
      new cmd heading: 152.125775 deg.

2021-08-15T14:52:46.167Z,1629039166.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:52:46.542Z,1629039166.542 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:52:46.542Z,1629039166.542 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:52:46.542Z,1629039166.542 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:52:46.543Z,1629039166.543 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:52:46.947Z,1629039166.947 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
42F,000,0060E,189,80,80,BD,FF
2021-08-15T14:52:46.947Z,1629039166.947 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:52:46.947Z,1629039166.947 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:52:46.949Z,1629039166.949 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:52:47.373Z,1629039167.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:52:47.757Z,1629039167.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2FC,000,0060E,189,80,80,BD,FF
2021-08-15T14:52:47.758Z,1629039167.758 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:52:48.181Z,1629039168.181 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145248.89*51

2021-08-15T14:52:48.222Z,1629039168.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.500000 m, bearing: 137.784887 deg, deltaT: 4.387478 s, approachRate: 0.000000 m/s, LOS rate: 0.147109 deg/s, posRepo size: 4
2021-08-15T14:52:48.224Z,1629039168.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.500000 m,
      bearing: 137.784887 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.147109 deg/s,
      cmd update: 0.588438 deg/s,
      cmd heading: 171.691361 deg,
      new cmd heading: 173.484964 deg.

2021-08-15T14:52:50.638Z,1629039170.638 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:52:50.981Z,1629039170.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:52:50.981Z,1629039170.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:52:50.981Z,1629039170.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:52:50.982Z,1629039170.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:52:51.389Z,1629039171.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2FC,000,0060E,189,80,80,BD,FF
2021-08-15T14:52:51.389Z,1629039171.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:52:51.389Z,1629039171.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:52:51.391Z,1629039171.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:52:51.793Z,1629039171.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:52:52.194Z,1629039172.194 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,30D,000,0060E,189,80,80,BD,FF
2021-08-15T14:52:52.195Z,1629039172.195 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:52:52.639Z,1629039172.639 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145253.33*5A

2021-08-15T14:52:52.666Z,1629039172.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.500000 m, bearing: 135.095309 deg, deltaT: 4.435222 s, approachRate: 0.000000 m/s, LOS rate: -0.606413 deg/s, posRepo size: 4
2021-08-15T14:52:52.668Z,1629039172.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.500000 m,
      bearing: 135.095309 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.606413 deg/s,
      cmd update: -2.425654 deg/s,
      cmd heading: 174.315547 deg,
      new cmd heading: 174.566003 deg.

2021-08-15T14:52:55.095Z,1629039175.095 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:52:55.442Z,1629039175.442 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:52:55.443Z,1629039175.443 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:52:55.443Z,1629039175.443 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:52:55.444Z,1629039175.444 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:52:55.833Z,1629039175.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
30D,000,0060E,189,80,80,BD,FF
2021-08-15T14:52:55.833Z,1629039175.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:52:55.833Z,1629039175.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:52:55.835Z,1629039175.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:52:56.240Z,1629039176.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:52:56.646Z,1629039176.646 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,383,000,00D0E,189,80,80,BD,FF
2021-08-15T14:52:56.646Z,1629039176.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:52:57.121Z,1629039177.121 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145257.78*51

2021-08-15T14:52:57.190Z,1629039177.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.020004 m, bearing: 133.451378 deg, deltaT: 4.460646 s, approachRate: 24.104134 m/s, LOS rate: -0.368541 deg/s, posRepo size: 4
2021-08-15T14:52:57.196Z,1629039177.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.020004 m,
      bearing: 133.451378 deg,
      approachRate: 24.104134 m/s,
      LOS rate: -0.368541 deg/s,
      cmd update: -1.474164 deg/s,
      cmd heading: 163.545550 deg,
      new cmd heading: 162.309029 deg.

2021-08-15T14:52:59.518Z,1629039179.518 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:52:59.873Z,1629039179.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:52:59.873Z,1629039179.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:52:59.873Z,1629039179.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:52:59.874Z,1629039179.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:53:00.279Z,1629039180.279 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
383,000,00D0E,189,80,80,BD,FF
2021-08-15T14:53:00.280Z,1629039180.280 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:53:00.281Z,1629039180.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:53:00.288Z,1629039180.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:53:00.692Z,1629039180.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:53:01.107Z,1629039181.107 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C1,000,00D37,189,80,80,BD,FF
2021-08-15T14:53:01.107Z,1629039181.107 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:53:01.538Z,1629039181.538 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145302.23*5E

2021-08-15T14:53:01.581Z,1629039181.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 165.479996 m, bearing: 137.511147 deg, deltaT: 4.472575 s, approachRate: 0.550017 m/s, LOS rate: 0.907703 deg/s, posRepo size: 4
2021-08-15T14:53:01.583Z,1629039181.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.479996 m,
      bearing: 137.511147 deg,
      approachRate: 0.550017 m/s,
      LOS rate: 0.907703 deg/s,
      cmd update: 3.630811 deg/s,
      cmd heading: 156.928316 deg,
      new cmd heading: 156.340059 deg.

2021-08-15T14:53:03.953Z,1629039183.953 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:53:04.357Z,1629039184.357 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:53:04.357Z,1629039184.357 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:53:04.357Z,1629039184.357 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:53:04.358Z,1629039184.358 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:53:04.732Z,1629039184.732 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C1,000,00D37,189,80,80,BD,FF
2021-08-15T14:53:04.732Z,1629039184.732 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:53:04.732Z,1629039184.732 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:53:04.734Z,1629039184.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:53:05.137Z,1629039185.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:53:05.529Z,1629039185.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,276,000,00D37,189,80,80,BD,FF
2021-08-15T14:53:05.529Z,1629039185.529 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:53:05.965Z,1629039185.965 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145306.68*55

2021-08-15T14:53:06.010Z,1629039186.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 165.479996 m, bearing: 136.197510 deg, deltaT: 4.415445 s, approachRate: 0.000000 m/s, LOS rate: -0.297509 deg/s, posRepo size: 4
2021-08-15T14:53:06.017Z,1629039186.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.479996 m,
      bearing: 136.197510 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.297509 deg/s,
      cmd update: -1.190038 deg/s,
      cmd heading: 172.960421 deg,
      new cmd heading: 174.506108 deg.

2021-08-15T14:53:08.419Z,1629039188.419 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:53:08.765Z,1629039188.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:53:08.765Z,1629039188.765 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:53:08.766Z,1629039188.766 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:53:08.767Z,1629039188.767 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:53:09.170Z,1629039189.170 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
276,000,00D37,189,80,80,BD,FF
2021-08-15T14:53:09.170Z,1629039189.170 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:53:09.171Z,1629039189.171 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:53:09.212Z,1629039189.212 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:53:09.588Z,1629039189.588 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:53:10.377Z,1629039190.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,33D,000,00CEB,189,80,80,AE,FF
2021-08-15T14:53:10.378Z,1629039190.378 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:53:10.798Z,1629039190.798 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145311.20*5F

2021-08-15T14:53:10.847Z,1629039190.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 160.920013 m, bearing: 133.404714 deg, deltaT: 4.900202 s, approachRate: -0.930570 m/s, LOS rate: -0.569935 deg/s, posRepo size: 4
2021-08-15T14:53:10.849Z,1629039190.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.920013 m,
      bearing: 133.404714 deg,
      approachRate: -0.930570 m/s,
      LOS rate: -0.569935 deg/s,
      cmd update: -2.279740 deg/s,
      cmd heading: 167.138719 deg,
      new cmd heading: 166.698045 deg.

2021-08-15T14:53:13.275Z,1629039193.275 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:53:13.605Z,1629039193.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:53:13.605Z,1629039193.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:53:13.605Z,1629039193.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:53:13.606Z,1629039193.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:53:14.009Z,1629039194.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
33D,000,00CEB,189,80,80,AE,FF
2021-08-15T14:53:14.009Z,1629039194.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:53:14.010Z,1629039194.010 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:53:14.011Z,1629039194.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:53:14.424Z,1629039194.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:53:15.250Z,1629039195.250 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145315.95*55

2021-08-15T14:53:16.058Z,1629039196.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:53:17.653Z,1629039197.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,189,80,80,AE,FF
2021-08-15T14:53:17.653Z,1629039197.653 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,189,80,80,AE,FF
2021-08-15T14:53:17.653Z,1629039197.653 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T14:53:18.875Z,1629039198.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:53:19.263Z,1629039199.263 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:53:19.263Z,1629039199.263 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:53:19.263Z,1629039199.263 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:53:19.264Z,1629039199.264 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:53:19.669Z,1629039199.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,189,80,80,AE,FF
2021-08-15T14:53:19.669Z,1629039199.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:53:19.669Z,1629039199.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:53:19.671Z,1629039199.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:53:20.082Z,1629039200.082 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:53:20.477Z,1629039200.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,228,000,00C99,188,80,80,AE,FF
2021-08-15T14:53:20.478Z,1629039200.478 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:53:20.914Z,1629039200.914 [Micromodem](INFO): Nmea in: $SNTTA,0.113658,,,,145321.62*4C

2021-08-15T14:53:20.930Z,1629039200.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.999985 m, bearing: 135.787849 deg, deltaT: 10.096127 s, approachRate: -0.487318 m/s, LOS rate: 0.236044 deg/s, posRepo size: 4
2021-08-15T14:53:20.932Z,1629039200.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.999985 m,
      bearing: 135.787849 deg,
      approachRate: -0.487318 m/s,
      LOS rate: 0.236044 deg/s,
      cmd update: 0.944178 deg/s,
      cmd heading: 144.109932 deg,
      new cmd heading: 143.307165 deg.

2021-08-15T14:53:23.373Z,1629039203.373 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:53:23.708Z,1629039203.708 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:53:23.708Z,1629039203.708 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:53:23.709Z,1629039203.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:53:23.709Z,1629039203.709 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:53:24.109Z,1629039204.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
228,000,00C99,188,80,80,AE,FF
2021-08-15T14:53:24.109Z,1629039204.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:53:24.109Z,1629039204.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:53:24.111Z,1629039204.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:53:24.529Z,1629039204.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:53:24.926Z,1629039204.926 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14A,000,00C73,186,80,80,93,FF
2021-08-15T14:53:24.926Z,1629039204.926 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:53:25.366Z,1629039205.366 [Micromodem](INFO): Nmea in: $SNTTA,0.102396,,,,145326.05*4D

2021-08-15T14:53:25.443Z,1629039205.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 153.720001 m, bearing: 138.395806 deg, deltaT: 4.401472 s, approachRate: -0.518005 m/s, LOS rate: 0.592519 deg/s, posRepo size: 4
2021-08-15T14:53:25.451Z,1629039205.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.720001 m,
      bearing: 138.395806 deg,
      approachRate: -0.518005 m/s,
      LOS rate: 0.592519 deg/s,
      cmd update: 2.370078 deg/s,
      cmd heading: 148.262101 deg,
      new cmd heading: 148.703090 deg.

2021-08-15T14:53:27.763Z,1629039207.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:53:28.157Z,1629039208.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:53:28.158Z,1629039208.158 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:53:28.158Z,1629039208.158 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:53:28.159Z,1629039208.159 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:53:28.573Z,1629039208.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14A,000,00C73,186,80,80,93,FF
2021-08-15T14:53:28.573Z,1629039208.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:53:28.573Z,1629039208.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:53:28.575Z,1629039208.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:53:28.961Z,1629039208.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:53:29.370Z,1629039209.370 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14D,000,00C47,185,80,80,93,FF
2021-08-15T14:53:29.370Z,1629039209.370 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:53:29.797Z,1629039209.797 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145330.52*59

2021-08-15T14:53:29.820Z,1629039209.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.079987 m, bearing: 138.177787 deg, deltaT: 4.468743 s, approachRate: -0.590773 m/s, LOS rate: -0.048788 deg/s, posRepo size: 4
2021-08-15T14:53:29.822Z,1629039209.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.079987 m,
      bearing: 138.177787 deg,
      approachRate: -0.590773 m/s,
      LOS rate: -0.048788 deg/s,
      cmd update: -0.195151 deg/s,
      cmd heading: 158.878221 deg,
      new cmd heading: 159.742306 deg.

2021-08-15T14:53:32.235Z,1629039212.235 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:53:32.596Z,1629039212.596 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:53:32.596Z,1629039212.596 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:53:32.597Z,1629039212.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:53:32.597Z,1629039212.597 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:53:33.009Z,1629039213.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14D,000,00C47,185,80,80,93,FF
2021-08-15T14:53:33.009Z,1629039213.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:53:33.009Z,1629039213.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:53:33.021Z,1629039213.021 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:53:33.404Z,1629039213.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:53:33.810Z,1629039213.810 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,233,000,00C20,185,80,80,93,FF
2021-08-15T14:53:33.810Z,1629039213.810 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:53:34.237Z,1629039214.237 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145334.96*55

2021-08-15T14:53:34.312Z,1629039214.312 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.740005 m, bearing: 133.664944 deg, deltaT: 4.374854 s, approachRate: -0.534871 m/s, LOS rate: -1.031541 deg/s, posRepo size: 4
2021-08-15T14:53:34.314Z,1629039214.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.740005 m,
      bearing: 133.664944 deg,
      approachRate: -0.534871 m/s,
      LOS rate: -1.031541 deg/s,
      cmd update: -4.126165 deg/s,
      cmd heading: 158.023940 deg,
      new cmd heading: 157.932603 deg.

2021-08-15T14:53:36.709Z,1629039216.709 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:53:37.077Z,1629039217.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:53:37.077Z,1629039217.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:53:37.077Z,1629039217.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:53:37.078Z,1629039217.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:53:37.445Z,1629039217.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
233,000,00C20,185,80,80,93,FF
2021-08-15T14:53:37.445Z,1629039217.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:53:37.445Z,1629039217.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:53:37.447Z,1629039217.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:53:37.863Z,1629039217.863 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:53:38.262Z,1629039218.262 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,227,000,00BFB,188,80,80,85,FF
2021-08-15T14:53:38.262Z,1629039218.262 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:53:38.713Z,1629039218.713 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145339.39*5D

2021-08-15T14:53:38.743Z,1629039218.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.520004 m, bearing: 134.541121 deg, deltaT: 4.506198 s, approachRate: -0.492655 m/s, LOS rate: 0.194438 deg/s, posRepo size: 4
2021-08-15T14:53:38.769Z,1629039218.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.520004 m,
      bearing: 134.541121 deg,
      approachRate: -0.492655 m/s,
      LOS rate: 0.194438 deg/s,
      cmd update: 0.777752 deg/s,
      cmd heading: 139.458025 deg,
      new cmd heading: 137.764312 deg.

2021-08-15T14:53:41.146Z,1629039221.146 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:53:41.488Z,1629039221.488 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:53:41.488Z,1629039221.488 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:53:41.489Z,1629039221.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:53:41.489Z,1629039221.489 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:53:41.897Z,1629039221.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
227,000,00BFB,188,80,80,85,FF
2021-08-15T14:53:41.897Z,1629039221.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:53:41.897Z,1629039221.897 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:53:41.899Z,1629039221.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:53:42.324Z,1629039222.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:53:43.138Z,1629039223.138 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145343.84*56

2021-08-15T14:53:43.519Z,1629039223.519 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,227,000,00BFB,188,80,80,85,FF
2021-08-15T14:53:43.519Z,1629039223.519 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:53:43.960Z,1629039223.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.520004 m, bearing: 122.015538 deg, deltaT: 5.242622 s, approachRate: 0.000000 m/s, LOS rate: -2.389183 deg/s, posRepo size: 4
2021-08-15T14:53:43.962Z,1629039223.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.520004 m,
      bearing: 122.015538 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -2.389183 deg/s,
      cmd update: -9.556732 deg/s,
      cmd heading: 143.525657 deg,
      new cmd heading: 143.822387 deg.

2021-08-15T14:53:46.390Z,1629039226.390 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:53:46.741Z,1629039226.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:53:46.741Z,1629039226.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:53:46.741Z,1629039226.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:53:46.742Z,1629039226.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:53:47.145Z,1629039227.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
227,000,00BFB,188,80,80,85,FF
2021-08-15T14:53:47.145Z,1629039227.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:53:47.145Z,1629039227.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:53:47.147Z,1629039227.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:53:47.556Z,1629039227.556 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:53:47.961Z,1629039227.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,075,000,00BA3,186,80,80,AF,FF
2021-08-15T14:53:47.961Z,1629039227.961 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:53:48.406Z,1629039228.406 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145349.09*59

2021-08-15T14:53:48.432Z,1629039228.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.239990 m, bearing: 139.704102 deg, deltaT: 4.395697 s, approachRate: -1.201178 m/s, LOS rate: 4.024064 deg/s, posRepo size: 4
2021-08-15T14:53:48.434Z,1629039228.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.239990 m,
      bearing: 139.704102 deg,
      approachRate: -1.201178 m/s,
      LOS rate: 4.024064 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 101.319381 deg,
      new cmd heading: 96.987094 deg.

2021-08-15T14:53:50.805Z,1629039230.805 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:53:51.181Z,1629039231.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:53:51.181Z,1629039231.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:53:51.181Z,1629039231.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:53:51.182Z,1629039231.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:53:51.589Z,1629039231.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
075,000,00BA3,186,80,80,AF,FF
2021-08-15T14:53:51.589Z,1629039231.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:53:51.590Z,1629039231.590 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:53:51.591Z,1629039231.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:53:52.003Z,1629039232.003 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:53:52.413Z,1629039232.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F14,000,00B7A,187,80,80,B2,FF
2021-08-15T14:53:52.414Z,1629039232.414 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:53:52.842Z,1629039232.842 [Micromodem](INFO): Nmea in: $SNTTA,0.097988,,,,145353.53*44

2021-08-15T14:53:52.863Z,1629039232.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.779999 m, bearing: 142.387451 deg, deltaT: 4.462899 s, approachRate: -0.551209 m/s, LOS rate: 0.601257 deg/s, posRepo size: 4
2021-08-15T14:53:52.866Z,1629039232.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.779999 m,
      bearing: 142.387451 deg,
      approachRate: -0.551209 m/s,
      LOS rate: 0.601257 deg/s,
      cmd update: 2.405028 deg/s,
      cmd heading: 154.878334 deg,
      new cmd heading: 159.937054 deg.

2021-08-15T14:53:55.285Z,1629039235.285 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:53:55.641Z,1629039235.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:53:55.641Z,1629039235.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:53:55.641Z,1629039235.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:53:55.642Z,1629039235.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:53:56.033Z,1629039236.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F14,000,00B7A,187,80,80,B2,FF
2021-08-15T14:53:56.033Z,1629039236.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:53:56.033Z,1629039236.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:53:56.035Z,1629039236.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:53:56.453Z,1629039236.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:53:56.473Z,1629039236.473 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T14:53:56.845Z,1629039236.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E42,000,00B53,186,80,80,B3,FF
2021-08-15T14:53:56.846Z,1629039236.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:53:57.289Z,1629039237.289 [Micromodem](INFO): Nmea in: $SNTTA,0.096195,,,,145357.98*42

2021-08-15T14:53:57.367Z,1629039237.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.440002 m, bearing: 149.970136 deg, deltaT: 4.449683 s, approachRate: -0.525879 m/s, LOS rate: 1.704095 deg/s, posRepo size: 4
2021-08-15T14:53:57.370Z,1629039237.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.440002 m,
      bearing: 149.970136 deg,
      approachRate: -0.525879 m/s,
      LOS rate: 1.704095 deg/s,
      cmd update: 6.816382 deg/s,
      cmd heading: 165.569491 deg,
      new cmd heading: 166.724633 deg.

2021-08-15T14:53:59.703Z,1629039239.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:54:00.081Z,1629039240.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:54:00.082Z,1629039240.082 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:54:00.082Z,1629039240.082 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:54:00.083Z,1629039240.083 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:54:00.485Z,1629039240.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E42,000,00B53,186,80,80,B3,FF
2021-08-15T14:54:00.485Z,1629039240.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:54:00.485Z,1629039240.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:54:00.487Z,1629039240.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:54:00.889Z,1629039240.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:54:01.321Z,1629039241.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA7,000,00B2C,185,80,80,A8,FF
2021-08-15T14:54:01.322Z,1629039241.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:54:01.737Z,1629039241.737 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145402.43*5F

2021-08-15T14:54:01.783Z,1629039241.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.100006 m, bearing: 144.653134 deg, deltaT: 4.497937 s, approachRate: -0.520238 m/s, LOS rate: -1.182098 deg/s, posRepo size: 4
2021-08-15T14:54:01.785Z,1629039241.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.100006 m,
      bearing: 144.653134 deg,
      approachRate: -0.520238 m/s,
      LOS rate: -1.182098 deg/s,
      cmd update: -4.728391 deg/s,
      cmd heading: 196.255561 deg,
      new cmd heading: 198.782387 deg.

2021-08-15T14:54:04.137Z,1629039244.137 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:54:04.518Z,1629039244.518 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:54:04.518Z,1629039244.518 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:54:04.519Z,1629039244.519 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:54:04.519Z,1629039244.519 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:54:04.921Z,1629039244.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA7,000,00B2C,185,80,80,A8,FF
2021-08-15T14:54:04.921Z,1629039244.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:54:04.921Z,1629039244.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:54:04.923Z,1629039244.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:54:05.372Z,1629039245.372 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:54:05.742Z,1629039245.742 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,129,000,00B02,185,80,80,AC,FF
2021-08-15T14:54:05.743Z,1629039245.743 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:54:06.178Z,1629039246.178 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145406.87*53

2021-08-15T14:54:06.224Z,1629039246.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.580002 m, bearing: 140.495721 deg, deltaT: 4.371899 s, approachRate: -0.576410 m/s, LOS rate: -0.950940 deg/s, posRepo size: 4
2021-08-15T14:54:06.226Z,1629039246.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.580002 m,
      bearing: 140.495721 deg,
      approachRate: -0.576410 m/s,
      LOS rate: -0.950940 deg/s,
      cmd update: -3.803760 deg/s,
      cmd heading: 175.584339 deg,
      new cmd heading: 173.413965 deg.

2021-08-15T14:54:08.639Z,1629039248.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:54:08.957Z,1629039248.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:54:08.957Z,1629039248.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:54:08.957Z,1629039248.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:54:08.958Z,1629039248.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:54:09.382Z,1629039249.382 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
129,000,00B02,185,80,80,AC,FF
2021-08-15T14:54:09.383Z,1629039249.383 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:54:09.383Z,1629039249.383 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:54:09.386Z,1629039249.386 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:54:09.777Z,1629039249.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:54:10.187Z,1629039250.187 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,304,000,00ADF,189,80,80,AE,FF
2021-08-15T14:54:10.188Z,1629039250.188 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:54:10.609Z,1629039250.609 [Micromodem](INFO): Nmea in: $SNTTA,0.088372,,,,145411.33*42

2021-08-15T14:54:10.666Z,1629039250.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.479996 m, bearing: 132.414760 deg, deltaT: 4.490715 s, approachRate: -0.467633 m/s, LOS rate: -1.799482 deg/s, posRepo size: 4
2021-08-15T14:54:10.673Z,1629039250.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.479996 m,
      bearing: 132.414760 deg,
      approachRate: -0.467633 m/s,
      LOS rate: -1.799482 deg/s,
      cmd update: -7.197928 deg/s,
      cmd heading: 158.544640 deg,
      new cmd heading: 156.924383 deg.

2021-08-15T14:54:13.076Z,1629039253.076 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:54:13.413Z,1629039253.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:54:13.413Z,1629039253.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:54:13.413Z,1629039253.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:54:13.414Z,1629039253.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:54:13.816Z,1629039253.816 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
304,000,00ADF,189,80,80,AE,FF
2021-08-15T14:54:13.817Z,1629039253.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:54:13.817Z,1629039253.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:54:13.818Z,1629039253.818 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:54:14.221Z,1629039254.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:54:14.625Z,1629039254.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F9,000,00AC4,189,80,80,D0,FF
2021-08-15T14:54:14.626Z,1629039254.625 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:54:15.089Z,1629039255.089 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145415.76*5F

2021-08-15T14:54:15.152Z,1629039255.152 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.860001 m, bearing: 132.690276 deg, deltaT: 4.443860 s, approachRate: -0.364547 m/s, LOS rate: 0.061999 deg/s, posRepo size: 4
2021-08-15T14:54:15.154Z,1629039255.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.860001 m,
      bearing: 132.690276 deg,
      approachRate: -0.364547 m/s,
      LOS rate: 0.061999 deg/s,
      cmd update: 0.247997 deg/s,
      cmd heading: 126.474429 deg,
      new cmd heading: 123.193225 deg.

2021-08-15T14:54:17.494Z,1629039257.494 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:54:17.853Z,1629039257.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:54:17.853Z,1629039257.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:54:17.853Z,1629039257.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:54:17.854Z,1629039257.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:54:18.259Z,1629039258.259 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F9,000,00AC4,189,80,80,D0,FF
2021-08-15T14:54:18.259Z,1629039258.259 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:54:18.259Z,1629039258.259 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:54:18.261Z,1629039258.261 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:54:18.664Z,1629039258.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:54:19.101Z,1629039259.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12E,000,00A99,185,80,80,C2,FF
2021-08-15T14:54:19.101Z,1629039259.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:54:19.510Z,1629039259.510 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145420.20*5A

2021-08-15T14:54:19.550Z,1629039259.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.280006 m, bearing: 142.307483 deg, deltaT: 4.478667 s, approachRate: -0.576063 m/s, LOS rate: 2.147337 deg/s, posRepo size: 4
2021-08-15T14:54:19.572Z,1629039259.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.280006 m,
      bearing: 142.307483 deg,
      approachRate: -0.576063 m/s,
      LOS rate: 2.147337 deg/s,
      cmd update: 8.589348 deg/s,
      cmd heading: 127.582435 deg,
      new cmd heading: 127.677781 deg.

2021-08-15T14:54:21.920Z,1629039261.920 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:54:22.324Z,1629039262.324 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:54:22.324Z,1629039262.324 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:54:22.324Z,1629039262.324 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:54:22.325Z,1629039262.325 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:54:22.705Z,1629039262.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
12E,000,00A99,185,80,80,C2,FF
2021-08-15T14:54:22.705Z,1629039262.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:54:22.705Z,1629039262.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:54:22.707Z,1629039262.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:54:23.104Z,1629039263.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:54:23.514Z,1629039263.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,003,000,00A72,183,80,80,C0,FF
2021-08-15T14:54:23.514Z,1629039263.514 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:54:23.945Z,1629039263.945 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145424.65*5F

2021-08-15T14:54:23.976Z,1629039263.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.940002 m, bearing: 142.467842 deg, deltaT: 4.410553 s, approachRate: -0.530547 m/s, LOS rate: 0.036358 deg/s, posRepo size: 4
2021-08-15T14:54:23.978Z,1629039263.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.940002 m,
      bearing: 142.467842 deg,
      approachRate: -0.530547 m/s,
      LOS rate: 0.036358 deg/s,
      cmd update: 0.145432 deg/s,
      cmd heading: 165.489177 deg,
      new cmd heading: 168.915168 deg.

2021-08-15T14:54:26.402Z,1629039266.402 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:54:26.749Z,1629039266.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:54:26.749Z,1629039266.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:54:26.749Z,1629039266.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:54:26.750Z,1629039266.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:54:27.160Z,1629039267.160 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
003,000,00A72,183,80,80,C0,FF
2021-08-15T14:54:27.160Z,1629039267.160 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:54:27.161Z,1629039267.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:54:27.162Z,1629039267.162 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:54:27.573Z,1629039267.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:54:27.969Z,1629039267.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B2,000,00A4C,186,80,80,C1,FF
2021-08-15T14:54:27.969Z,1629039267.969 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:54:28.401Z,1629039268.401 [Micromodem](INFO): Nmea in: $SNTTA,0.095903,,,,145429.10*48

2021-08-15T14:54:28.441Z,1629039268.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.659996 m, bearing: 142.266666 deg, deltaT: 4.494590 s, approachRate: -0.507278 m/s, LOS rate: -0.044760 deg/s, posRepo size: 4
2021-08-15T14:54:28.443Z,1629039268.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.659996 m,
      bearing: 142.266666 deg,
      approachRate: -0.507278 m/s,
      LOS rate: -0.044760 deg/s,
      cmd update: -0.179039 deg/s,
      cmd heading: 166.142284 deg,
      new cmd heading: 166.196488 deg.

2021-08-15T14:54:30.797Z,1629039270.797 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:54:31.197Z,1629039271.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:54:31.197Z,1629039271.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:54:31.198Z,1629039271.198 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:54:31.199Z,1629039271.199 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:54:31.597Z,1629039271.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B2,000,00A4C,186,80,80,C1,FF
2021-08-15T14:54:31.597Z,1629039271.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:54:31.597Z,1629039271.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:54:31.599Z,1629039271.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:54:32.001Z,1629039272.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:54:32.410Z,1629039272.410 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,237,000,00A26,188,80,80,8E,FF
2021-08-15T14:54:32.410Z,1629039272.410 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:54:32.850Z,1629039272.850 [Micromodem](INFO): Nmea in: $SNTTA,0.089726,,,,145433.54*47

2021-08-15T14:54:32.896Z,1629039272.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.379997 m, bearing: 137.243554 deg, deltaT: 4.359982 s, approachRate: -0.522938 m/s, LOS rate: -1.152095 deg/s, posRepo size: 4
2021-08-15T14:54:32.898Z,1629039272.898 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.379997 m,
      bearing: 137.243554 deg,
      approachRate: -0.522938 m/s,
      LOS rate: -1.152095 deg/s,
      cmd update: -4.608379 deg/s,
      cmd heading: 165.359619 deg,
      new cmd heading: 165.278613 deg.

2021-08-15T14:54:35.326Z,1629039275.326 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:54:35.642Z,1629039275.642 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:54:35.642Z,1629039275.642 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:54:35.642Z,1629039275.642 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:54:35.643Z,1629039275.643 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:54:36.033Z,1629039276.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
237,000,00A26,188,80,80,8E,FF
2021-08-15T14:54:36.033Z,1629039276.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:54:36.034Z,1629039276.034 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:54:36.035Z,1629039276.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:54:36.441Z,1629039276.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:54:36.849Z,1629039276.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F5,000,00A02,189,80,80,97,FF
2021-08-15T14:54:36.850Z,1629039276.850 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:54:37.293Z,1629039277.293 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145437.98*5F

2021-08-15T14:54:37.369Z,1629039277.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.220001 m, bearing: 132.849611 deg, deltaT: 4.455505 s, approachRate: -0.484793 m/s, LOS rate: -0.986183 deg/s, posRepo size: 4
2021-08-15T14:54:37.371Z,1629039277.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.220001 m,
      bearing: 132.849611 deg,
      approachRate: -0.484793 m/s,
      LOS rate: -0.986183 deg/s,
      cmd update: -3.944731 deg/s,
      cmd heading: 144.843835 deg,
      new cmd heading: 142.640596 deg.

2021-08-15T14:54:39.705Z,1629039279.705 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:54:40.077Z,1629039280.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:54:40.077Z,1629039280.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:54:40.077Z,1629039280.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:54:40.078Z,1629039280.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:54:40.485Z,1629039280.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F5,000,00A02,189,80,80,97,FF
2021-08-15T14:54:40.485Z,1629039280.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:54:40.485Z,1629039280.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:54:40.487Z,1629039280.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:54:40.894Z,1629039280.894 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:54:41.313Z,1629039281.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B3,000,009DE,186,80,80,B4,FF
2021-08-15T14:54:41.315Z,1629039281.315 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:54:41.733Z,1629039281.733 [Micromodem](INFO): Nmea in: $SNTTA,0.078273,,,,145442.43*4C

2021-08-15T14:54:41.756Z,1629039281.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.059998 m, bearing: 137.344313 deg, deltaT: 4.492357 s, approachRate: -0.480817 m/s, LOS rate: 1.000522 deg/s, posRepo size: 4
2021-08-15T14:54:41.758Z,1629039281.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.059998 m,
      bearing: 137.344313 deg,
      approachRate: -0.480817 m/s,
      LOS rate: 1.000522 deg/s,
      cmd update: 4.002087 deg/s,
      cmd heading: 127.106417 deg,
      new cmd heading: 125.653403 deg.

2021-08-15T14:54:44.155Z,1629039284.155 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:54:44.522Z,1629039284.522 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:54:44.522Z,1629039284.522 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:54:44.522Z,1629039284.522 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:54:44.523Z,1629039284.523 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:54:44.925Z,1629039284.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B3,000,009DE,186,80,80,B4,FF
2021-08-15T14:54:44.925Z,1629039284.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:54:44.926Z,1629039284.926 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:54:44.927Z,1629039284.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:54:45.372Z,1629039285.372 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:54:45.733Z,1629039285.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,049,000,009B6,184,80,80,AE,FF
2021-08-15T14:54:45.733Z,1629039285.733 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:54:46.173Z,1629039286.173 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145446.87*57

2021-08-15T14:54:46.214Z,1629039286.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.660004 m, bearing: 140.799760 deg, deltaT: 4.363795 s, approachRate: -0.549979 m/s, LOS rate: 0.791845 deg/s, posRepo size: 4
2021-08-15T14:54:46.216Z,1629039286.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.660004 m,
      bearing: 140.799760 deg,
      approachRate: -0.549979 m/s,
      LOS rate: 0.791845 deg/s,
      cmd update: 3.167378 deg/s,
      cmd heading: 144.569826 deg,
      new cmd heading: 146.421944 deg.

2021-08-15T14:54:48.627Z,1629039288.627 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:54:48.967Z,1629039288.967 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:54:48.968Z,1629039288.968 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:54:48.969Z,1629039288.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:54:48.970Z,1629039288.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:54:49.382Z,1629039289.382 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
049,000,009B6,184,80,80,AE,FF
2021-08-15T14:54:49.382Z,1629039289.382 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:54:49.382Z,1629039289.382 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:54:49.384Z,1629039289.384 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:54:49.772Z,1629039289.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:54:50.177Z,1629039290.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,035,000,0098F,184,80,80,C0,FF
2021-08-15T14:54:50.178Z,1629039290.178 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:54:50.613Z,1629039290.613 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145451.33*5E

2021-08-15T14:54:50.656Z,1629039290.656 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.320000 m, bearing: 142.064083 deg, deltaT: 4.477868 s, approachRate: -0.522571 m/s, LOS rate: 0.282349 deg/s, posRepo size: 4
2021-08-15T14:54:50.658Z,1629039290.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.320000 m,
      bearing: 142.064083 deg,
      approachRate: -0.522571 m/s,
      LOS rate: 0.282349 deg/s,
      cmd update: 1.129397 deg/s,
      cmd heading: 158.676965 deg,
      new cmd heading: 160.104341 deg.

2021-08-15T14:54:53.067Z,1629039293.067 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:54:53.429Z,1629039293.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:54:53.429Z,1629039293.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:54:53.429Z,1629039293.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:54:53.430Z,1629039293.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:54:53.813Z,1629039293.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
035,000,0098F,184,80,80,C0,FF
2021-08-15T14:54:53.813Z,1629039293.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:54:53.813Z,1629039293.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:54:53.815Z,1629039293.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:54:54.237Z,1629039294.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:54:54.636Z,1629039294.636 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,191,000,00968,186,80,80,95,FF
2021-08-15T14:54:54.637Z,1629039294.637 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:54:55.097Z,1629039295.097 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145455.76*5B

2021-08-15T14:54:55.145Z,1629039295.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.980003 m, bearing: 138.753558 deg, deltaT: 4.435063 s, approachRate: -0.527613 m/s, LOS rate: -0.746444 deg/s, posRepo size: 4
2021-08-15T14:54:55.147Z,1629039295.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.980003 m,
      bearing: 138.753558 deg,
      approachRate: -0.527613 m/s,
      LOS rate: -0.746444 deg/s,
      cmd update: -2.985774 deg/s,
      cmd heading: 163.713261 deg,
      new cmd heading: 164.255927 deg.

2021-08-15T14:54:57.498Z,1629039297.498 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:54:57.853Z,1629039297.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:54:57.853Z,1629039297.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:54:57.853Z,1629039297.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:54:57.854Z,1629039297.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:54:58.264Z,1629039298.264 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
191,000,00968,186,80,80,95,FF
2021-08-15T14:54:58.265Z,1629039298.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:54:58.265Z,1629039298.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:54:58.268Z,1629039298.268 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:54:58.675Z,1629039298.675 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:54:59.101Z,1629039299.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D9,000,00944,189,80,80,80,FF
2021-08-15T14:54:59.102Z,1629039299.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:54:59.506Z,1629039299.506 [Micromodem](INFO): Nmea in: $SNTTA,0.072532,,,,145500.21*47

2021-08-15T14:54:59.545Z,1629039299.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.820000 m, bearing: 132.205647 deg, deltaT: 4.510036 s, approachRate: -0.478933 m/s, LOS rate: -1.451853 deg/s, posRepo size: 4
2021-08-15T14:54:59.564Z,1629039299.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.820000 m,
      bearing: 132.205647 deg,
      approachRate: -0.478933 m/s,
      LOS rate: -1.451853 deg/s,
      cmd update: -5.807414 deg/s,
      cmd heading: 150.271069 deg,
      new cmd heading: 149.143190 deg.

2021-08-15T14:55:01.922Z,1629039301.922 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:55:02.329Z,1629039302.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:55:02.330Z,1629039302.330 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:55:02.330Z,1629039302.330 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:55:02.331Z,1629039302.331 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:55:02.709Z,1629039302.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D9,000,00944,189,80,80,80,FF
2021-08-15T14:55:02.709Z,1629039302.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:55:02.709Z,1629039302.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:55:02.711Z,1629039302.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:55:03.111Z,1629039303.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:55:03.518Z,1629039303.518 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B8,000,0091E,186,80,80,84,FF
2021-08-15T14:55:03.518Z,1629039303.518 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:55:03.965Z,1629039303.965 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145504.65*5C

2021-08-15T14:55:03.988Z,1629039303.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.540001 m, bearing: 138.141478 deg, deltaT: 4.414000 s, approachRate: -0.516538 m/s, LOS rate: 1.344774 deg/s, posRepo size: 4
2021-08-15T14:55:03.990Z,1629039303.990 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.540001 m,
      bearing: 138.141478 deg,
      approachRate: -0.516538 m/s,
      LOS rate: 1.344774 deg/s,
      cmd update: 5.379094 deg/s,
      cmd heading: 124.637326 deg,
      new cmd heading: 122.271589 deg.

2021-08-15T14:55:06.438Z,1629039306.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:55:06.746Z,1629039306.746 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:55:06.746Z,1629039306.746 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:55:06.746Z,1629039306.746 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:55:06.747Z,1629039306.747 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:55:07.145Z,1629039307.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B8,000,0091E,186,80,80,84,FF
2021-08-15T14:55:07.145Z,1629039307.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:55:07.145Z,1629039307.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:55:07.147Z,1629039307.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:55:07.561Z,1629039307.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:55:07.953Z,1629039307.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,044,000,008F9,184,80,80,82,FF
2021-08-15T14:55:07.953Z,1629039307.953 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:55:08.401Z,1629039308.401 [Micromodem](INFO): Nmea in: $SNTTA,,0.083844,,,145509.09*46

2021-08-15T14:55:08.456Z,1629039308.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.320007 m, bearing: 141.810191 deg, deltaT: 4.487164 s, approachRate: -0.494743 m/s, LOS rate: 0.817602 deg/s, posRepo size: 4
2021-08-15T14:55:08.458Z,1629039308.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.320007 m,
      bearing: 141.810191 deg,
      approachRate: -0.494743 m/s,
      LOS rate: 0.817602 deg/s,
      cmd update: 3.270407 deg/s,
      cmd heading: 148.731127 deg,
      new cmd heading: 150.842061 deg.

2021-08-15T14:55:10.814Z,1629039310.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:55:11.185Z,1629039311.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:55:11.185Z,1629039311.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:55:11.185Z,1629039311.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:55:11.186Z,1629039311.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:55:11.597Z,1629039311.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
044,000,008F9,184,80,80,82,FF
2021-08-15T14:55:11.597Z,1629039311.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:55:11.597Z,1629039311.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:55:11.599Z,1629039311.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:55:11.997Z,1629039311.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:55:12.397Z,1629039312.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05E,000,008CB,186,80,80,BB,FF
2021-08-15T14:55:12.398Z,1629039312.398 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:55:12.845Z,1629039312.845 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145513.54*58

2021-08-15T14:55:12.874Z,1629039312.874 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.559998 m, bearing: 141.658328 deg, deltaT: 4.382044 s, approachRate: -0.629845 m/s, LOS rate: -0.034656 deg/s, posRepo size: 4
2021-08-15T14:55:12.879Z,1629039312.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.559998 m,
      bearing: 141.658328 deg,
      approachRate: -0.629845 m/s,
      LOS rate: -0.034656 deg/s,
      cmd update: -0.138622 deg/s,
      cmd heading: 163.101534 deg,
      new cmd heading: 164.472420 deg.

2021-08-15T14:55:15.342Z,1629039315.342 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:55:15.633Z,1629039315.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:55:15.634Z,1629039315.634 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:55:15.634Z,1629039315.634 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:55:15.635Z,1629039315.635 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:55:16.033Z,1629039316.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05E,000,008CB,186,80,80,BB,FF
2021-08-15T14:55:16.033Z,1629039316.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:55:16.033Z,1629039316.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:55:16.035Z,1629039316.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:55:16.440Z,1629039316.440 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:55:16.849Z,1629039316.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19A,000,008A1,186,80,80,92,FF
2021-08-15T14:55:16.850Z,1629039316.850 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:55:17.296Z,1629039317.296 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145517.98*5C

2021-08-15T14:55:17.394Z,1629039317.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.040001 m, bearing: 140.002253 deg, deltaT: 4.409815 s, approachRate: -0.571452 m/s, LOS rate: -0.375543 deg/s, posRepo size: 4
2021-08-15T14:55:17.401Z,1629039317.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.040001 m,
      bearing: 140.002253 deg,
      approachRate: -0.571452 m/s,
      LOS rate: -0.375543 deg/s,
      cmd update: -1.502172 deg/s,
      cmd heading: 162.489699 deg,
      new cmd heading: 162.416633 deg.

2021-08-15T14:55:19.409Z,1629039319.409 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:55:19.673Z,1629039319.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:55:19.673Z,1629039319.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:55:19.674Z,1629039319.674 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:55:19.675Z,1629039319.675 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:55:20.089Z,1629039320.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19A,000,008A1,186,80,80,92,FF
2021-08-15T14:55:20.089Z,1629039320.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:55:20.089Z,1629039320.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:55:20.091Z,1629039320.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:55:20.484Z,1629039320.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:55:20.881Z,1629039320.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,286,000,00880,189,80,80,AC,FF
2021-08-15T14:55:20.882Z,1629039320.882 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:55:21.329Z,1629039321.329 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145522.03*58

2021-08-15T14:55:21.409Z,1629039321.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.060005 m, bearing: 135.860713 deg, deltaT: 4.068209 s, approachRate: -0.486700 m/s, LOS rate: -1.018025 deg/s, posRepo size: 4
2021-08-15T14:55:21.411Z,1629039321.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.060005 m,
      bearing: 135.860713 deg,
      approachRate: -0.486700 m/s,
      LOS rate: -1.018025 deg/s,
      cmd update: -4.072101 deg/s,
      cmd heading: 156.384736 deg,
      new cmd heading: 155.673692 deg.

2021-08-15T14:55:23.728Z,1629039323.728 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:55:24.121Z,1629039324.121 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:55:24.121Z,1629039324.121 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:55:24.121Z,1629039324.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:55:24.122Z,1629039324.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:55:24.514Z,1629039324.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
286,000,00880,189,80,80,AC,FF
2021-08-15T14:55:24.515Z,1629039324.515 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:55:24.515Z,1629039324.515 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:55:24.526Z,1629039324.526 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:55:24.921Z,1629039324.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:55:25.357Z,1629039325.357 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,275,000,0085E,18A,80,80,AC,FF
2021-08-15T14:55:25.358Z,1629039325.358 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:55:25.769Z,1629039325.769 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145526.47*5C

2021-08-15T14:55:25.814Z,1629039325.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.020004 m, bearing: 131.741126 deg, deltaT: 4.507387 s, approachRate: -0.452591 m/s, LOS rate: -0.913964 deg/s, posRepo size: 4
2021-08-15T14:55:25.816Z,1629039325.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.020004 m,
      bearing: 131.741126 deg,
      approachRate: -0.452591 m/s,
      LOS rate: -0.913964 deg/s,
      cmd update: -3.655854 deg/s,
      cmd heading: 138.029679 deg,
      new cmd heading: 136.592878 deg.

2021-08-15T14:55:28.173Z,1629039328.173 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:55:28.565Z,1629039328.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:55:28.566Z,1629039328.566 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:55:28.566Z,1629039328.566 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:55:28.567Z,1629039328.567 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:55:28.961Z,1629039328.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
275,000,0085E,18A,80,80,AC,FF
2021-08-15T14:55:28.961Z,1629039328.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:55:28.961Z,1629039328.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:55:28.965Z,1629039328.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:55:29.369Z,1629039329.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:55:29.773Z,1629039329.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BA,000,0082E,186,80,80,B3,FF
2021-08-15T14:55:29.774Z,1629039329.774 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:55:30.213Z,1629039330.213 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145530.91*50

2021-08-15T14:55:30.232Z,1629039330.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.140007 m, bearing: 139.353344 deg, deltaT: 4.352723 s, approachRate: -0.661654 m/s, LOS rate: 1.748841 deg/s, posRepo size: 4
2021-08-15T14:55:30.234Z,1629039330.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.140007 m,
      bearing: 139.353344 deg,
      approachRate: -0.661654 m/s,
      LOS rate: 1.748841 deg/s,
      cmd update: 6.995362 deg/s,
      cmd heading: 122.101724 deg,
      new cmd heading: 120.506243 deg.

2021-08-15T14:55:32.650Z,1629039332.650 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:55:33.008Z,1629039333.008 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:55:33.009Z,1629039333.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:55:33.010Z,1629039333.010 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:55:33.011Z,1629039333.011 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:55:33.409Z,1629039333.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BA,000,0082E,186,80,80,B3,FF
2021-08-15T14:55:33.410Z,1629039333.410 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:55:33.410Z,1629039333.410 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:55:33.411Z,1629039333.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:55:33.841Z,1629039333.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:55:34.217Z,1629039334.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7E,000,00809,186,80,80,94,FF
2021-08-15T14:55:34.217Z,1629039334.217 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:55:34.653Z,1629039334.653 [Micromodem](INFO): Nmea in: $SNTTA,0.060988,,,,145535.35*4A

2021-08-15T14:55:34.700Z,1629039334.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.920006 m, bearing: 140.772548 deg, deltaT: 4.439279 s, approachRate: -0.500081 m/s, LOS rate: 0.319692 deg/s, posRepo size: 4
2021-08-15T14:55:34.702Z,1629039334.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.920006 m,
      bearing: 140.772548 deg,
      approachRate: -0.500081 m/s,
      LOS rate: 0.319692 deg/s,
      cmd update: 1.278770 deg/s,
      cmd heading: 153.155068 deg,
      new cmd heading: 156.406330 deg.

2021-08-15T14:55:37.156Z,1629039337.156 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:55:37.449Z,1629039337.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:55:37.449Z,1629039337.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:55:37.449Z,1629039337.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:55:37.450Z,1629039337.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:55:37.849Z,1629039337.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7E,000,00809,186,80,80,94,FF
2021-08-15T14:55:37.849Z,1629039337.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:55:37.850Z,1629039337.850 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:55:37.851Z,1629039337.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:55:38.267Z,1629039338.267 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:55:38.657Z,1629039338.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE0,000,007DC,185,80,80,A5,FF
2021-08-15T14:55:38.658Z,1629039338.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:55:39.110Z,1629039339.110 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145539.79*5F

2021-08-15T14:55:39.169Z,1629039339.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.220001 m, bearing: 143.429629 deg, deltaT: 4.490318 s, approachRate: -0.601295 m/s, LOS rate: 0.591735 deg/s, posRepo size: 4
2021-08-15T14:55:39.171Z,1629039339.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.220001 m,
      bearing: 143.429629 deg,
      approachRate: -0.601295 m/s,
      LOS rate: 0.591735 deg/s,
      cmd update: 2.366942 deg/s,
      cmd heading: 158.886795 deg,
      new cmd heading: 159.459471 deg.

2021-08-15T14:55:41.546Z,1629039341.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:55:41.893Z,1629039341.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:55:41.893Z,1629039341.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:55:41.893Z,1629039341.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:55:41.894Z,1629039341.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:55:42.314Z,1629039342.314 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE0,000,007DC,185,80,80,A5,FF
2021-08-15T14:55:42.314Z,1629039342.314 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:55:42.314Z,1629039342.314 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:55:42.320Z,1629039342.320 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:55:42.705Z,1629039342.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:55:43.112Z,1629039343.112 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12B,000,007B3,185,80,80,C8,FF
2021-08-15T14:55:43.112Z,1629039343.112 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:55:43.542Z,1629039343.542 [Micromodem](INFO): Nmea in: $SNTTA,0.067669,,,,145544.26*49

2021-08-15T14:55:43.591Z,1629039343.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.760002 m, bearing: 141.026795 deg, deltaT: 4.456167 s, approachRate: -0.552044 m/s, LOS rate: -0.539215 deg/s, posRepo size: 4
2021-08-15T14:55:43.597Z,1629039343.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.760002 m,
      bearing: 141.026795 deg,
      approachRate: -0.552044 m/s,
      LOS rate: -0.539215 deg/s,
      cmd update: -2.156861 deg/s,
      cmd heading: 169.444367 deg,
      new cmd heading: 170.423507 deg.

2021-08-15T14:55:45.968Z,1629039345.968 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:55:46.361Z,1629039346.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:55:46.361Z,1629039346.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:55:46.361Z,1629039346.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:55:46.362Z,1629039346.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:55:46.742Z,1629039346.742 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
12B,000,007B3,185,80,80,C8,FF
2021-08-15T14:55:46.742Z,1629039346.742 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:55:46.742Z,1629039346.742 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:55:46.744Z,1629039346.744 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:55:47.153Z,1629039347.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:55:47.550Z,1629039347.550 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BF,000,0078A,189,80,80,AB,FF
2021-08-15T14:55:47.550Z,1629039347.550 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:55:47.993Z,1629039347.993 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145548.69*58

2021-08-15T14:55:48.012Z,1629039348.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.300003 m, bearing: 134.870746 deg, deltaT: 4.432415 s, approachRate: -0.555002 m/s, LOS rate: -1.388870 deg/s, posRepo size: 4
2021-08-15T14:55:48.014Z,1629039348.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.300003 m,
      bearing: 134.870746 deg,
      approachRate: -0.555002 m/s,
      LOS rate: -1.388870 deg/s,
      cmd update: -5.555481 deg/s,
      cmd heading: 159.884499 deg,
      new cmd heading: 159.016762 deg.

2021-08-15T14:55:50.434Z,1629039350.434 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:55:50.781Z,1629039350.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:55:50.781Z,1629039350.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:55:50.781Z,1629039350.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:55:50.782Z,1629039350.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:55:51.206Z,1629039351.206 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BF,000,0078A,189,80,80,AB,FF
2021-08-15T14:55:51.206Z,1629039351.206 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:55:51.206Z,1629039351.206 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:55:51.208Z,1629039351.208 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:55:51.597Z,1629039351.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:55:51.994Z,1629039351.994 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D9,000,0076E,189,80,80,A3,FF
2021-08-15T14:55:51.995Z,1629039351.995 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:55:52.407Z,1629039352.407 [Micromodem](INFO): Nmea in: $SNTTA,0.083130,,,,145553.15*4E

2021-08-15T14:55:52.449Z,1629039352.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.620003 m, bearing: 131.558978 deg, deltaT: 4.420471 s, approachRate: -0.380050 m/s, LOS rate: -0.749189 deg/s, posRepo size: 4
2021-08-15T14:55:52.451Z,1629039352.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.620003 m,
      bearing: 131.558978 deg,
      approachRate: -0.380050 m/s,
      LOS rate: -0.749189 deg/s,
      cmd update: -2.996755 deg/s,
      cmd heading: 135.303812 deg,
      new cmd heading: 133.003009 deg.

2021-08-15T14:55:54.848Z,1629039354.848 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:55:55.220Z,1629039355.220 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:55:55.220Z,1629039355.220 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:55:55.221Z,1629039355.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:55:55.221Z,1629039355.221 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:55:55.629Z,1629039355.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D9,000,0076E,189,80,80,A3,FF
2021-08-15T14:55:55.629Z,1629039355.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:55:55.629Z,1629039355.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:55:55.631Z,1629039355.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:55:56.031Z,1629039356.031 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:55:56.429Z,1629039356.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,125,000,0073D,186,80,80,A7,FF
2021-08-15T14:55:56.429Z,1629039356.429 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:55:56.883Z,1629039356.883 [Micromodem](INFO): Nmea in: $SNTTA,0.060598,,,,145557.58*48

2021-08-15T14:55:56.921Z,1629039356.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.680000 m, bearing: 139.296831 deg, deltaT: 4.422807 s, approachRate: -0.664737 m/s, LOS rate: 1.749534 deg/s, posRepo size: 4
2021-08-15T14:55:56.923Z,1629039356.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.680000 m,
      bearing: 139.296831 deg,
      approachRate: -0.664737 m/s,
      LOS rate: 1.749534 deg/s,
      cmd update: 6.998138 deg/s,
      cmd heading: 122.050538 deg,
      new cmd heading: 120.660499 deg.

2021-08-15T14:55:59.362Z,1629039359.362 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:55:59.669Z,1629039359.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:55:59.669Z,1629039359.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:55:59.669Z,1629039359.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:55:59.670Z,1629039359.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:56:00.065Z,1629039360.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
125,000,0073D,186,80,80,A7,FF
2021-08-15T14:56:00.065Z,1629039360.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:56:00.065Z,1629039360.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:56:00.067Z,1629039360.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:56:00.472Z,1629039360.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:56:00.877Z,1629039360.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCD,000,00715,184,80,80,96,FF
2021-08-15T14:56:00.877Z,1629039360.877 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:56:01.329Z,1629039361.329 [Micromodem](INFO): Nmea in: $SNTTA,0.057882,,,,145602.01*45

2021-08-15T14:56:01.403Z,1629039361.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.280006 m, bearing: 141.473490 deg, deltaT: 4.478314 s, approachRate: -0.535915 m/s, LOS rate: 0.486044 deg/s, posRepo size: 4
2021-08-15T14:56:01.406Z,1629039361.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.280006 m,
      bearing: 141.473490 deg,
      approachRate: -0.535915 m/s,
      LOS rate: 0.486044 deg/s,
      cmd update: 1.944177 deg/s,
      cmd heading: 153.355174 deg,
      new cmd heading: 156.666973 deg.

2021-08-15T14:56:03.735Z,1629039363.735 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:56:04.110Z,1629039364.110 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:56:04.110Z,1629039364.110 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:56:04.110Z,1629039364.110 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:56:04.111Z,1629039364.111 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:56:04.509Z,1629039364.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCD,000,00715,184,80,80,96,FF
2021-08-15T14:56:04.509Z,1629039364.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:56:04.510Z,1629039364.510 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:56:04.513Z,1629039364.513 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:56:04.925Z,1629039364.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:56:05.354Z,1629039365.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE9,000,006ED,183,80,80,A9,FF
2021-08-15T14:56:05.354Z,1629039365.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:56:05.765Z,1629039365.765 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145606.46*5C

2021-08-15T14:56:05.828Z,1629039365.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.879997 m, bearing: 141.798006 deg, deltaT: 4.506872 s, approachRate: -0.532522 m/s, LOS rate: 0.072005 deg/s, posRepo size: 4
2021-08-15T14:56:05.832Z,1629039365.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.879997 m,
      bearing: 141.798006 deg,
      approachRate: -0.532522 m/s,
      LOS rate: 0.072005 deg/s,
      cmd update: 0.288019 deg/s,
      cmd heading: 162.119843 deg,
      new cmd heading: 162.814116 deg.

2021-08-15T14:56:08.168Z,1629039368.168 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:56:08.561Z,1629039368.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:56:08.561Z,1629039368.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:56:08.561Z,1629039368.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:56:08.562Z,1629039368.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:56:08.961Z,1629039368.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE9,000,006ED,183,80,80,A9,FF
2021-08-15T14:56:08.961Z,1629039368.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:56:08.961Z,1629039368.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:56:08.966Z,1629039368.966 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:56:09.373Z,1629039369.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:56:09.765Z,1629039369.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15E,000,006C3,186,80,80,B1,FF
2021-08-15T14:56:09.765Z,1629039369.765 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:56:10.205Z,1629039370.205 [Micromodem](INFO): Nmea in: $SNTTA,0.062718,,,,145610.91*45

2021-08-15T14:56:10.236Z,1629039370.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.360001 m, bearing: 140.552808 deg, deltaT: 4.385702 s, approachRate: -0.574594 m/s, LOS rate: -0.283922 deg/s, posRepo size: 4
2021-08-15T14:56:10.238Z,1629039370.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.360001 m,
      bearing: 140.552808 deg,
      approachRate: -0.574594 m/s,
      LOS rate: -0.283922 deg/s,
      cmd update: -1.135689 deg/s,
      cmd heading: 163.384137 deg,
      new cmd heading: 163.501633 deg.

2021-08-15T14:56:12.630Z,1629039372.630 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:56:13.016Z,1629039373.016 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:56:13.017Z,1629039373.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:56:13.017Z,1629039373.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:56:13.019Z,1629039373.019 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:56:13.405Z,1629039373.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15E,000,006C3,186,80,80,B1,FF
2021-08-15T14:56:13.405Z,1629039373.405 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:56:13.405Z,1629039373.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:56:13.407Z,1629039373.407 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:56:13.824Z,1629039373.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:56:14.220Z,1629039374.220 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24F,000,006A6,188,80,80,7B,FF
2021-08-15T14:56:14.221Z,1629039374.221 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:56:14.653Z,1629039374.653 [Micromodem](INFO): Nmea in: $SNTTA,0.079824,,,,145615.35*44

2021-08-15T14:56:14.708Z,1629039374.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.620003 m, bearing: 138.406830 deg, deltaT: 4.410471 s, approachRate: -0.394515 m/s, LOS rate: -0.486564 deg/s, posRepo size: 4
2021-08-15T14:56:14.710Z,1629039374.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.620003 m,
      bearing: 138.406830 deg,
      approachRate: -0.394515 m/s,
      LOS rate: -0.486564 deg/s,
      cmd update: -1.946257 deg/s,
      cmd heading: 158.375340 deg,
      new cmd heading: 157.869536 deg.

2021-08-15T14:56:17.126Z,1629039377.126 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:56:17.437Z,1629039377.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:56:17.437Z,1629039377.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:56:17.437Z,1629039377.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:56:17.438Z,1629039377.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:56:17.849Z,1629039377.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24F,000,006A6,188,80,80,7B,FF
2021-08-15T14:56:17.849Z,1629039377.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:56:17.849Z,1629039377.849 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:56:17.851Z,1629039377.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:56:18.249Z,1629039378.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:56:18.654Z,1629039378.654 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,255,000,00678,189,80,80,C5,FF
2021-08-15T14:56:18.655Z,1629039378.655 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:56:19.101Z,1629039379.101 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145619.80*58

2021-08-15T14:56:19.170Z,1629039379.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.860001 m, bearing: 135.094721 deg, deltaT: 4.444157 s, approachRate: -0.621041 m/s, LOS rate: -0.745273 deg/s, posRepo size: 4
2021-08-15T14:56:19.176Z,1629039379.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.860001 m,
      bearing: 135.094721 deg,
      approachRate: -0.621041 m/s,
      LOS rate: -0.745273 deg/s,
      cmd update: -2.981091 deg/s,
      cmd heading: 149.725601 deg,
      new cmd heading: 148.776953 deg.

2021-08-15T14:56:21.542Z,1629039381.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:56:21.890Z,1629039381.890 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:56:21.890Z,1629039381.890 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:56:21.890Z,1629039381.890 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:56:21.891Z,1629039381.891 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:56:22.312Z,1629039382.312 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
255,000,00678,189,80,80,C5,FF
2021-08-15T14:56:22.313Z,1629039382.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:56:22.313Z,1629039382.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:56:22.315Z,1629039382.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:56:22.701Z,1629039382.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:56:23.099Z,1629039383.099 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C1,000,00653,186,80,80,94,FF
2021-08-15T14:56:23.101Z,1629039383.101 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:56:23.122Z,1629039383.122 [Micromodem](INFO): Nmea in: $SNTTA,0.289589,0.289664,,,145624.26*5A

2021-08-15T14:56:23.558Z,1629039383.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.640003 m, bearing: 135.987946 deg, deltaT: 4.503790 s, approachRate: -0.492918 m/s, LOS rate: 0.198327 deg/s, posRepo size: 4
2021-08-15T14:56:23.560Z,1629039383.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.640003 m,
      bearing: 135.987946 deg,
      approachRate: -0.492918 m/s,
      LOS rate: 0.198327 deg/s,
      cmd update: 0.793309 deg/s,
      cmd heading: 136.299322 deg,
      new cmd heading: 135.191251 deg.

2021-08-15T14:56:25.950Z,1629039385.950 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:56:26.361Z,1629039386.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:56:26.361Z,1629039386.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:56:26.361Z,1629039386.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:56:26.362Z,1629039386.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:56:26.737Z,1629039386.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C1,000,00653,186,80,80,94,FF
2021-08-15T14:56:26.737Z,1629039386.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:56:26.737Z,1629039386.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:56:26.739Z,1629039386.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:56:27.146Z,1629039387.146 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:56:27.549Z,1629039387.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,081,000,00623,186,80,80,62,FF
2021-08-15T14:56:27.550Z,1629039387.550 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:56:27.989Z,1629039387.989 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145628.68*5C

2021-08-15T14:56:28.012Z,1629039388.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.760002 m, bearing: 141.792473 deg, deltaT: 4.410645 s, approachRate: -0.652966 m/s, LOS rate: 1.316027 deg/s, posRepo size: 4
2021-08-15T14:56:28.014Z,1629039388.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.760002 m,
      bearing: 141.792473 deg,
      approachRate: -0.652966 m/s,
      LOS rate: 1.316027 deg/s,
      cmd update: 5.264107 deg/s,
      cmd heading: 139.798133 deg,
      new cmd heading: 140.127236 deg.

2021-08-15T14:56:30.421Z,1629039390.421 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:56:30.773Z,1629039390.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:56:30.773Z,1629039390.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:56:30.773Z,1629039390.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:56:30.774Z,1629039390.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:56:31.193Z,1629039391.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
081,000,00623,186,80,80,62,FF
2021-08-15T14:56:31.193Z,1629039391.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:56:31.193Z,1629039391.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:56:31.195Z,1629039391.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:56:31.601Z,1629039391.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:56:31.985Z,1629039391.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,084,000,005FD,186,80,80,A0,FF
2021-08-15T14:56:31.985Z,1629039391.985 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:56:32.429Z,1629039392.429 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145633.14*5D

2021-08-15T14:56:32.472Z,1629039392.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.480000 m, bearing: 140.692867 deg, deltaT: 4.430776 s, approachRate: -0.514583 m/s, LOS rate: -0.248175 deg/s, posRepo size: 4
2021-08-15T14:56:32.477Z,1629039392.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.480000 m,
      bearing: 140.692867 deg,
      approachRate: -0.514583 m/s,
      LOS rate: -0.248175 deg/s,
      cmd update: -0.992698 deg/s,
      cmd heading: 163.102382 deg,
      new cmd heading: 165.447932 deg.

2021-08-15T14:56:34.837Z,1629039394.837 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:56:35.229Z,1629039395.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:56:35.229Z,1629039395.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:56:35.229Z,1629039395.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:56:35.230Z,1629039395.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:56:35.621Z,1629039395.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
084,000,005FD,186,80,80,A0,FF
2021-08-15T14:56:35.621Z,1629039395.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:56:35.621Z,1629039395.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:56:35.623Z,1629039395.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:56:36.036Z,1629039396.036 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:56:36.437Z,1629039396.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,231,000,005CE,188,80,80,AA,FF
2021-08-15T14:56:36.437Z,1629039396.437 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:56:36.875Z,1629039396.875 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145637.57*5E

2021-08-15T14:56:36.891Z,1629039396.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.660004 m, bearing: 131.534103 deg, deltaT: 4.499386 s, approachRate: -0.626751 m/s, LOS rate: -2.035559 deg/s, posRepo size: 4
2021-08-15T14:56:36.893Z,1629039396.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.660004 m,
      bearing: 131.534103 deg,
      approachRate: -0.626751 m/s,
      LOS rate: -2.035559 deg/s,
      cmd update: -8.142235 deg/s,
      cmd heading: 158.634557 deg,
      new cmd heading: 158.270431 deg.

2021-08-15T14:56:39.359Z,1629039399.359 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:56:39.667Z,1629039399.667 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:56:39.667Z,1629039399.667 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:56:39.667Z,1629039399.667 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:56:39.668Z,1629039399.668 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:56:40.067Z,1629039400.067 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
231,000,005CE,188,80,80,AA,FF
2021-08-15T14:56:40.067Z,1629039400.067 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:56:40.067Z,1629039400.067 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:56:40.069Z,1629039400.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:56:40.477Z,1629039400.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:56:40.877Z,1629039400.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B2,000,005AF,189,80,80,54,FF
2021-08-15T14:56:40.878Z,1629039400.878 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:56:41.321Z,1629039401.321 [Micromodem](INFO): Nmea in: $SNTTA,0.464131,,,,145642.01*44

2021-08-15T14:56:41.399Z,1629039401.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.800003 m, bearing: 130.834213 deg, deltaT: 4.368199 s, approachRate: -0.425805 m/s, LOS rate: -0.160224 deg/s, posRepo size: 4
2021-08-15T14:56:41.405Z,1629039401.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.800003 m,
      bearing: 130.834213 deg,
      approachRate: -0.425805 m/s,
      LOS rate: -0.160224 deg/s,
      cmd update: -0.640895 deg/s,
      cmd heading: 123.047958 deg,
      new cmd heading: 118.944157 deg.

2021-08-15T14:56:43.402Z,1629039403.402 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:56:43.705Z,1629039403.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:56:43.705Z,1629039403.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:56:43.705Z,1629039403.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:56:43.706Z,1629039403.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:56:44.121Z,1629039404.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B2,000,005AF,189,80,80,54,FF
2021-08-15T14:56:44.121Z,1629039404.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:56:44.121Z,1629039404.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:56:44.123Z,1629039404.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:56:44.519Z,1629039404.519 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:56:44.921Z,1629039404.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FA,000,00583,186,80,80,99,FF
2021-08-15T14:56:44.921Z,1629039404.921 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:56:45.361Z,1629039405.361 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145646.07*5D

2021-08-15T14:56:45.446Z,1629039405.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.159996 m, bearing: 138.266470 deg, deltaT: 4.043808 s, approachRate: -0.652852 m/s, LOS rate: 1.837935 deg/s, posRepo size: 4
2021-08-15T14:56:45.453Z,1629039405.453 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.159996 m,
      bearing: 138.266470 deg,
      approachRate: -0.652852 m/s,
      LOS rate: 1.837935 deg/s,
      cmd update: 7.351741 deg/s,
      cmd heading: 120.456154 deg,
      new cmd heading: 120.131061 deg.

2021-08-15T14:56:47.465Z,1629039407.465 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:56:47.745Z,1629039407.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:56:47.745Z,1629039407.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:56:47.745Z,1629039407.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:56:47.746Z,1629039407.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:56:48.158Z,1629039408.158 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FA,000,00583,186,80,80,99,FF
2021-08-15T14:56:48.158Z,1629039408.158 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:56:48.159Z,1629039408.159 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:56:48.161Z,1629039408.161 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:56:48.557Z,1629039408.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:56:48.968Z,1629039408.968 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBD,000,00564,184,80,80,AC,FF
2021-08-15T14:56:48.969Z,1629039408.969 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:56:49.405Z,1629039409.405 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145650.11*5D

2021-08-15T14:56:49.489Z,1629039409.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.299999 m, bearing: 140.816453 deg, deltaT: 4.114872 s, approachRate: -0.452018 m/s, LOS rate: 0.619699 deg/s, posRepo size: 4
2021-08-15T14:56:49.491Z,1629039409.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.299999 m,
      bearing: 140.816453 deg,
      approachRate: -0.452018 m/s,
      LOS rate: 0.619699 deg/s,
      cmd update: 2.478797 deg/s,
      cmd heading: 150.677653 deg,
      new cmd heading: 153.874344 deg.

2021-08-15T14:56:51.804Z,1629039411.804 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:56:52.191Z,1629039412.191 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:56:52.191Z,1629039412.191 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:56:52.191Z,1629039412.191 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:56:52.192Z,1629039412.192 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:56:52.589Z,1629039412.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBD,000,00564,184,80,80,AC,FF
2021-08-15T14:56:52.589Z,1629039412.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:56:52.590Z,1629039412.590 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:56:52.591Z,1629039412.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:56:53.034Z,1629039413.034 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:56:53.397Z,1629039413.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCB,000,0053A,185,80,80,9D,FF
2021-08-15T14:56:53.397Z,1629039413.397 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:56:53.862Z,1629039413.862 [Micromodem](INFO): Nmea in: $SNTTA,0.044846,,,,145654.54*4C

2021-08-15T14:56:53.888Z,1629039413.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.780003 m, bearing: 141.893232 deg, deltaT: 4.399435 s, approachRate: -0.572800 m/s, LOS rate: 0.244754 deg/s, posRepo size: 4
2021-08-15T14:56:53.890Z,1629039413.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.780003 m,
      bearing: 141.893232 deg,
      approachRate: -0.572800 m/s,
      LOS rate: 0.244754 deg/s,
      cmd update: 0.979016 deg/s,
      cmd heading: 161.533761 deg,
      new cmd heading: 162.669414 deg.

2021-08-15T14:56:56.273Z,1629039416.273 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:56:56.633Z,1629039416.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:56:56.633Z,1629039416.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:56:56.634Z,1629039416.634 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:56:56.635Z,1629039416.635 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:56:57.078Z,1629039417.078 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCB,000,0053A,185,80,80,9D,FF
2021-08-15T14:56:57.078Z,1629039417.078 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:56:57.079Z,1629039417.079 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:56:57.081Z,1629039417.081 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:56:57.448Z,1629039417.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:56:57.841Z,1629039417.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,121,000,0050A,185,80,80,63,FF
2021-08-15T14:56:57.842Z,1629039417.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:56:58.271Z,1629039418.271 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145659.03*57

2021-08-15T14:56:58.334Z,1629039418.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.900002 m, bearing: 138.875709 deg, deltaT: 4.405350 s, approachRate: -0.653751 m/s, LOS rate: -0.684968 deg/s, posRepo size: 4
2021-08-15T14:56:58.334Z,1629039418.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.90 m.
2021-08-15T14:56:58.335Z,1629039418.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 39.90 m.
2021-08-15T14:56:58.335Z,1629039418.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-15T14:56:58.341Z,1629039418.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.900002 m,
      bearing: 138.875709 deg,
      approachRate: -0.653751 m/s,
      LOS rate: -0.684968 deg/s,
      cmd update: -2.739871 deg/s,
      cmd heading: 165.870127 deg,
      new cmd heading: 166.335019 deg.

2021-08-15T14:56:58.713Z,1629039418.713 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T14:56:58.713Z,1629039418.713 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T14:56:58.714Z,1629039418.714 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T14:56:58.715Z,1629039418.715 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T14:56:58.715Z,1629039418.715 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T14:56:58.715Z,1629039418.715 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T14:56:59.138Z,1629039419.138 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T14:56:59.138Z,1629039419.138 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T14:56:59.138Z,1629039419.138 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T14:56:59.138Z,1629039419.138 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T14:57:00.702Z,1629039420.702 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:57:01.097Z,1629039421.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:57:01.097Z,1629039421.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:57:01.097Z,1629039421.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:57:01.098Z,1629039421.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:57:01.481Z,1629039421.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
121,000,0050A,185,80,80,63,FF
2021-08-15T14:57:01.481Z,1629039421.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:57:01.481Z,1629039421.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:57:01.483Z,1629039421.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:57:01.889Z,1629039421.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:57:02.312Z,1629039422.312 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,284,000,004E9,18A,80,80,82,FF
2021-08-15T14:57:02.313Z,1629039422.313 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:57:02.358Z,1629039422.358 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:57:02.729Z,1629039422.729 [Micromodem](INFO): Nmea in: $SNTTA,0.085194,,,,145703.43*42

2021-08-15T14:57:02.750Z,1629039422.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.920002 m, bearing: 131.134100 deg, deltaT: 4.496343 s, approachRate: -0.440358 m/s, LOS rate: -1.721757 deg/s, posRepo size: 4
2021-08-15T14:57:02.754Z,1629039422.754 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.920002 m,
      bearing: 131.134100 deg,
      approachRate: -0.440358 m/s,
      LOS rate: -1.721757 deg/s,
      cmd update: -6.887027 deg/s,
      cmd heading: 153.585676 deg,
      new cmd heading: 152.474848 deg.

2021-08-15T14:57:05.160Z,1629039425.160 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:57:05.518Z,1629039425.518 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:57:05.518Z,1629039425.518 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:57:05.518Z,1629039425.518 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:57:05.519Z,1629039425.519 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:57:05.929Z,1629039425.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
284,000,004E9,18A,80,80,82,FF
2021-08-15T14:57:05.929Z,1629039425.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:57:05.929Z,1629039425.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:57:05.931Z,1629039425.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:57:06.357Z,1629039426.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:57:06.733Z,1629039426.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18A,000,004C3,185,80,80,58,FF
2021-08-15T14:57:06.734Z,1629039426.734 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:57:06.803Z,1629039426.803 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:57:07.174Z,1629039427.174 [Micromodem](INFO): Nmea in: $SNTTA,0.023650,,,,145707.88*42

2021-08-15T14:57:07.210Z,1629039427.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.639999 m, bearing: 135.743166 deg, deltaT: 4.444845 s, approachRate: -0.512954 m/s, LOS rate: 1.036947 deg/s, posRepo size: 4
2021-08-15T14:57:07.212Z,1629039427.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.639999 m,
      bearing: 135.743166 deg,
      approachRate: -0.512954 m/s,
      LOS rate: 1.036947 deg/s,
      cmd update: 4.147786 deg/s,
      cmd heading: 122.915746 deg,
      new cmd heading: 120.064868 deg.

2021-08-15T14:57:09.594Z,1629039429.594 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:57:09.957Z,1629039429.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:57:09.957Z,1629039429.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:57:09.957Z,1629039429.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:57:09.958Z,1629039429.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:57:10.369Z,1629039430.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18A,000,004C3,185,80,80,58,FF
2021-08-15T14:57:10.369Z,1629039430.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:57:10.369Z,1629039430.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:57:10.371Z,1629039430.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:57:10.784Z,1629039430.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:57:11.182Z,1629039431.182 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE5,000,0049F,183,80,80,69,FF
2021-08-15T14:57:11.182Z,1629039431.182 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:57:11.244Z,1629039431.244 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:57:11.621Z,1629039431.621 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145712.32*5B

2021-08-15T14:57:11.675Z,1629039431.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.480000 m, bearing: 140.795826 deg, deltaT: 4.441010 s, approachRate: -0.486376 m/s, LOS rate: 1.137728 deg/s, posRepo size: 4
2021-08-15T14:57:11.677Z,1629039431.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.480000 m,
      bearing: 140.795826 deg,
      approachRate: -0.486376 m/s,
      LOS rate: 1.137728 deg/s,
      cmd update: 4.550911 deg/s,
      cmd heading: 141.262955 deg,
      new cmd heading: 143.155001 deg.

2021-08-15T14:57:14.047Z,1629039434.047 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:57:14.409Z,1629039434.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:57:14.409Z,1629039434.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:57:14.409Z,1629039434.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:57:14.410Z,1629039434.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:57:14.806Z,1629039434.806 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE5,000,0049F,183,80,80,69,FF
2021-08-15T14:57:14.806Z,1629039434.806 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:57:14.806Z,1629039434.806 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:57:14.808Z,1629039434.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:57:15.217Z,1629039435.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:57:15.624Z,1629039435.624 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4F,000,00475,186,80,80,8F,FF
2021-08-15T14:57:15.624Z,1629039435.624 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:57:15.687Z,1629039435.687 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:57:16.053Z,1629039436.053 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145716.75*5C

2021-08-15T14:57:16.085Z,1629039436.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.959999 m, bearing: 142.610279 deg, deltaT: 4.447698 s, approachRate: -0.566585 m/s, LOS rate: 0.407953 deg/s, posRepo size: 4
2021-08-15T14:57:16.087Z,1629039436.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.959999 m,
      bearing: 142.610279 deg,
      approachRate: -0.566585 m/s,
      LOS rate: 0.407953 deg/s,
      cmd update: 1.631814 deg/s,
      cmd heading: 161.564476 deg,
      new cmd heading: 163.407035 deg.

2021-08-15T14:57:18.494Z,1629039438.494 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:57:18.867Z,1629039438.867 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:57:18.869Z,1629039438.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:57:18.869Z,1629039438.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:57:18.870Z,1629039438.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:57:19.266Z,1629039439.266 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4F,000,00475,186,80,80,8F,FF
2021-08-15T14:57:19.266Z,1629039439.266 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:57:19.266Z,1629039439.266 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:57:19.268Z,1629039439.268 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:57:19.669Z,1629039439.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:57:20.065Z,1629039440.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,082,000,0044C,187,80,80,4C,FF
2021-08-15T14:57:20.066Z,1629039440.066 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:57:20.131Z,1629039440.131 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:57:20.501Z,1629039440.501 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145721.21*59

2021-08-15T14:57:20.574Z,1629039440.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.500000 m, bearing: 141.241373 deg, deltaT: 4.440142 s, approachRate: -0.554036 m/s, LOS rate: -0.308302 deg/s, posRepo size: 4
2021-08-15T14:57:20.581Z,1629039440.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.500000 m,
      bearing: 141.241373 deg,
      approachRate: -0.554036 m/s,
      LOS rate: -0.308302 deg/s,
      cmd update: -1.233210 deg/s,
      cmd heading: 168.823104 deg,
      new cmd heading: 169.551019 deg.

2021-08-15T14:57:22.916Z,1629039442.916 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:57:23.312Z,1629039443.312 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:57:23.312Z,1629039443.312 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:57:23.313Z,1629039443.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:57:23.315Z,1629039443.315 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:57:23.697Z,1629039443.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
082,000,0044C,187,80,80,4C,FF
2021-08-15T14:57:23.697Z,1629039443.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:57:23.697Z,1629039443.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:57:23.699Z,1629039443.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:57:24.113Z,1629039444.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:57:24.523Z,1629039444.523 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EC,000,00425,186,80,80,4D,FF
2021-08-15T14:57:24.523Z,1629039444.523 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:57:24.567Z,1629039444.567 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:57:24.953Z,1629039444.953 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145725.65*5D

2021-08-15T14:57:24.979Z,1629039444.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.160002 m, bearing: 136.465950 deg, deltaT: 4.435066 s, approachRate: -0.527613 m/s, LOS rate: -1.076742 deg/s, posRepo size: 4
2021-08-15T14:57:25.025Z,1629039445.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.160002 m,
      bearing: 136.465950 deg,
      approachRate: -0.527613 m/s,
      LOS rate: -1.076742 deg/s,
      cmd update: -4.306968 deg/s,
      cmd heading: 163.353363 deg,
      new cmd heading: 162.841767 deg.

2021-08-15T14:57:27.428Z,1629039447.428 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:57:27.741Z,1629039447.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:57:27.742Z,1629039447.742 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:57:27.742Z,1629039447.742 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:57:27.743Z,1629039447.743 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:57:28.153Z,1629039448.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EC,000,00425,186,80,80,4D,FF
2021-08-15T14:57:28.153Z,1629039448.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:57:28.153Z,1629039448.153 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:57:28.155Z,1629039448.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:57:28.553Z,1629039448.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:57:28.950Z,1629039448.950 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D4,000,0040B,189,80,80,A8,FF
2021-08-15T14:57:28.950Z,1629039448.950 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:57:28.975Z,1629039448.975 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:57:29.397Z,1629039449.397 [Micromodem](INFO): Nmea in: $SNTTA,0.028090,,,,145730.10*46

2021-08-15T14:57:29.463Z,1629039449.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.600000 m, bearing: 130.696585 deg, deltaT: 4.408708 s, approachRate: -0.353845 m/s, LOS rate: -1.308629 deg/s, posRepo size: 4
2021-08-15T14:57:29.465Z,1629039449.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.600000 m,
      bearing: 130.696585 deg,
      approachRate: -0.353845 m/s,
      LOS rate: -1.308629 deg/s,
      cmd update: -5.234518 deg/s,
      cmd heading: 144.367695 deg,
      new cmd heading: 142.252569 deg.

2021-08-15T14:57:31.810Z,1629039451.810 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:57:32.185Z,1629039452.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:57:32.185Z,1629039452.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:57:32.185Z,1629039452.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:57:32.186Z,1629039452.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:57:32.597Z,1629039452.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D4,000,0040B,189,80,80,A8,FF
2021-08-15T14:57:32.597Z,1629039452.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:57:32.598Z,1629039452.598 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:57:32.599Z,1629039452.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:57:33.038Z,1629039453.038 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:57:33.408Z,1629039453.408 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,11C,000,003DF,186,80,80,7F,FF
2021-08-15T14:57:33.409Z,1629039453.409 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:57:33.439Z,1629039453.439 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:57:33.845Z,1629039453.845 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145734.54*5F

2021-08-15T14:57:33.915Z,1629039453.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.959997 m, bearing: 139.945194 deg, deltaT: 4.464089 s, approachRate: -0.591387 m/s, LOS rate: 2.071780 deg/s, posRepo size: 4
2021-08-15T14:57:33.917Z,1629039453.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.959997 m,
      bearing: 139.945194 deg,
      approachRate: -0.591387 m/s,
      LOS rate: 2.071780 deg/s,
      cmd update: 8.287119 deg/s,
      cmd heading: 120.998437 deg,
      new cmd heading: 118.492406 deg.

2021-08-15T14:57:36.249Z,1629039456.249 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:57:36.629Z,1629039456.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:57:36.629Z,1629039456.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:57:36.629Z,1629039456.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:57:36.630Z,1629039456.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:57:37.073Z,1629039457.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
11C,000,003DF,186,80,80,7F,FF
2021-08-15T14:57:37.073Z,1629039457.073 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:57:37.073Z,1629039457.073 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:57:37.075Z,1629039457.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:57:37.445Z,1629039457.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:57:37.857Z,1629039457.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB9,000,003B7,184,80,80,AB,FF
2021-08-15T14:57:37.857Z,1629039457.857 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:57:37.878Z,1629039457.878 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:57:38.259Z,1629039458.259 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145739.02*51

2021-08-15T14:57:38.336Z,1629039458.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.560001 m, bearing: 139.982705 deg, deltaT: 4.438202 s, approachRate: -0.540759 m/s, LOS rate: 0.008452 deg/s, posRepo size: 4
2021-08-15T14:57:38.338Z,1629039458.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.560001 m,
      bearing: 139.982705 deg,
      approachRate: -0.540759 m/s,
      LOS rate: 0.008452 deg/s,
      cmd update: 0.033808 deg/s,
      cmd heading: 157.780184 deg,
      new cmd heading: 161.569038 deg.

2021-08-15T14:57:40.713Z,1629039460.713 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:57:41.097Z,1629039461.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:57:41.097Z,1629039461.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:57:41.097Z,1629039461.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:57:41.098Z,1629039461.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:57:41.481Z,1629039461.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB9,000,003B7,184,80,80,AB,FF
2021-08-15T14:57:41.481Z,1629039461.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:57:41.481Z,1629039461.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:57:41.483Z,1629039461.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:57:41.890Z,1629039461.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:57:42.289Z,1629039462.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC3,000,0039A,185,80,80,78,FF
2021-08-15T14:57:42.290Z,1629039462.290 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:57:42.353Z,1629039462.353 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:57:42.734Z,1629039462.734 [Micromodem](INFO): Nmea in: $SNTTA,0.030792,,,,145743.43*48

2021-08-15T14:57:42.761Z,1629039462.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.820002 m, bearing: 140.357601 deg, deltaT: 4.475748 s, approachRate: -0.388762 m/s, LOS rate: 0.083762 deg/s, posRepo size: 4
2021-08-15T14:57:42.762Z,1629039462.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.820002 m,
      bearing: 140.357601 deg,
      approachRate: -0.388762 m/s,
      LOS rate: 0.083762 deg/s,
      cmd update: 0.335046 deg/s,
      cmd heading: 157.931484 deg,
      new cmd heading: 157.945356 deg.

2021-08-15T14:57:45.171Z,1629039465.171 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:57:45.521Z,1629039465.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:57:45.521Z,1629039465.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:57:45.521Z,1629039465.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:57:45.522Z,1629039465.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:57:45.917Z,1629039465.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC3,000,0039A,185,80,80,78,FF
2021-08-15T14:57:45.918Z,1629039465.918 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:57:45.918Z,1629039465.918 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:57:45.945Z,1629039465.945 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:57:46.353Z,1629039466.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:57:46.735Z,1629039466.735 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AF,000,00369,185,80,80,88,FF
2021-08-15T14:57:46.735Z,1629039466.735 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:57:46.767Z,1629039466.767 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:57:47.153Z,1629039467.153 [Micromodem](INFO): Nmea in: $SNTTA,0.033231,,,,145747.89*45

2021-08-15T14:57:47.222Z,1629039467.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.879999 m, bearing: 143.044788 deg, deltaT: 4.413287 s, approachRate: -0.666171 m/s, LOS rate: 0.608886 deg/s, posRepo size: 4
2021-08-15T14:57:47.229Z,1629039467.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.879999 m,
      bearing: 143.044788 deg,
      approachRate: -0.666171 m/s,
      LOS rate: 0.608886 deg/s,
      cmd update: 2.435543 deg/s,
      cmd heading: 159.409495 deg,
      new cmd heading: 159.563866 deg.

2021-08-15T14:57:49.595Z,1629039469.595 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:57:49.962Z,1629039469.962 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:57:49.962Z,1629039469.962 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:57:49.963Z,1629039469.963 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:57:49.964Z,1629039469.964 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:57:50.369Z,1629039470.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AF,000,00369,185,80,80,88,FF
2021-08-15T14:57:50.369Z,1629039470.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:57:50.369Z,1629039470.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:57:50.371Z,1629039470.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:57:50.784Z,1629039470.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:57:51.169Z,1629039471.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,203,000,00345,187,80,80,95,FF
2021-08-15T14:57:51.170Z,1629039471.170 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:57:51.254Z,1629039471.254 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:57:51.616Z,1629039471.616 [Micromodem](INFO): Nmea in: $SNTTA,0.036428,,,,145752.32*4A

2021-08-15T14:57:51.675Z,1629039471.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.719999 m, bearing: 138.612228 deg, deltaT: 4.487689 s, approachRate: -0.481317 m/s, LOS rate: -0.987716 deg/s, posRepo size: 4
2021-08-15T14:57:51.681Z,1629039471.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.719999 m,
      bearing: 138.612228 deg,
      approachRate: -0.481317 m/s,
      LOS rate: -0.987716 deg/s,
      cmd update: -3.950862 deg/s,
      cmd heading: 170.335389 deg,
      new cmd heading: 171.377188 deg.

2021-08-15T14:57:54.028Z,1629039474.028 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:57:54.401Z,1629039474.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:57:54.401Z,1629039474.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:57:54.401Z,1629039474.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:57:54.402Z,1629039474.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:57:54.809Z,1629039474.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
203,000,00345,187,80,80,95,FF
2021-08-15T14:57:54.809Z,1629039474.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:57:54.809Z,1629039474.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:57:54.811Z,1629039474.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:57:55.225Z,1629039475.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:57:55.617Z,1629039475.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A2,000,00326,189,80,80,BB,FF
2021-08-15T14:57:55.618Z,1629039475.618 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:57:55.712Z,1629039475.712 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:57:56.065Z,1629039476.065 [Micromodem](INFO): Nmea in: $SNTTA,0.024300,,,,145756.76*40

2021-08-15T14:57:56.088Z,1629039476.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.859999 m, bearing: 135.160469 deg, deltaT: 4.457996 s, approachRate: -0.417228 m/s, LOS rate: -0.774285 deg/s, posRepo size: 4
2021-08-15T14:57:56.090Z,1629039476.090 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.859999 m,
      bearing: 135.160469 deg,
      approachRate: -0.417228 m/s,
      LOS rate: -0.774285 deg/s,
      cmd update: -3.097140 deg/s,
      cmd heading: 152.749920 deg,
      new cmd heading: 151.212149 deg.

2021-08-15T14:57:58.482Z,1629039478.482 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:57:58.845Z,1629039478.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:57:58.845Z,1629039478.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:57:58.845Z,1629039478.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:57:58.846Z,1629039478.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:57:59.259Z,1629039479.259 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A2,000,00326,189,80,80,BB,FF
2021-08-15T14:57:59.259Z,1629039479.259 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:57:59.260Z,1629039479.260 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:57:59.262Z,1629039479.262 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:57:59.657Z,1629039479.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:58:00.061Z,1629039480.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FA,000,00309,186,80,80,BA,FF
2021-08-15T14:58:00.062Z,1629039480.062 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:58:00.134Z,1629039480.134 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:58:00.497Z,1629039480.497 [Micromodem](INFO): Nmea in: $SNTTA,0.024238,,,,145801.21*45

2021-08-15T14:58:00.554Z,1629039480.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.120000 m, bearing: 142.646042 deg, deltaT: 4.421824 s, approachRate: -0.393503 m/s, LOS rate: 1.692870 deg/s, posRepo size: 4
2021-08-15T14:58:00.570Z,1629039480.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.120000 m,
      bearing: 142.646042 deg,
      approachRate: -0.393503 m/s,
      LOS rate: 1.692870 deg/s,
      cmd update: 6.771480 deg/s,
      cmd heading: 139.043959 deg,
      new cmd heading: 137.712464 deg.

2021-08-15T14:58:02.912Z,1629039482.912 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:58:03.297Z,1629039483.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:58:03.297Z,1629039483.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:58:03.298Z,1629039483.298 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:58:03.299Z,1629039483.299 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:58:03.697Z,1629039483.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FA,000,00309,186,80,80,BA,FF
2021-08-15T14:58:03.697Z,1629039483.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:58:03.697Z,1629039483.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:58:03.699Z,1629039483.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:58:04.100Z,1629039484.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:58:04.505Z,1629039484.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,029,000,002E4,184,80,80,B6,FF
2021-08-15T14:58:04.505Z,1629039484.505 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:58:04.576Z,1629039484.576 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:58:04.941Z,1629039484.941 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145805.65*50

2021-08-15T14:58:04.978Z,1629039484.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.900000 m, bearing: 140.289613 deg, deltaT: 4.442010 s, approachRate: -0.499774 m/s, LOS rate: -0.530487 deg/s, posRepo size: 4
2021-08-15T14:58:04.986Z,1629039484.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.900000 m,
      bearing: 140.289613 deg,
      approachRate: -0.499774 m/s,
      LOS rate: -0.530487 deg/s,
      cmd update: -2.121948 deg/s,
      cmd heading: 169.116737 deg,
      new cmd heading: 171.908124 deg.

2021-08-15T14:58:07.426Z,1629039487.426 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:58:07.737Z,1629039487.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:58:07.737Z,1629039487.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:58:07.737Z,1629039487.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:58:07.738Z,1629039487.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:58:08.142Z,1629039488.142 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
029,000,002E4,184,80,80,B6,FF
2021-08-15T14:58:08.142Z,1629039488.142 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:58:08.142Z,1629039488.142 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:58:08.144Z,1629039488.144 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:58:08.580Z,1629039488.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:58:08.965Z,1629039488.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F8,000,002CD,187,80,80,A2,FF
2021-08-15T14:58:08.965Z,1629039488.965 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:58:09.051Z,1629039489.051 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:58:09.405Z,1629039489.405 [Micromodem](INFO): Nmea in: $SNTTA,,0.003181,,,145810.09*4B

2021-08-15T14:58:09.485Z,1629039489.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.520000 m, bearing: 137.793124 deg, deltaT: 4.474863 s, approachRate: -0.308389 m/s, LOS rate: -0.557892 deg/s, posRepo size: 4
2021-08-15T14:58:09.487Z,1629039489.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.520000 m,
      bearing: 137.793124 deg,
      approachRate: -0.308389 m/s,
      LOS rate: -0.557892 deg/s,
      cmd update: -2.231567 deg/s,
      cmd heading: 159.682012 deg,
      new cmd heading: 158.675631 deg.

2021-08-15T14:58:11.821Z,1629039491.821 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:58:12.201Z,1629039492.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:58:12.202Z,1629039492.202 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:58:12.202Z,1629039492.202 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:58:12.203Z,1629039492.203 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:58:12.597Z,1629039492.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F8,000,002CD,187,80,80,A2,FF
2021-08-15T14:58:12.597Z,1629039492.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:58:12.597Z,1629039492.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:58:12.599Z,1629039492.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:58:13.048Z,1629039493.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:58:13.409Z,1629039493.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9C,000,002BD,186,80,80,97,FF
2021-08-15T14:58:13.409Z,1629039493.409 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:58:13.466Z,1629039493.466 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:58:13.857Z,1629039493.857 [Micromodem](INFO): Nmea in: $SNTTA,0.016937,,,,145814.55*47

2021-08-15T14:58:13.878Z,1629039493.878 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-15T14:58:13.878Z,1629039493.878 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-15T14:58:13.878Z,1629039493.878 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-15T14:58:13.878Z,1629039493.878 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T14:58:13.878Z,1629039493.878 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-15T14:58:13.879Z,1629039493.879 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.559999 m 
2021-08-15T14:58:13.879Z,1629039493.879 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-15T14:58:13.879Z,1629039493.879 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-15T14:58:13.879Z,1629039493.879 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-15T14:58:13.882Z,1629039493.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.559999 m, bearing: 167.162705 deg, deltaT: 4.414634 s, approachRate: -0.217459 m/s, LOS rate: 6.652778 deg/s, posRepo size: 4
2021-08-15T14:58:13.918Z,1629039493.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.559999 m,
      bearing: 167.162705 deg,
      approachRate: -0.217459 m/s,
      LOS rate: 6.652778 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 149.747932 deg,
      new cmd heading: 148.812104 deg.

2021-08-15T14:58:14.267Z,1629039494.267 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210815T145814: (41.552319, -70.708603)
2021-08-15T14:58:14.267Z,1629039494.267 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-15T14:58:14.267Z,1629039494.267 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-15T14:58:14.268Z,1629039494.268 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T14:58:14.268Z,1629039494.268 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-15T14:58:14.268Z,1629039494.268 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T14:58:14.268Z,1629039494.268 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-15T14:58:14.268Z,1629039494.268 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-15T14:58:14.269Z,1629039494.269 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-15T14:58:14.651Z,1629039494.651 [UniversalFixResidualReporter](INFO): Fix residual: 6.4 %DT, over the last 2437.0 m. Residual distance 156.8 m at bearing 74.6 degrees. Fix at (41.5523, -70.7041) with 373.9 m made good.
2021-08-15T14:58:16.265Z,1629039496.265 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:58:16.637Z,1629039496.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:58:16.637Z,1629039496.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:58:16.637Z,1629039496.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:58:16.638Z,1629039496.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:58:17.081Z,1629039497.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9C,000,002BD,186,80,80,97,FF
2021-08-15T14:58:17.081Z,1629039497.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:58:17.081Z,1629039497.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:58:17.083Z,1629039497.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:58:17.448Z,1629039497.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:58:17.853Z,1629039497.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAE,000,002CB,185,80,80,BC,FF
2021-08-15T14:58:17.853Z,1629039497.853 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:58:17.874Z,1629039497.874 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:58:18.282Z,1629039498.282 [Micromodem](INFO): Nmea in: $SNTTA,0.032072,,,,145819.03*47

2021-08-15T14:58:18.339Z,1629039498.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.399999 m, bearing: 162.214807 deg, deltaT: 4.407811 s, approachRate: 0.190571 m/s, LOS rate: -1.122530 deg/s, posRepo size: 4
2021-08-15T14:58:18.352Z,1629039498.352 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.399999 m,
      bearing: 162.214807 deg,
      approachRate: 0.190571 m/s,
      LOS rate: -1.122530 deg/s,
      cmd update: -4.490119 deg/s,
      cmd heading: 202.640465 deg,
      new cmd heading: 208.265021 deg.

2021-08-15T14:58:20.711Z,1629039500.711 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:58:21.089Z,1629039501.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:58:21.089Z,1629039501.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:58:21.089Z,1629039501.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:58:21.090Z,1629039501.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:58:21.489Z,1629039501.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAE,000,002CB,185,80,80,BC,FF
2021-08-15T14:58:21.489Z,1629039501.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:58:21.490Z,1629039501.490 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:58:21.491Z,1629039501.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:58:21.893Z,1629039501.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:58:22.306Z,1629039502.306 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,116,000,002F8,186,80,80,3F,FF
2021-08-15T14:58:22.307Z,1629039502.307 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:58:22.367Z,1629039502.367 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:58:22.746Z,1629039502.746 [Micromodem](INFO): Nmea in: $SNTTA,0.029495,,,,145823.44*4A

2021-08-15T14:58:22.762Z,1629039502.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.100000 m, bearing: 152.988205 deg, deltaT: 4.493759 s, approachRate: 0.600834 m/s, LOS rate: -2.053204 deg/s, posRepo size: 4
2021-08-15T14:58:22.764Z,1629039502.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.100000 m,
      bearing: 152.988205 deg,
      approachRate: 0.600834 m/s,
      LOS rate: -2.053204 deg/s,
      cmd update: -8.212814 deg/s,
      cmd heading: 182.463942 deg,
      new cmd heading: 180.675798 deg.

2021-08-15T14:58:25.175Z,1629039505.175 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:58:25.526Z,1629039505.526 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:58:25.526Z,1629039505.526 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:58:25.526Z,1629039505.526 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:58:25.527Z,1629039505.527 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:58:25.941Z,1629039505.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
116,000,002F8,186,80,80,3F,FF
2021-08-15T14:58:25.941Z,1629039505.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:58:25.941Z,1629039505.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:58:25.943Z,1629039505.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:58:26.365Z,1629039506.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:58:26.745Z,1629039506.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24D,000,00310,189,80,80,8C,FF
2021-08-15T14:58:26.746Z,1629039506.746 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:58:26.771Z,1629039506.771 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:58:27.181Z,1629039507.181 [Micromodem](INFO): Nmea in: $SNTTA,0.030669,,,,145827.89*46

2021-08-15T14:58:27.241Z,1629039507.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.540000 m, bearing: 151.536694 deg, deltaT: 4.403273 s, approachRate: 0.327029 m/s, LOS rate: -0.329644 deg/s, posRepo size: 4
2021-08-15T14:58:27.243Z,1629039507.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.540000 m,
      bearing: 151.536694 deg,
      approachRate: 0.327029 m/s,
      LOS rate: -0.329644 deg/s,
      cmd update: -1.318574 deg/s,
      cmd heading: 146.298027 deg,
      new cmd heading: 142.445569 deg.

2021-08-15T14:58:28.774Z,1629039508.774 [PowerOnly](INFO): Powering down loadControl
2021-08-15T14:58:29.617Z,1629039509.617 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:58:29.973Z,1629039509.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:58:29.973Z,1629039509.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:58:29.973Z,1629039509.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:58:29.974Z,1629039509.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:58:30.377Z,1629039510.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24D,000,00310,189,80,80,8C,FF
2021-08-15T14:58:30.377Z,1629039510.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:58:30.377Z,1629039510.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:58:30.379Z,1629039510.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:58:30.785Z,1629039510.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:58:31.189Z,1629039511.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF7,000,0033B,188,80,80,3F,FF
2021-08-15T14:58:31.190Z,1629039511.190 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:58:31.250Z,1629039511.250 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:58:31.638Z,1629039511.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.120000 m, bearing: 200.472718 deg, deltaT: 4.479608 s, approachRate: 0.575943 m/s, LOS rate: 10.924176 deg/s, posRepo size: 4
2021-08-15T14:58:31.640Z,1629039511.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.120000 m,
      bearing: 200.472718 deg,
      approachRate: 0.575943 m/s,
      LOS rate: 10.924176 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 140.391415 deg,
      new cmd heading: 139.876306 deg.

2021-08-15T14:58:34.051Z,1629039514.051 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:58:34.413Z,1629039514.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:58:34.413Z,1629039514.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:58:34.413Z,1629039514.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:58:34.414Z,1629039514.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:58:34.837Z,1629039514.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF7,000,0033B,188,80,80,3F,FF
2021-08-15T14:58:34.837Z,1629039514.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:58:34.837Z,1629039514.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:58:34.839Z,1629039514.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:58:35.229Z,1629039515.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:58:35.629Z,1629039515.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02D,000,00353,184,80,80,67,FF
2021-08-15T14:58:35.630Z,1629039515.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:58:35.655Z,1629039515.655 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:58:36.061Z,1629039516.061 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145836.79*5D

2021-08-15T14:58:36.083Z,1629039516.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.559999 m, bearing: 156.210552 deg, deltaT: 4.404371 s, approachRate: 0.326948 m/s, LOS rate: -10.049600 deg/s, posRepo size: 4
2021-08-15T14:58:36.110Z,1629039516.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 13.56 m. Rolling out.
2021-08-15T14:58:36.110Z,1629039516.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-15T14:58:36.840Z,1629039516.840 [DDM](ERROR): Could not parse latch state
2021-08-15T14:58:38.486Z,1629039518.486 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:58:38.881Z,1629039518.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:58:38.881Z,1629039518.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:58:38.881Z,1629039518.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:58:38.882Z,1629039518.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:58:39.265Z,1629039519.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02D,000,00353,184,80,80,67,FF
2021-08-15T14:58:39.265Z,1629039519.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:58:39.265Z,1629039519.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:58:39.267Z,1629039519.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:58:39.683Z,1629039519.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:58:40.069Z,1629039520.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10F,000,0036A,187,80,80,32,FF
2021-08-15T14:58:40.070Z,1629039520.070 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:58:40.154Z,1629039520.154 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:58:40.522Z,1629039520.522 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145841.22*53

2021-08-15T14:58:40.578Z,1629039520.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.940002 m, bearing: 145.165412 deg, deltaT: 4.498921 s, approachRate: 0.306741 m/s, LOS rate: -2.455064 deg/s, posRepo size: 4
2021-08-15T14:58:41.345Z,1629039521.345 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T14:58:42.963Z,1629039522.963 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:58:43.317Z,1629039523.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:58:43.317Z,1629039523.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:58:43.317Z,1629039523.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:58:43.318Z,1629039523.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:58:43.710Z,1629039523.710 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10F,000,0036A,187,80,80,32,FF
2021-08-15T14:58:43.710Z,1629039523.710 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:58:43.711Z,1629039523.711 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:58:43.713Z,1629039523.713 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:58:44.113Z,1629039524.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:58:44.510Z,1629039524.510 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7B,000,00387,186,80,80,6E,FF
2021-08-15T14:58:44.511Z,1629039524.511 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:58:44.595Z,1629039524.595 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:58:44.966Z,1629039524.966 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145845.66*57

2021-08-15T14:58:45.051Z,1629039525.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.680002 m, bearing: 175.054689 deg, deltaT: 4.441123 s, approachRate: 0.391793 m/s, LOS rate: 6.730117 deg/s, posRepo size: 4
2021-08-15T14:58:47.430Z,1629039527.430 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:58:47.741Z,1629039527.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:58:47.741Z,1629039527.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:58:47.741Z,1629039527.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:58:47.742Z,1629039527.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:58:48.149Z,1629039528.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7B,000,00387,186,80,80,6E,FF
2021-08-15T14:58:48.149Z,1629039528.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:58:48.150Z,1629039528.150 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:58:48.151Z,1629039528.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:58:48.574Z,1629039528.574 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:58:48.969Z,1629039528.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,13D,000,003A1,186,80,80,3F,FF
2021-08-15T14:58:48.969Z,1629039528.969 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:58:49.069Z,1629039529.069 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:58:49.402Z,1629039529.402 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145850.10*52

2021-08-15T14:58:49.483Z,1629039529.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.240002 m, bearing: 161.944099 deg, deltaT: 4.474666 s, approachRate: 0.348629 m/s, LOS rate: -2.929959 deg/s, posRepo size: 4
2021-08-15T14:58:51.803Z,1629039531.803 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:58:52.189Z,1629039532.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:58:52.189Z,1629039532.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:58:52.189Z,1629039532.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:58:52.190Z,1629039532.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:58:52.601Z,1629039532.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
13D,000,003A1,186,80,80,3F,FF
2021-08-15T14:58:52.601Z,1629039532.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:58:52.601Z,1629039532.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:58:52.603Z,1629039532.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:58:53.043Z,1629039533.043 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:58:53.401Z,1629039533.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6E,000,003BC,186,80,80,9A,FF
2021-08-15T14:58:53.401Z,1629039533.401 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:58:53.452Z,1629039533.452 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:58:53.841Z,1629039533.841 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145854.55*57

2021-08-15T14:58:53.871Z,1629039533.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.860001 m, bearing: 193.966444 deg, deltaT: 4.382873 s, approachRate: 0.369620 m/s, LOS rate: 7.306245 deg/s, posRepo size: 4
2021-08-15T14:58:56.251Z,1629039536.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:58:56.641Z,1629039536.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:58:56.641Z,1629039536.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:58:56.641Z,1629039536.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:58:56.642Z,1629039536.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:58:57.077Z,1629039537.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6E,000,003BC,186,80,80,9A,FF
2021-08-15T14:58:57.077Z,1629039537.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:58:57.077Z,1629039537.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:58:57.079Z,1629039537.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:58:57.453Z,1629039537.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:58:57.853Z,1629039537.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED4,000,003B9,187,80,80,77,FF
2021-08-15T14:58:57.854Z,1629039537.854 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:58:57.873Z,1629039537.873 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:58:58.299Z,1629039538.299 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145859.03*59

2021-08-15T14:58:58.346Z,1629039538.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.680002 m, bearing: 211.011509 deg, deltaT: 4.421164 s, approachRate: -0.040713 m/s, LOS rate: 3.855334 deg/s, posRepo size: 4
2021-08-15T14:59:00.722Z,1629039540.722 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:59:01.101Z,1629039541.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:59:01.101Z,1629039541.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:59:01.101Z,1629039541.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:59:01.102Z,1629039541.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:59:01.497Z,1629039541.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED4,000,003B9,187,80,80,77,FF
2021-08-15T14:59:01.497Z,1629039541.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:59:01.497Z,1629039541.497 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:59:01.499Z,1629039541.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:59:01.898Z,1629039541.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:59:02.317Z,1629039542.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECA,000,003C6,186,80,80,41,FF
2021-08-15T14:59:02.317Z,1629039542.317 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:59:02.368Z,1629039542.368 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:59:02.742Z,1629039542.742 [Micromodem](INFO): Nmea in: $SNTTA,0.025158,,,,145903.45*40

2021-08-15T14:59:02.763Z,1629039542.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.459999 m, bearing: 213.650353 deg, deltaT: 4.494509 s, approachRate: 0.173544 m/s, LOS rate: 0.587126 deg/s, posRepo size: 4
2021-08-15T14:59:05.182Z,1629039545.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:59:05.534Z,1629039545.534 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:59:05.534Z,1629039545.534 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:59:05.534Z,1629039545.534 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:59:05.535Z,1629039545.535 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:59:05.937Z,1629039545.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECA,000,003C6,186,80,80,41,FF
2021-08-15T14:59:05.937Z,1629039545.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:59:05.937Z,1629039545.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:59:05.939Z,1629039545.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:59:06.367Z,1629039546.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:59:06.745Z,1629039546.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1C,000,003D1,187,80,80,47,FF
2021-08-15T14:59:06.745Z,1629039546.745 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:59:06.823Z,1629039546.823 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:59:07.181Z,1629039547.181 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145907.89*51

2021-08-15T14:59:07.227Z,1629039547.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.120001 m, bearing: 209.593548 deg, deltaT: 4.454819 s, approachRate: 0.148155 m/s, LOS rate: -0.910655 deg/s, posRepo size: 4
2021-08-15T14:59:09.183Z,1629039549.183 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T14:59:09.610Z,1629039549.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:59:09.977Z,1629039549.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:59:09.977Z,1629039549.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:59:09.977Z,1629039549.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:59:09.978Z,1629039549.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:59:10.381Z,1629039550.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1C,000,003D1,187,80,80,47,FF
2021-08-15T14:59:10.381Z,1629039550.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:59:10.381Z,1629039550.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:59:10.383Z,1629039550.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:59:10.793Z,1629039550.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:59:11.185Z,1629039551.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F09,000,003DF,186,80,80,49,FF
2021-08-15T14:59:11.185Z,1629039551.185 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:59:11.264Z,1629039551.264 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:59:11.633Z,1629039551.633 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145912.33*54

2021-08-15T14:59:11.659Z,1629039551.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.959997 m, bearing: 210.599403 deg, deltaT: 4.441246 s, approachRate: 0.189135 m/s, LOS rate: 0.226480 deg/s, posRepo size: 4
2021-08-15T14:59:14.055Z,1629039554.055 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:59:14.417Z,1629039554.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:59:14.417Z,1629039554.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:59:14.417Z,1629039554.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:59:14.418Z,1629039554.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:59:14.821Z,1629039554.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F09,000,003DF,186,80,80,49,FF
2021-08-15T14:59:14.821Z,1629039554.821 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:59:14.821Z,1629039554.821 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:59:14.823Z,1629039554.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:59:15.237Z,1629039555.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:59:15.644Z,1629039555.644 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1F,000,003E6,187,80,80,68,FF
2021-08-15T14:59:15.645Z,1629039555.645 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:59:15.665Z,1629039555.665 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:59:16.085Z,1629039556.085 [Micromodem](INFO): Nmea in: $SNTTA,0.037097,,,,145916.77*44

2021-08-15T14:59:16.108Z,1629039556.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.379997 m, bearing: 209.055766 deg, deltaT: 4.400804 s, approachRate: 0.095437 m/s, LOS rate: -0.350762 deg/s, posRepo size: 4
2021-08-15T14:59:18.489Z,1629039558.489 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:59:18.861Z,1629039558.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:59:18.861Z,1629039558.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:59:18.861Z,1629039558.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:59:18.862Z,1629039558.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:59:19.265Z,1629039559.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1F,000,003E6,187,80,80,68,FF
2021-08-15T14:59:19.265Z,1629039559.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:59:19.265Z,1629039559.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:59:19.267Z,1629039559.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:59:19.681Z,1629039559.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:59:20.081Z,1629039560.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3F,000,003F6,186,80,80,87,FF
2021-08-15T14:59:20.082Z,1629039560.082 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:59:20.150Z,1629039560.150 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:59:20.514Z,1629039560.514 [Micromodem](INFO): Nmea in: $SNTTA,0.039372,,,,145921.22*46

2021-08-15T14:59:20.563Z,1629039560.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.339998 m, bearing: 207.440768 deg, deltaT: 4.485598 s, approachRate: 0.214019 m/s, LOS rate: -0.360041 deg/s, posRepo size: 4
2021-08-15T14:59:22.938Z,1629039562.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:59:23.325Z,1629039563.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:59:23.325Z,1629039563.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:59:23.325Z,1629039563.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:59:23.326Z,1629039563.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:59:23.721Z,1629039563.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3F,000,003F6,186,80,80,87,FF
2021-08-15T14:59:23.721Z,1629039563.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:59:23.721Z,1629039563.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:59:23.723Z,1629039563.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:59:24.124Z,1629039564.124 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:59:24.526Z,1629039564.526 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F45,000,00405,186,80,80,75,FF
2021-08-15T14:59:24.527Z,1629039564.527 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:59:24.602Z,1629039564.602 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:59:24.969Z,1629039564.969 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145925.67*51

2021-08-15T14:59:25.058Z,1629039565.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.239998 m, bearing: 207.227871 deg, deltaT: 4.451958 s, approachRate: 0.202158 m/s, LOS rate: -0.047821 deg/s, posRepo size: 4
2021-08-15T14:59:27.436Z,1629039567.436 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:59:27.753Z,1629039567.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:59:27.753Z,1629039567.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:59:27.753Z,1629039567.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:59:27.754Z,1629039567.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:59:28.153Z,1629039568.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F45,000,00405,186,80,80,75,FF
2021-08-15T14:59:28.153Z,1629039568.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:59:28.153Z,1629039568.153 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:59:28.155Z,1629039568.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:59:28.573Z,1629039568.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:59:28.974Z,1629039568.974 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F84,000,00415,186,80,80,9A,FF
2021-08-15T14:59:28.991Z,1629039568.991 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:59:29.079Z,1629039569.079 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:59:29.397Z,1629039569.397 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145930.10*55

2021-08-15T14:59:29.444Z,1629039569.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.199999 m, bearing: 204.271492 deg, deltaT: 4.476768 s, approachRate: 0.214441 m/s, LOS rate: -0.660382 deg/s, posRepo size: 4
2021-08-15T14:59:31.839Z,1629039571.839 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:59:32.193Z,1629039572.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:59:32.193Z,1629039572.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:59:32.193Z,1629039572.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:59:32.194Z,1629039572.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:59:32.613Z,1629039572.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F84,000,00415,186,80,80,9A,FF
2021-08-15T14:59:32.613Z,1629039572.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:59:32.614Z,1629039572.614 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:59:32.615Z,1629039572.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:59:33.045Z,1629039573.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:59:33.419Z,1629039573.419 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5A,000,00422,186,80,80,86,FF
2021-08-15T14:59:33.420Z,1629039573.420 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:59:33.453Z,1629039573.453 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:59:33.841Z,1629039573.841 [Micromodem](INFO): Nmea in: $SNTTA,0.032641,,,,145934.56*4F

2021-08-15T14:59:33.866Z,1629039573.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.979996 m, bearing: 207.331977 deg, deltaT: 4.374736 s, approachRate: 0.178296 m/s, LOS rate: 0.699582 deg/s, posRepo size: 4
2021-08-15T14:59:36.266Z,1629039576.266 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:59:36.653Z,1629039576.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:59:36.654Z,1629039576.654 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:59:36.654Z,1629039576.654 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:59:36.655Z,1629039576.655 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:59:37.081Z,1629039577.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5A,000,00422,186,80,80,86,FF
2021-08-15T14:59:37.081Z,1629039577.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:59:37.081Z,1629039577.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:59:37.083Z,1629039577.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:59:37.493Z,1629039577.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:59:37.888Z,1629039577.888 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,046,000,00435,185,80,80,58,FF
2021-08-15T14:59:37.889Z,1629039577.889 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:59:37.908Z,1629039577.908 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:59:38.341Z,1629039578.341 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145939.03*5E

2021-08-15T14:59:38.379Z,1629039578.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.119997 m, bearing: 196.255309 deg, deltaT: 4.454597 s, approachRate: 0.255916 m/s, LOS rate: -2.486570 deg/s, posRepo size: 4
2021-08-15T14:59:39.129Z,1629039579.129 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T14:59:40.745Z,1629039580.745 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:59:41.109Z,1629039581.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:59:41.109Z,1629039581.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:59:41.109Z,1629039581.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:59:41.110Z,1629039581.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:59:41.514Z,1629039581.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
046,000,00435,185,80,80,58,FF
2021-08-15T14:59:41.514Z,1629039581.514 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:59:41.514Z,1629039581.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:59:41.518Z,1629039581.518 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:59:41.926Z,1629039581.926 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:59:42.355Z,1629039582.355 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F17,000,00445,186,80,80,4A,FF
2021-08-15T14:59:42.356Z,1629039582.356 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:59:42.420Z,1629039582.420 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:59:42.765Z,1629039582.765 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145943.46*52

2021-08-15T14:59:42.787Z,1629039582.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.079998 m, bearing: 210.576890 deg, deltaT: 4.511931 s, approachRate: 0.212769 m/s, LOS rate: 3.174158 deg/s, posRepo size: 4
2021-08-15T14:59:45.231Z,1629039585.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:59:45.569Z,1629039585.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:59:45.569Z,1629039585.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:59:45.569Z,1629039585.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:59:45.570Z,1629039585.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:59:45.957Z,1629039585.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F17,000,00445,186,80,80,4A,FF
2021-08-15T14:59:45.957Z,1629039585.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:59:45.957Z,1629039585.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:59:45.959Z,1629039585.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:59:46.365Z,1629039586.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:59:46.774Z,1629039586.774 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9B,000,00450,187,80,80,53,FF
2021-08-15T14:59:46.774Z,1629039586.774 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:59:46.794Z,1629039586.794 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:59:47.226Z,1629039587.226 [Micromodem](INFO): Nmea in: $SNTTA,0.041444,,,,145947.91*43

2021-08-15T14:59:47.323Z,1629039587.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.740002 m, bearing: 203.421297 deg, deltaT: 4.373848 s, approachRate: 0.150898 m/s, LOS rate: -1.635995 deg/s, posRepo size: 4
2021-08-15T14:59:49.637Z,1629039589.637 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:59:49.997Z,1629039589.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:59:49.997Z,1629039589.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:59:49.997Z,1629039589.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:59:49.998Z,1629039589.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:59:50.401Z,1629039590.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9B,000,00450,187,80,80,53,FF
2021-08-15T14:59:50.401Z,1629039590.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:59:50.401Z,1629039590.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:59:50.403Z,1629039590.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:59:50.940Z,1629039590.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:59:51.225Z,1629039591.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F09,000,0045E,186,80,80,2F,FF
2021-08-15T14:59:51.225Z,1629039591.225 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:59:51.326Z,1629039591.326 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:59:51.653Z,1629039591.653 [Micromodem](INFO): Nmea in: $SNTTA,0.053280,,,,145952.35*44

2021-08-15T14:59:51.680Z,1629039591.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.580002 m, bearing: 210.560580 deg, deltaT: 4.531902 s, approachRate: 0.185353 m/s, LOS rate: 1.575339 deg/s, posRepo size: 4
2021-08-15T14:59:54.075Z,1629039594.075 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:59:54.450Z,1629039594.450 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:59:54.450Z,1629039594.450 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:59:54.450Z,1629039594.450 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:59:54.451Z,1629039594.451 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:59:54.845Z,1629039594.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F09,000,0045E,186,80,80,2F,FF
2021-08-15T14:59:54.845Z,1629039594.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:59:54.846Z,1629039594.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:59:54.847Z,1629039594.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:59:55.265Z,1629039595.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T14:59:55.653Z,1629039595.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00C,000,00463,183,80,80,6C,FF
2021-08-15T14:59:55.653Z,1629039595.653 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T14:59:55.706Z,1629039595.706 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T14:59:56.101Z,1629039596.101 [Micromodem](INFO): Nmea in: $SNTTA,,,,,145956.80*5C

2021-08-15T14:59:56.123Z,1629039596.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.880001 m, bearing: 198.534447 deg, deltaT: 4.379607 s, approachRate: 0.068499 m/s, LOS rate: -2.745939 deg/s, posRepo size: 4
2021-08-15T14:59:58.523Z,1629039598.523 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T14:59:58.885Z,1629039598.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T14:59:58.885Z,1629039598.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T14:59:58.885Z,1629039598.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T14:59:58.886Z,1629039598.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T14:59:59.313Z,1629039599.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00C,000,00463,183,80,80,6C,FF
2021-08-15T14:59:59.313Z,1629039599.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T14:59:59.313Z,1629039599.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T14:59:59.315Z,1629039599.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T14:59:59.374Z,1629039599.374 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-08-15T14:59:59.701Z,1629039599.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:00:00.101Z,1629039600.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DD,000,0047F,186,80,80,81,FF
2021-08-15T15:00:00.102Z,1629039600.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:00:00.121Z,1629039600.121 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:00:00.530Z,1629039600.530 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150001.26*5F

2021-08-15T15:00:00.573Z,1629039600.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.559998 m, bearing: 188.187872 deg, deltaT: 4.415675 s, approachRate: 0.380462 m/s, LOS rate: -2.343147 deg/s, posRepo size: 4
2021-08-15T15:00:02.935Z,1629039602.935 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:00:03.353Z,1629039603.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:00:03.354Z,1629039603.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:00:03.354Z,1629039603.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:00:03.355Z,1629039603.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:00:03.729Z,1629039603.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DD,000,0047F,186,80,80,81,FF
2021-08-15T15:00:03.730Z,1629039603.730 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:00:03.730Z,1629039603.730 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:00:03.731Z,1629039603.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:00:04.141Z,1629039604.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:00:04.962Z,1629039604.962 [Micromodem](INFO): Nmea in: $SNTTA,0.033137,,,,150005.68*4A

2021-08-15T15:00:05.771Z,1629039605.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:00:07.377Z,1629039607.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,186,80,80,81,FF
2021-08-15T15:00:07.377Z,1629039607.377 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,186,80,80,81,FF
2021-08-15T15:00:07.377Z,1629039607.377 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T15:00:08.628Z,1629039608.628 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:00:09.044Z,1629039609.044 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:00:09.045Z,1629039609.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:00:09.045Z,1629039609.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:00:09.046Z,1629039609.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:00:09.081Z,1629039609.081 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T15:00:09.393Z,1629039609.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,186,80,80,81,FF
2021-08-15T15:00:09.393Z,1629039609.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:00:09.393Z,1629039609.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:00:09.395Z,1629039609.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:00:09.792Z,1629039609.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:00:10.193Z,1629039610.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D2E,000,00493,189,80,80,67,FF
2021-08-15T15:00:10.194Z,1629039610.194 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:00:10.218Z,1629039610.218 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:00:10.625Z,1629039610.625 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150011.35*5C

2021-08-15T15:00:10.674Z,1629039610.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.760002 m, bearing: 234.257757 deg, deltaT: 10.096933 s, approachRate: 0.118848 m/s, LOS rate: 4.562760 deg/s, posRepo size: 4
2021-08-15T15:00:13.135Z,1629039613.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:00:13.433Z,1629039613.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:00:13.433Z,1629039613.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:00:13.433Z,1629039613.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:00:13.434Z,1629039613.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:00:13.826Z,1629039613.826 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D2E,000,00493,189,80,80,67,FF
2021-08-15T15:00:13.826Z,1629039613.826 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:00:13.826Z,1629039613.826 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:00:13.828Z,1629039613.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:00:14.248Z,1629039614.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:00:14.649Z,1629039614.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFF,000,0049E,182,80,80,59,FF
2021-08-15T15:00:14.650Z,1629039614.650 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:00:14.680Z,1629039614.680 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:00:15.097Z,1629039615.097 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150015.77*5E

2021-08-15T15:00:15.144Z,1629039615.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.419998 m, bearing: 197.601157 deg, deltaT: 4.461950 s, approachRate: 0.147916 m/s, LOS rate: -8.215377 deg/s, posRepo size: 4
2021-08-15T15:00:17.493Z,1629039617.493 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:00:17.877Z,1629039617.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:00:17.877Z,1629039617.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:00:17.878Z,1629039617.878 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:00:17.878Z,1629039617.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:00:18.305Z,1629039618.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFF,000,0049E,182,80,80,59,FF
2021-08-15T15:00:18.305Z,1629039618.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:00:18.306Z,1629039618.306 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:00:18.317Z,1629039618.317 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:00:18.685Z,1629039618.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:00:19.105Z,1629039619.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D41,000,004AE,189,80,80,40,FF
2021-08-15T15:00:19.106Z,1629039619.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:00:19.164Z,1629039619.164 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:00:19.519Z,1629039619.519 [Micromodem](INFO): Nmea in: $SNTTA,0.037489,,,,150020.26*43

2021-08-15T15:00:19.554Z,1629039619.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.379997 m, bearing: 232.710801 deg, deltaT: 4.484235 s, approachRate: 0.214083 m/s, LOS rate: 7.829573 deg/s, posRepo size: 4
2021-08-15T15:00:21.943Z,1629039621.943 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:00:22.353Z,1629039622.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:00:22.354Z,1629039622.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:00:22.354Z,1629039622.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:00:22.355Z,1629039622.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:00:22.717Z,1629039622.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D41,000,004AE,189,80,80,40,FF
2021-08-15T15:00:22.717Z,1629039622.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:00:22.717Z,1629039622.717 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:00:22.719Z,1629039622.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:00:23.121Z,1629039623.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:00:23.522Z,1629039623.522 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10E,000,004B9,186,80,80,59,FF
2021-08-15T15:00:23.523Z,1629039623.523 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:00:23.597Z,1629039623.597 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:00:23.974Z,1629039623.974 [Micromodem](INFO): Nmea in: $SNTTA,0.041158,,,,150024.67*4A

2021-08-15T15:00:23.995Z,1629039623.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.040001 m, bearing: 185.157467 deg, deltaT: 4.432492 s, approachRate: 0.148901 m/s, LOS rate: -10.728352 deg/s, posRepo size: 4
2021-08-15T15:00:26.406Z,1629039626.406 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:00:26.757Z,1629039626.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:00:26.757Z,1629039626.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:00:26.757Z,1629039626.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:00:26.758Z,1629039626.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:00:27.177Z,1629039627.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10E,000,004B9,186,80,80,59,FF
2021-08-15T15:00:27.177Z,1629039627.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:00:27.177Z,1629039627.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:00:27.179Z,1629039627.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:00:27.597Z,1629039627.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:00:27.997Z,1629039627.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15B,000,004C5,186,80,80,63,FF
2021-08-15T15:00:27.998Z,1629039627.998 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:00:28.018Z,1629039628.018 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:00:28.433Z,1629039628.433 [Micromodem](INFO): Nmea in: $SNTTA,0.036768,,,,150029.13*41

2021-08-15T15:00:28.472Z,1629039628.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.760002 m, bearing: 181.038276 deg, deltaT: 4.421245 s, approachRate: 0.162850 m/s, LOS rate: -0.931681 deg/s, posRepo size: 4
2021-08-15T15:00:30.836Z,1629039630.836 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:00:31.233Z,1629039631.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:00:31.233Z,1629039631.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:00:31.233Z,1629039631.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:00:31.234Z,1629039631.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:00:31.633Z,1629039631.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15B,000,004C5,186,80,80,63,FF
2021-08-15T15:00:31.633Z,1629039631.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:00:31.633Z,1629039631.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:00:31.635Z,1629039631.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:00:32.037Z,1629039632.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:00:32.429Z,1629039632.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D6C,000,004D7,189,80,80,83,FF
2021-08-15T15:00:32.429Z,1629039632.429 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:00:32.565Z,1629039632.565 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:00:32.873Z,1629039632.873 [Micromodem](INFO): Nmea in: $SNTTA,0.033514,,,,150033.58*49

2021-08-15T15:00:32.896Z,1629039632.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.840000 m, bearing: 230.832882 deg, deltaT: 4.546752 s, approachRate: 0.237532 m/s, LOS rate: 10.951688 deg/s, posRepo size: 4
2021-08-15T15:00:33.317Z,1629039633.317 [CTD_Seabird](ERROR): Failed to parse device response: 7,4.79247,4827.16
2021-08-15T15:00:35.387Z,1629039635.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:00:35.669Z,1629039635.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:00:35.669Z,1629039635.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:00:35.670Z,1629039635.670 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:00:35.671Z,1629039635.671 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:00:36.073Z,1629039636.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D6C,000,004D7,189,80,80,83,FF
2021-08-15T15:00:36.074Z,1629039636.074 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:00:36.074Z,1629039636.074 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:00:36.092Z,1629039636.092 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:00:36.477Z,1629039636.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:00:36.890Z,1629039636.890 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D88,000,004E2,18A,80,80,51,FF
2021-08-15T15:00:36.891Z,1629039636.891 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:00:36.915Z,1629039636.915 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:00:37.317Z,1629039637.317 [Micromodem](INFO): Nmea in: $SNTTA,0.075250,,,,150038.04*4E

2021-08-15T15:00:37.395Z,1629039637.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.500000 m, bearing: 230.038203 deg, deltaT: 4.349900 s, approachRate: 0.151728 m/s, LOS rate: -0.182689 deg/s, posRepo size: 4
2021-08-15T15:00:39.723Z,1629039639.723 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:00:40.118Z,1629039640.118 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:00:40.118Z,1629039640.118 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:00:40.119Z,1629039640.119 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:00:40.119Z,1629039640.119 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:00:40.510Z,1629039640.510 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D88,000,004E2,18A,80,80,51,FF
2021-08-15T15:00:40.510Z,1629039640.510 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:00:40.510Z,1629039640.510 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:00:40.513Z,1629039640.513 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:00:40.927Z,1629039640.927 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:00:41.341Z,1629039641.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D74,000,004EF,189,80,80,8E,FF
2021-08-15T15:00:41.342Z,1629039641.342 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:00:41.449Z,1629039641.449 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:00:41.758Z,1629039641.758 [Micromodem](INFO): Nmea in: $SNTTA,0.054678,,,,150042.46*48

2021-08-15T15:00:41.805Z,1629039641.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.279999 m, bearing: 231.215892 deg, deltaT: 4.534199 s, approachRate: 0.172026 m/s, LOS rate: 0.259735 deg/s, posRepo size: 4
2021-08-15T15:00:44.166Z,1629039644.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:00:44.552Z,1629039644.552 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:00:44.553Z,1629039644.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:00:44.553Z,1629039644.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:00:44.554Z,1629039644.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:00:44.950Z,1629039644.950 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D74,000,004EF,189,80,80,8E,FF
2021-08-15T15:00:44.950Z,1629039644.950 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:00:44.950Z,1629039644.950 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:00:44.969Z,1629039644.969 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:00:45.389Z,1629039645.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:00:45.769Z,1629039645.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB9,000,004F9,189,80,80,70,FF
2021-08-15T15:00:45.769Z,1629039645.769 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:00:45.818Z,1629039645.818 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:00:46.197Z,1629039646.197 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150046.92*53

2021-08-15T15:00:46.229Z,1629039646.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.879997 m, bearing: 227.574253 deg, deltaT: 4.369398 s, approachRate: 0.137318 m/s, LOS rate: -0.833442 deg/s, posRepo size: 4
2021-08-15T15:00:48.645Z,1629039648.645 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:00:49.017Z,1629039649.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:00:49.017Z,1629039649.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:00:49.018Z,1629039649.018 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:00:49.019Z,1629039649.019 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:00:49.407Z,1629039649.407 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB9,000,004F9,189,80,80,70,FF
2021-08-15T15:00:49.407Z,1629039649.407 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:00:49.407Z,1629039649.407 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:00:49.409Z,1629039649.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:00:49.813Z,1629039649.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:00:50.209Z,1629039650.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC4,000,00503,189,80,80,40,FF
2021-08-15T15:00:50.209Z,1629039650.209 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:00:50.229Z,1629039650.229 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:00:50.645Z,1629039650.645 [Micromodem](INFO): Nmea in: $SNTTA,0.060474,,,,150051.36*44

2021-08-15T15:00:50.697Z,1629039650.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.480003 m, bearing: 226.746790 deg, deltaT: 4.411016 s, approachRate: 0.136024 m/s, LOS rate: -0.187590 deg/s, posRepo size: 4
2021-08-15T15:00:53.126Z,1629039653.126 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:00:53.441Z,1629039653.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:00:53.441Z,1629039653.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:00:53.441Z,1629039653.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:00:53.442Z,1629039653.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:00:53.841Z,1629039653.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC4,000,00503,189,80,80,40,FF
2021-08-15T15:00:53.841Z,1629039653.841 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:00:53.841Z,1629039653.841 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:00:53.843Z,1629039653.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:00:54.249Z,1629039654.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:00:54.657Z,1629039654.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE8,000,0050E,188,80,80,84,FF
2021-08-15T15:00:54.658Z,1629039654.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:00:54.716Z,1629039654.716 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:00:55.113Z,1629039655.113 [Micromodem](INFO): Nmea in: $SNTTA,0.033449,,,,150055.79*43

2021-08-15T15:00:55.169Z,1629039655.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.139999 m, bearing: 225.065293 deg, deltaT: 4.486342 s, approachRate: 0.147112 m/s, LOS rate: -0.374804 deg/s, posRepo size: 4
2021-08-15T15:00:55.499Z,1629039655.499 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T15:00:55.499Z,1629039655.499 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T15:00:55.500Z,1629039655.500 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T15:00:55.500Z,1629039655.500 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T15:00:55.501Z,1629039655.501 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T15:00:55.501Z,1629039655.501 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T15:00:55.894Z,1629039655.894 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T15:00:55.894Z,1629039655.894 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T15:00:55.894Z,1629039655.894 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T15:00:55.894Z,1629039655.894 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T15:00:57.534Z,1629039657.534 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:00:57.893Z,1629039657.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:00:57.893Z,1629039657.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:00:57.893Z,1629039657.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:00:57.894Z,1629039657.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:00:58.297Z,1629039658.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE8,000,0050E,188,80,80,84,FF
2021-08-15T15:00:58.297Z,1629039658.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:00:58.298Z,1629039658.298 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:00:58.308Z,1629039658.308 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:00:58.693Z,1629039658.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:00:59.113Z,1629039659.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E03,000,0051C,186,80,80,62,FF
2021-08-15T15:00:59.114Z,1629039659.114 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:00:59.180Z,1629039659.180 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-15T15:00:59.514Z,1629039659.514 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150100.26*5F

2021-08-15T15:00:59.563Z,1629039659.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.980000 m, bearing: 223.888082 deg, deltaT: 4.481025 s, approachRate: 0.187457 m/s, LOS rate: -0.262710 deg/s, posRepo size: 4
2021-08-15T15:01:01.952Z,1629039661.952 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:01:02.358Z,1629039662.358 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:01:02.358Z,1629039662.358 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:01:02.358Z,1629039662.358 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:01:02.359Z,1629039662.359 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:01:02.734Z,1629039662.734 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E03,000,0051C,186,80,80,62,FF
2021-08-15T15:01:02.734Z,1629039662.734 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:01:02.734Z,1629039662.734 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:01:02.736Z,1629039662.736 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:01:03.142Z,1629039663.142 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:01:03.551Z,1629039663.551 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E18,000,0052A,187,80,80,76,FF
2021-08-15T15:01:03.551Z,1629039663.551 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:01:03.977Z,1629039663.977 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.820000 m, bearing: 222.773914 deg, deltaT: 4.384346 s, approachRate: 0.191591 m/s, LOS rate: -0.254124 deg/s, posRepo size: 4
2021-08-15T15:01:06.402Z,1629039666.402 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:01:06.769Z,1629039666.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:01:06.769Z,1629039666.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:01:06.769Z,1629039666.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:01:06.770Z,1629039666.770 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:01:07.173Z,1629039667.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E18,000,0052A,187,80,80,76,FF
2021-08-15T15:01:07.173Z,1629039667.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:01:07.173Z,1629039667.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:01:07.175Z,1629039667.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:01:07.629Z,1629039667.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:01:08.025Z,1629039668.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E18,000,00530,186,80,80,9B,FF
2021-08-15T15:01:08.026Z,1629039668.026 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:01:08.449Z,1629039668.449 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150109.13*50

2021-08-15T15:01:08.495Z,1629039668.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.179996 m, bearing: 222.650124 deg, deltaT: 4.463978 s, approachRate: 0.080645 m/s, LOS rate: -0.027731 deg/s, posRepo size: 4
2021-08-15T15:01:11.043Z,1629039671.043 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:01:11.259Z,1629039671.259 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:01:11.259Z,1629039671.259 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:01:11.261Z,1629039671.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:01:11.262Z,1629039671.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:01:11.665Z,1629039671.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E18,000,00530,186,80,80,9B,FF
2021-08-15T15:01:11.666Z,1629039671.666 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:01:11.666Z,1629039671.666 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:01:11.667Z,1629039671.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:01:12.069Z,1629039672.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:01:12.477Z,1629039672.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2A,000,0053F,186,80,80,62,FF
2021-08-15T15:01:12.477Z,1629039672.477 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:01:12.905Z,1629039672.905 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150113.61*5E

2021-08-15T15:01:12.941Z,1629039672.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.080002 m, bearing: 221.630350 deg, deltaT: 4.507861 s, approachRate: 0.199652 m/s, LOS rate: -0.226221 deg/s, posRepo size: 4
2021-08-15T15:01:15.376Z,1629039675.376 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:01:15.710Z,1629039675.710 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:01:15.710Z,1629039675.710 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:01:15.710Z,1629039675.710 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:01:15.711Z,1629039675.711 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:01:16.153Z,1629039676.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2A,000,0053F,186,80,80,62,FF
2021-08-15T15:01:16.153Z,1629039676.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:01:16.154Z,1629039676.154 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:01:16.155Z,1629039676.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:01:16.550Z,1629039676.550 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:01:16.921Z,1629039676.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEE,000,0054A,187,80,80,5F,FF
2021-08-15T15:01:16.921Z,1629039676.921 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:01:17.374Z,1629039677.374 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150118.10*53

2021-08-15T15:01:17.444Z,1629039677.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.739998 m, bearing: 212.007159 deg, deltaT: 4.392830 s, approachRate: 0.150244 m/s, LOS rate: -2.190659 deg/s, posRepo size: 4
2021-08-15T15:01:19.799Z,1629039679.799 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:01:20.149Z,1629039680.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:01:20.149Z,1629039680.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:01:20.149Z,1629039680.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:01:20.150Z,1629039680.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:01:20.585Z,1629039680.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEE,000,0054A,187,80,80,5F,FF
2021-08-15T15:01:20.585Z,1629039680.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:01:20.585Z,1629039680.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:01:20.587Z,1629039680.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:01:21.000Z,1629039681.000 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:01:21.369Z,1629039681.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E47,000,00553,185,80,80,90,FF
2021-08-15T15:01:21.370Z,1629039681.370 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:01:21.801Z,1629039681.801 [Micromodem](INFO): Nmea in: $SNTTA,0.054495,,,,150122.54*4D

2021-08-15T15:01:21.835Z,1629039681.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.279999 m, bearing: 220.210503 deg, deltaT: 4.514325 s, approachRate: 0.119619 m/s, LOS rate: 1.817181 deg/s, posRepo size: 4
2021-08-15T15:01:24.211Z,1629039684.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:01:24.605Z,1629039684.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:01:24.605Z,1629039684.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:01:24.605Z,1629039684.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:01:24.606Z,1629039684.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:01:25.021Z,1629039685.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E47,000,00553,185,80,80,90,FF
2021-08-15T15:01:25.021Z,1629039685.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:01:25.022Z,1629039685.022 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:01:25.027Z,1629039685.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:01:25.453Z,1629039685.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:01:25.853Z,1629039685.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E68,000,0055D,186,80,80,8D,FF
2021-08-15T15:01:25.854Z,1629039685.854 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:01:26.289Z,1629039686.289 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150126.98*5E

2021-08-15T15:01:26.341Z,1629039686.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.879997 m, bearing: 218.547202 deg, deltaT: 4.474441 s, approachRate: 0.134095 m/s, LOS rate: -0.371734 deg/s, posRepo size: 4
2021-08-15T15:01:28.703Z,1629039688.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:01:29.101Z,1629039689.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:01:29.101Z,1629039689.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:01:29.101Z,1629039689.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:01:29.102Z,1629039689.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:01:29.497Z,1629039689.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E68,000,0055D,186,80,80,8D,FF
2021-08-15T15:01:29.498Z,1629039689.498 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:01:29.498Z,1629039689.498 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:01:29.499Z,1629039689.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:01:29.897Z,1629039689.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:01:30.309Z,1629039690.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB0,000,00569,186,80,80,7C,FF
2021-08-15T15:01:30.311Z,1629039690.311 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:01:30.737Z,1629039690.737 [Micromodem](INFO): Nmea in: $SNTTA,0.046436,,,,150131.45*45

2021-08-15T15:01:30.767Z,1629039690.767 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.599998 m, bearing: 214.355638 deg, deltaT: 4.440164 s, approachRate: 0.162156 m/s, LOS rate: -0.944011 deg/s, posRepo size: 4
2021-08-15T15:01:33.174Z,1629039693.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:01:33.538Z,1629039693.538 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:01:33.538Z,1629039693.538 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:01:33.538Z,1629039693.538 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:01:33.539Z,1629039693.539 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:01:33.933Z,1629039693.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB0,000,00569,186,80,80,7C,FF
2021-08-15T15:01:33.933Z,1629039693.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:01:33.933Z,1629039693.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:01:33.935Z,1629039693.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:01:34.375Z,1629039694.375 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:01:34.741Z,1629039694.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC4,000,00571,186,80,80,53,FF
2021-08-15T15:01:34.742Z,1629039694.742 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:01:35.159Z,1629039695.159 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150135.93*57

2021-08-15T15:01:35.224Z,1629039695.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.080002 m, bearing: 212.970407 deg, deltaT: 4.386354 s, approachRate: 0.109431 m/s, LOS rate: -0.315805 deg/s, posRepo size: 4
2021-08-15T15:01:37.637Z,1629039697.637 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:01:37.985Z,1629039697.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:01:37.985Z,1629039697.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:01:37.986Z,1629039697.986 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:01:37.987Z,1629039697.987 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:01:38.377Z,1629039698.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC4,000,00571,186,80,80,53,FF
2021-08-15T15:01:38.377Z,1629039698.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:01:38.377Z,1629039698.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:01:38.379Z,1629039698.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:01:38.797Z,1629039698.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:01:39.193Z,1629039699.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAA,000,00580,184,80,80,84,FF
2021-08-15T15:01:39.193Z,1629039699.193 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:01:39.649Z,1629039699.649 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150140.33*5F

2021-08-15T15:01:39.695Z,1629039699.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.979996 m, bearing: 201.314075 deg, deltaT: 4.533076 s, approachRate: 0.198539 m/s, LOS rate: -2.571396 deg/s, posRepo size: 4
2021-08-15T15:01:42.047Z,1629039702.047 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:01:42.417Z,1629039702.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:01:42.417Z,1629039702.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:01:42.417Z,1629039702.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:01:42.418Z,1629039702.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:01:42.834Z,1629039702.834 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAA,000,00580,184,80,80,84,FF
2021-08-15T15:01:42.834Z,1629039702.834 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:01:42.835Z,1629039702.835 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:01:42.837Z,1629039702.837 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:01:43.237Z,1629039703.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:01:43.656Z,1629039703.656 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F04,000,00584,186,80,80,9C,FF
2021-08-15T15:01:43.657Z,1629039703.657 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:01:44.070Z,1629039704.070 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150144.79*55

2021-08-15T15:01:44.146Z,1629039704.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.219997 m, bearing: 209.239580 deg, deltaT: 4.392229 s, approachRate: 0.054642 m/s, LOS rate: 1.804438 deg/s, posRepo size: 4
2021-08-15T15:01:46.502Z,1629039706.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:01:46.861Z,1629039706.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:01:46.862Z,1629039706.862 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:01:46.862Z,1629039706.862 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:01:46.863Z,1629039706.863 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:01:47.273Z,1629039707.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F04,000,00584,186,80,80,9C,FF
2021-08-15T15:01:47.273Z,1629039707.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:01:47.273Z,1629039707.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:01:47.275Z,1629039707.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:01:47.701Z,1629039707.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:01:48.077Z,1629039708.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0A,000,00591,186,80,80,74,FF
2021-08-15T15:01:48.077Z,1629039708.077 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:01:48.527Z,1629039708.527 [Micromodem](INFO): Nmea in: $SNTTA,0.045702,,,,150149.23*4D

2021-08-15T15:01:48.559Z,1629039708.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.999996 m, bearing: 208.698110 deg, deltaT: 4.435616 s, approachRate: 0.175849 m/s, LOS rate: -0.122073 deg/s, posRepo size: 4
2021-08-15T15:01:51.055Z,1629039711.055 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:01:51.333Z,1629039711.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:01:51.333Z,1629039711.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:01:51.333Z,1629039711.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:01:51.334Z,1629039711.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:01:51.373Z,1629039711.373 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T15:01:51.709Z,1629039711.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0A,000,00591,186,80,80,74,FF
2021-08-15T15:01:51.709Z,1629039711.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:01:51.709Z,1629039711.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:01:51.711Z,1629039711.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:01:52.127Z,1629039712.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:01:52.526Z,1629039712.526 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3D,000,0059B,187,80,80,7D,FF
2021-08-15T15:01:52.526Z,1629039712.526 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:01:52.962Z,1629039712.962 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150153.66*5D

2021-08-15T15:01:52.993Z,1629039712.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.599995 m, bearing: 206.425679 deg, deltaT: 4.491275 s, approachRate: 0.133592 m/s, LOS rate: -0.505966 deg/s, posRepo size: 4
2021-08-15T15:01:55.437Z,1629039715.437 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:01:55.749Z,1629039715.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:01:55.749Z,1629039715.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:01:55.749Z,1629039715.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:01:55.750Z,1629039715.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:01:56.161Z,1629039716.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3D,000,0059B,187,80,80,7D,FF
2021-08-15T15:01:56.162Z,1629039716.162 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:01:56.162Z,1629039716.162 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:01:56.163Z,1629039716.164 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:01:56.568Z,1629039716.568 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:01:56.962Z,1629039716.962 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F26,000,005A5,186,80,80,68,FF
2021-08-15T15:01:56.962Z,1629039716.962 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:01:57.413Z,1629039717.413 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150158.11*56

2021-08-15T15:01:57.522Z,1629039717.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.199993 m, bearing: 207.852656 deg, deltaT: 4.438465 s, approachRate: 0.135182 m/s, LOS rate: 0.321502 deg/s, posRepo size: 4
2021-08-15T15:01:59.807Z,1629039719.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:02:00.193Z,1629039720.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:02:00.193Z,1629039720.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:02:00.193Z,1629039720.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:02:00.194Z,1629039720.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:02:00.597Z,1629039720.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F26,000,005A5,186,80,80,68,FF
2021-08-15T15:02:00.597Z,1629039720.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:02:00.597Z,1629039720.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:02:00.599Z,1629039720.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:02:01.044Z,1629039721.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:02:01.405Z,1629039721.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F73,000,0064D,186,80,80,AC,FF
2021-08-15T15:02:01.405Z,1629039721.405 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:02:01.849Z,1629039721.849 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150202.55*5A

2021-08-15T15:02:01.871Z,1629039721.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.280003 m, bearing: 203.304515 deg, deltaT: 4.417261 s, approachRate: 2.281959 m/s, LOS rate: -1.029629 deg/s, posRepo size: 4
2021-08-15T15:02:04.251Z,1629039724.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:02:04.645Z,1629039724.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:02:04.646Z,1629039724.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:02:04.646Z,1629039724.646 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:02:04.647Z,1629039724.647 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:02:05.077Z,1629039725.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F73,000,0064D,186,80,80,AC,FF
2021-08-15T15:02:05.077Z,1629039725.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:02:05.077Z,1629039725.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:02:05.079Z,1629039725.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:02:05.452Z,1629039725.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:02:05.858Z,1629039725.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9A,000,005B7,186,80,80,AA,FF
2021-08-15T15:02:05.858Z,1629039725.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:02:06.297Z,1629039726.297 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150207.03*5C

2021-08-15T15:02:06.347Z,1629039726.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.279999 m, bearing: 200.909973 deg, deltaT: 4.408259 s, approachRate: -2.041623 m/s, LOS rate: -0.543194 deg/s, posRepo size: 4
2021-08-15T15:02:08.701Z,1629039728.701 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:02:09.104Z,1629039729.104 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:02:09.105Z,1629039729.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:02:09.108Z,1629039729.108 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:02:09.119Z,1629039729.119 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:02:09.485Z,1629039729.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9A,000,005B7,186,80,80,AA,FF
2021-08-15T15:02:09.485Z,1629039729.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:02:09.485Z,1629039729.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:02:09.487Z,1629039729.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:02:09.893Z,1629039729.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:02:10.305Z,1629039730.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB6,000,005C2,185,80,80,53,FF
2021-08-15T15:02:10.307Z,1629039730.307 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:02:10.741Z,1629039730.741 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150211.44*58

2021-08-15T15:02:10.768Z,1629039730.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.939999 m, bearing: 199.512790 deg, deltaT: 4.508333 s, approachRate: 0.146396 m/s, LOS rate: -0.309911 deg/s, posRepo size: 4
2021-08-15T15:02:13.170Z,1629039733.170 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:02:13.526Z,1629039733.526 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:02:13.526Z,1629039733.526 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:02:13.526Z,1629039733.526 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:02:13.527Z,1629039733.527 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:02:13.933Z,1629039733.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB6,000,005C2,185,80,80,53,FF
2021-08-15T15:02:13.933Z,1629039733.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:02:13.933Z,1629039733.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:02:13.935Z,1629039733.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:02:14.365Z,1629039734.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:02:15.162Z,1629039735.162 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150215.88*5C

2021-08-15T15:02:15.982Z,1629039735.982 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:02:17.584Z,1629039737.584 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,185,80,80,53,FF
2021-08-15T15:02:17.585Z,1629039737.585 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,185,80,80,53,FF
2021-08-15T15:02:17.585Z,1629039737.585 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T15:02:18.808Z,1629039738.808 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:02:19.185Z,1629039739.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:02:19.185Z,1629039739.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:02:19.185Z,1629039739.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:02:19.186Z,1629039739.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:02:19.589Z,1629039739.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,185,80,80,53,FF
2021-08-15T15:02:19.589Z,1629039739.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:02:19.589Z,1629039739.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:02:19.591Z,1629039739.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:02:20.002Z,1629039740.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:02:20.405Z,1629039740.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCB,000,005D7,184,80,80,83,FF
2021-08-15T15:02:20.405Z,1629039740.405 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:02:20.853Z,1629039740.853 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150221.54*5A

2021-08-15T15:02:20.875Z,1629039740.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.200001 m, bearing: 197.880498 deg, deltaT: 10.073302 s, approachRate: 0.125083 m/s, LOS rate: -0.162041 deg/s, posRepo size: 4
2021-08-15T15:02:23.315Z,1629039743.315 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:02:23.625Z,1629039743.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:02:23.625Z,1629039743.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:02:23.625Z,1629039743.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:02:23.626Z,1629039743.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:02:24.029Z,1629039744.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCB,000,005D7,184,80,80,83,FF
2021-08-15T15:02:24.029Z,1629039744.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:02:24.029Z,1629039744.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:02:24.031Z,1629039744.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:02:24.441Z,1629039744.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:02:24.837Z,1629039744.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,010,000,0063B,183,80,80,B7,FF
2021-08-15T15:02:24.838Z,1629039744.838 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:02:25.280Z,1629039745.280 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150225.98*5E

2021-08-15T15:02:25.371Z,1629039745.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.200001 m, bearing: 193.852230 deg, deltaT: 4.434022 s, approachRate: 1.353173 m/s, LOS rate: -0.908491 deg/s, posRepo size: 4
2021-08-15T15:02:27.707Z,1629039747.707 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:02:28.073Z,1629039748.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:02:28.073Z,1629039748.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:02:28.073Z,1629039748.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:02:28.074Z,1629039748.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:02:28.477Z,1629039748.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
010,000,0063B,183,80,80,B7,FF
2021-08-15T15:02:28.477Z,1629039748.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:02:28.477Z,1629039748.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:02:28.479Z,1629039748.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:02:28.889Z,1629039748.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:02:29.710Z,1629039749.710 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150230.43*5C

2021-08-15T15:02:30.551Z,1629039750.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:02:32.109Z,1629039752.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,183,80,80,B7,FF
2021-08-15T15:02:32.109Z,1629039752.109 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,183,80,80,B7,FF
2021-08-15T15:02:32.109Z,1629039752.109 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T15:02:33.428Z,1629039753.428 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:02:33.733Z,1629039753.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:02:33.733Z,1629039753.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:02:33.734Z,1629039753.734 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:02:33.735Z,1629039753.735 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:02:34.146Z,1629039754.146 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,183,80,80,B7,FF
2021-08-15T15:02:34.146Z,1629039754.146 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:02:34.146Z,1629039754.146 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:02:34.176Z,1629039754.176 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:02:34.539Z,1629039754.539 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:02:35.366Z,1629039755.366 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150236.13*5F

2021-08-15T15:02:36.166Z,1629039756.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:02:37.765Z,1629039757.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,183,80,80,B7,FF
2021-08-15T15:02:37.765Z,1629039757.765 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,183,80,80,B7,FF
2021-08-15T15:02:37.766Z,1629039757.766 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T15:02:39.060Z,1629039759.060 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:02:39.381Z,1629039759.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:02:39.381Z,1629039759.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:02:39.381Z,1629039759.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:02:39.382Z,1629039759.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:02:39.799Z,1629039759.799 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,183,80,80,B7,FF
2021-08-15T15:02:39.800Z,1629039759.800 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:02:39.800Z,1629039759.800 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:02:39.803Z,1629039759.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:02:40.192Z,1629039760.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:02:40.599Z,1629039760.599 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01A,000,00607,183,80,80,A0,FF
2021-08-15T15:02:40.600Z,1629039760.600 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:02:41.049Z,1629039761.049 [Micromodem](INFO): Nmea in: $SNTTA,0.060978,,,,150241.75*41

2021-08-15T15:02:41.093Z,1629039761.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.080002 m, bearing: 192.012955 deg, deltaT: 15.783660 s, approachRate: -0.197673 m/s, LOS rate: -0.116530 deg/s, posRepo size: 4
2021-08-15T15:02:43.474Z,1629039763.474 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:02:43.826Z,1629039763.826 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:02:43.826Z,1629039763.826 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:02:43.827Z,1629039763.827 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:02:43.828Z,1629039763.828 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:02:44.237Z,1629039764.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01A,000,00607,183,80,80,A0,FF
2021-08-15T15:02:44.237Z,1629039764.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:02:44.237Z,1629039764.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:02:44.239Z,1629039764.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:02:44.637Z,1629039764.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:02:45.475Z,1629039765.475 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150246.19*52

2021-08-15T15:02:46.326Z,1629039766.326 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:02:47.869Z,1629039767.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,183,80,80,A0,FF
2021-08-15T15:02:47.869Z,1629039767.869 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,183,80,80,A0,FF
2021-08-15T15:02:47.869Z,1629039767.869 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T15:02:49.188Z,1629039769.188 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:02:49.493Z,1629039769.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:02:49.493Z,1629039769.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:02:49.493Z,1629039769.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:02:49.494Z,1629039769.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:02:49.889Z,1629039769.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,183,80,80,A0,FF
2021-08-15T15:02:49.889Z,1629039769.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:02:49.889Z,1629039769.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:02:49.891Z,1629039769.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:02:50.322Z,1629039770.322 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:02:50.705Z,1629039770.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,039,000,00619,184,80,80,56,FF
2021-08-15T15:02:50.706Z,1629039770.706 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:02:51.137Z,1629039771.137 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150251.84*50

2021-08-15T15:02:51.221Z,1629039771.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.160004 m, bearing: 189.744117 deg, deltaT: 10.048515 s, approachRate: 0.107479 m/s, LOS rate: -0.225788 deg/s, posRepo size: 4
2021-08-15T15:02:53.567Z,1629039773.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:02:53.929Z,1629039773.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:02:53.929Z,1629039773.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:02:53.929Z,1629039773.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:02:53.930Z,1629039773.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:02:54.362Z,1629039774.362 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
039,000,00619,184,80,80,56,FF
2021-08-15T15:02:54.362Z,1629039774.362 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:02:54.362Z,1629039774.362 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:02:54.364Z,1629039774.364 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:02:54.744Z,1629039774.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:02:55.566Z,1629039775.566 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150256.32*5A

2021-08-15T15:02:56.410Z,1629039776.410 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:02:57.965Z,1629039777.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,184,80,80,56,FF
2021-08-15T15:02:57.966Z,1629039777.966 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,184,80,80,56,FF
2021-08-15T15:02:57.966Z,1629039777.966 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T15:02:59.319Z,1629039779.319 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:02:59.589Z,1629039779.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:02:59.589Z,1629039779.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:02:59.589Z,1629039779.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:02:59.590Z,1629039779.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:02:59.985Z,1629039779.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,184,80,80,56,FF
2021-08-15T15:02:59.985Z,1629039779.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:02:59.985Z,1629039779.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:02:59.987Z,1629039779.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:03:00.396Z,1629039780.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:03:01.222Z,1629039781.222 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150301.94*55

2021-08-15T15:03:02.054Z,1629039782.054 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:03:03.637Z,1629039783.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03C,000,09522,184,80,80,73,FF
2021-08-15T15:03:03.637Z,1629039783.637 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:03:04.074Z,1629039784.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2253.179932 m, bearing: 190.301651 deg, deltaT: 12.982364 s, approachRate: 169.231125 m/s, LOS rate: 0.042946 deg/s, posRepo size: 4
2021-08-15T15:03:04.075Z,1629039784.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 2253.18 m. Resuming terminal guidance.
2021-08-15T15:03:04.075Z,1629039784.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-15T15:03:06.492Z,1629039786.492 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:03:06.861Z,1629039786.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:03:06.861Z,1629039786.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:03:06.861Z,1629039786.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:03:06.862Z,1629039786.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:03:07.275Z,1629039787.275 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03C,000,09522,184,80,80,73,FF
2021-08-15T15:03:07.275Z,1629039787.275 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:03:07.276Z,1629039787.276 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:03:07.282Z,1629039787.282 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:03:07.683Z,1629039787.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:03:08.485Z,1629039788.485 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150309.23*51

2021-08-15T15:03:09.377Z,1629039789.377 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:03:10.897Z,1629039790.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,184,80,80,73,FF
2021-08-15T15:03:10.897Z,1629039790.897 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,184,80,80,73,FF
2021-08-15T15:03:10.897Z,1629039790.897 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T15:03:12.137Z,1629039792.137 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:03:12.514Z,1629039792.514 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:03:12.514Z,1629039792.514 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:03:12.514Z,1629039792.514 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:03:12.515Z,1629039792.515 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:03:12.917Z,1629039792.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,184,80,80,73,FF
2021-08-15T15:03:12.917Z,1629039792.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:03:12.917Z,1629039792.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:03:12.919Z,1629039792.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:03:13.389Z,1629039793.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:03:13.786Z,1629039793.786 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F92,000,0066F,187,80,80,7F,FF
2021-08-15T15:03:13.786Z,1629039793.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:03:14.221Z,1629039794.221 [Micromodem](INFO): Nmea in: $SNTTA,0.048473,,,,150314.87*41

2021-08-15T15:03:14.257Z,1629039794.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.320004 m, bearing: 199.357868 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-15T15:03:14.257Z,1629039794.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 199.357868deg and heading rate command to 0 deg/s.
2021-08-15T15:03:16.658Z,1629039796.658 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:03:17.083Z,1629039797.083 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:03:17.083Z,1629039797.083 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:03:17.083Z,1629039797.083 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:03:17.084Z,1629039797.084 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:03:17.422Z,1629039797.422 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F92,000,0066F,187,80,80,7F,FF
2021-08-15T15:03:17.422Z,1629039797.422 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:03:17.422Z,1629039797.422 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:03:17.424Z,1629039797.424 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:03:17.825Z,1629039797.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:03:18.662Z,1629039798.662 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150319.37*55

2021-08-15T15:03:19.489Z,1629039799.489 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:03:19.993Z,1629039799.993 [CTD_Seabird](ERROR): Failed to parse device response: .04
2021-08-15T15:03:21.089Z,1629039801.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,187,80,80,7F,FF
2021-08-15T15:03:21.089Z,1629039801.089 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,187,80,80,7F,FF
2021-08-15T15:03:21.090Z,1629039801.090 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T15:03:22.283Z,1629039802.283 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:03:22.669Z,1629039802.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:03:22.669Z,1629039802.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:03:22.669Z,1629039802.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:03:22.670Z,1629039802.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:03:23.097Z,1629039803.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,187,80,80,7F,FF
2021-08-15T15:03:23.097Z,1629039803.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:03:23.097Z,1629039803.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:03:23.099Z,1629039803.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:03:23.593Z,1629039803.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:03:23.986Z,1629039803.986 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F42,000,006B3,187,80,80,84,FF
2021-08-15T15:03:23.987Z,1629039803.987 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:03:24.409Z,1629039804.409 [Micromodem](INFO): Nmea in: $SNTTA,0.050849,,,,150325.05*45

2021-08-15T15:03:24.472Z,1629039804.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.400002 m, bearing: 210.451679 deg, deltaT: 10.232032 s, approachRate: 0.398748 m/s, LOS rate: 1.084224 deg/s, posRepo size: 2
2021-08-15T15:03:24.474Z,1629039804.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.400002 m,
      bearing: 210.451679 deg,
      approachRate: 0.398748 m/s,
      LOS rate: 1.084224 deg/s,
      cmd update: 4.336895 deg/s,
      cmd heading: 199.357868 deg,
      new cmd heading: 199.357868 deg.

2021-08-15T15:03:26.844Z,1629039806.844 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:03:27.210Z,1629039807.210 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:03:27.210Z,1629039807.210 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:03:27.210Z,1629039807.210 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:03:27.211Z,1629039807.211 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:03:27.622Z,1629039807.622 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F42,000,006B3,187,80,80,84,FF
2021-08-15T15:03:27.622Z,1629039807.622 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:03:27.623Z,1629039807.623 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:03:27.625Z,1629039807.625 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:03:28.021Z,1629039808.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:03:28.425Z,1629039808.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F26,000,006DB,186,80,80,86,FF
2021-08-15T15:03:28.426Z,1629039808.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:03:28.873Z,1629039808.873 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150329.57*50

2021-08-15T15:03:28.895Z,1629039808.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.800011 m, bearing: 215.161272 deg, deltaT: 4.438235 s, approachRate: 0.540758 m/s, LOS rate: 1.061141 deg/s, posRepo size: 3
2021-08-15T15:03:28.897Z,1629039808.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.800011 m,
      bearing: 215.161272 deg,
      approachRate: 0.540758 m/s,
      LOS rate: 1.061141 deg/s,
      cmd update: 4.244564 deg/s,
      cmd heading: 218.623490 deg,
      new cmd heading: 220.432665 deg.

2021-08-15T15:03:31.353Z,1629039811.353 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:03:31.657Z,1629039811.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:03:31.657Z,1629039811.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:03:31.657Z,1629039811.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:03:31.658Z,1629039811.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:03:32.067Z,1629039812.067 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F26,000,006DB,186,80,80,86,FF
2021-08-15T15:03:32.067Z,1629039812.067 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:03:32.067Z,1629039812.067 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:03:32.069Z,1629039812.069 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:03:32.465Z,1629039812.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:03:32.866Z,1629039812.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CC7,000,00703,189,80,80,88,FF
2021-08-15T15:03:32.866Z,1629039812.866 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:03:33.333Z,1629039813.333 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150334.02*5C

2021-08-15T15:03:33.399Z,1629039813.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.200005 m, bearing: 257.648860 deg, deltaT: 4.409682 s, approachRate: 0.544256 m/s, LOS rate: 9.635069 deg/s, posRepo size: 4
2021-08-15T15:03:33.402Z,1629039813.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.200005 m,
      bearing: 257.648860 deg,
      approachRate: 0.544256 m/s,
      LOS rate: 9.635069 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 237.340960 deg,
      new cmd heading: 239.513217 deg.

2021-08-15T15:03:35.741Z,1629039815.741 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:03:36.103Z,1629039816.103 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:03:36.103Z,1629039816.103 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:03:36.103Z,1629039816.103 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:03:36.104Z,1629039816.104 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:03:36.510Z,1629039816.510 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CC7,000,00703,189,80,80,88,FF
2021-08-15T15:03:36.510Z,1629039816.510 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:03:36.510Z,1629039816.510 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:03:36.513Z,1629039816.513 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:03:36.911Z,1629039816.911 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:03:37.310Z,1629039817.310 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,037,000,00729,185,80,80,43,FF
2021-08-15T15:03:37.310Z,1629039817.310 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:03:37.315Z,1629039817.315 [Micromodem](INFO): Nmea in: $SNTTA,0.061773,0.184524,,,150338.47*5B

2021-08-15T15:03:37.748Z,1629039817.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.480003 m, bearing: 230.009407 deg, deltaT: 4.505795 s, approachRate: 0.506015 m/s, LOS rate: -6.134201 deg/s, posRepo size: 4
2021-08-15T15:03:37.750Z,1629039817.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.480003 m,
      bearing: 230.009407 deg,
      approachRate: 0.506015 m/s,
      LOS rate: -6.134201 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 291.301205 deg,
      new cmd heading: 295.663446 deg.

2021-08-15T15:03:40.174Z,1629039820.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:03:40.547Z,1629039820.547 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:03:40.547Z,1629039820.547 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:03:40.547Z,1629039820.547 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:03:40.548Z,1629039820.548 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:03:40.953Z,1629039820.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
037,000,00729,185,80,80,43,FF
2021-08-15T15:03:40.953Z,1629039820.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:03:40.954Z,1629039820.954 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:03:40.959Z,1629039820.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:03:41.349Z,1629039821.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:03:41.753Z,1629039821.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E01,000,00748,187,80,80,AD,FF
2021-08-15T15:03:41.753Z,1629039821.753 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:03:42.197Z,1629039822.197 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150342.91*57

2021-08-15T15:03:42.227Z,1629039822.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.340004 m, bearing: 274.736873 deg, deltaT: 4.438394 s, approachRate: 0.419071 m/s, LOS rate: 10.077399 deg/s, posRepo size: 4
2021-08-15T15:03:42.230Z,1629039822.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.340004 m,
      bearing: 274.736873 deg,
      approachRate: 0.419071 m/s,
      LOS rate: 10.077399 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 237.931672 deg,
      new cmd heading: 233.183452 deg.

2021-08-15T15:03:44.642Z,1629039824.642 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:03:45.012Z,1629039825.012 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:03:45.012Z,1629039825.012 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:03:45.013Z,1629039825.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:03:45.014Z,1629039825.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:03:45.395Z,1629039825.395 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E01,000,00748,187,80,80,AD,FF
2021-08-15T15:03:45.395Z,1629039825.395 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:03:45.395Z,1629039825.395 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:03:45.397Z,1629039825.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:03:45.853Z,1629039825.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:03:46.225Z,1629039826.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CB1,000,0075E,189,80,80,B5,FF
2021-08-15T15:03:46.225Z,1629039826.225 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:03:46.661Z,1629039826.661 [Micromodem](INFO): Nmea in: $SNTTA,0.052441,,,,150347.35*44

2021-08-15T15:03:46.677Z,1629039826.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.659996 m, bearing: 306.772810 deg, deltaT: 4.410509 s, approachRate: 0.299283 m/s, LOS rate: 7.263547 deg/s, posRepo size: 4
2021-08-15T15:03:46.679Z,1629039826.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.659996 m,
      bearing: 306.772810 deg,
      approachRate: 0.299283 m/s,
      LOS rate: 7.263547 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 290.858657 deg,
      new cmd heading: 296.072561 deg.

2021-08-15T15:03:49.138Z,1629039829.138 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:03:49.449Z,1629039829.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:03:49.449Z,1629039829.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:03:49.449Z,1629039829.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:03:49.450Z,1629039829.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:03:49.857Z,1629039829.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CB1,000,0075E,189,80,80,B5,FF
2021-08-15T15:03:49.857Z,1629039829.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:03:49.858Z,1629039829.858 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:03:49.859Z,1629039829.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:03:50.251Z,1629039830.251 [Radio_Surface](INFO): Powering up
2021-08-15T15:03:50.269Z,1629039830.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:03:50.657Z,1629039830.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CA1,000,00770,189,80,80,B7,FF
2021-08-15T15:03:50.658Z,1629039830.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:03:51.170Z,1629039831.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.739998 m, bearing: 309.435764 deg, deltaT: 4.460441 s, approachRate: 0.242129 m/s, LOS rate: 0.597016 deg/s, posRepo size: 4
2021-08-15T15:03:51.176Z,1629039831.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.739998 m,
      bearing: 309.435764 deg,
      approachRate: 0.242129 m/s,
      LOS rate: 0.597016 deg/s,
      cmd update: 2.388064 deg/s,
      cmd heading: 344.383398 deg,
      new cmd heading: 349.987014 deg.

2021-08-15T15:03:53.557Z,1629039833.557 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:03:53.889Z,1629039833.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:03:53.889Z,1629039833.889 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:03:53.889Z,1629039833.889 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:03:53.890Z,1629039833.890 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:03:54.293Z,1629039834.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CA1,000,00770,189,80,80,B7,FF
2021-08-15T15:03:54.293Z,1629039834.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:03:54.294Z,1629039834.294 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:03:54.295Z,1629039834.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:03:54.709Z,1629039834.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:03:55.101Z,1629039835.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D21,000,00777,189,80,80,AC,FF
2021-08-15T15:03:55.102Z,1629039835.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:03:55.567Z,1629039835.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.160004 m, bearing: 320.722652 deg, deltaT: 4.487878 s, approachRate: 0.093587 m/s, LOS rate: 2.514972 deg/s, posRepo size: 4
2021-08-15T15:03:55.574Z,1629039835.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.160004 m,
      bearing: 320.722652 deg,
      approachRate: 0.093587 m/s,
      LOS rate: 2.514972 deg/s,
      cmd update: 10.059888 deg/s,
      cmd heading: 355.100758 deg,
      new cmd heading: 356.000690 deg.

2021-08-15T15:03:55.768Z,1629039835.768 [DataOverHttps](INFO): Radio surface powered ON.
2021-08-15T15:03:57.962Z,1629039837.962 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:03:58.349Z,1629039838.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:03:58.349Z,1629039838.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:03:58.349Z,1629039838.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:03:58.350Z,1629039838.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:03:58.745Z,1629039838.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D21,000,00777,189,80,80,AC,FF
2021-08-15T15:03:58.745Z,1629039838.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:03:58.745Z,1629039838.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:03:58.747Z,1629039838.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:03:59.161Z,1629039839.161 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:03:59.565Z,1629039839.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DAC,000,00771,188,80,80,BF,FF
2021-08-15T15:03:59.566Z,1629039839.566 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:03:59.993Z,1629039839.993 [Micromodem](INFO): Nmea in: $SNTTA,0.081670,,,,150400.70*4F

2021-08-15T15:04:00.026Z,1629039840.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.800003 m, bearing: 330.242078 deg, deltaT: 4.435537 s, approachRate: -0.081163 m/s, LOS rate: 2.146172 deg/s, posRepo size: 4
2021-08-15T15:04:00.029Z,1629039840.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.800003 m,
      bearing: 330.242078 deg,
      approachRate: -0.081163 m/s,
      LOS rate: 2.146172 deg/s,
      cmd update: 8.584689 deg/s,
      cmd heading: 39.676825 deg,
      new cmd heading: 43.749631 deg.

2021-08-15T15:04:02.392Z,1629039842.392 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:04:02.797Z,1629039842.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:04:02.797Z,1629039842.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:04:02.797Z,1629039842.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:04:02.798Z,1629039842.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:04:03.190Z,1629039843.190 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DAC,000,00771,188,80,80,BF,FF
2021-08-15T15:04:03.190Z,1629039843.190 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:04:03.190Z,1629039843.190 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:04:03.196Z,1629039843.196 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:04:03.605Z,1629039843.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:04:03.989Z,1629039843.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00761,189,80,80,C0,FF
2021-08-15T15:04:03.990Z,1629039843.990 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:04:04.445Z,1629039844.445 [Micromodem](INFO): Nmea in: $SNTTA,0.050265,,,,150405.15*45

2021-08-15T15:04:04.468Z,1629039844.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.840004 m, bearing: 26.642854 deg, deltaT: 4.416129 s, approachRate: -0.217385 m/s, LOS rate: 12.771540 deg/s, posRepo size: 4
2021-08-15T15:04:04.469Z,1629039844.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.771540 deg/s. Setting heading cmd to target bearing of 26.642854deg and heading rate command to 0 deg/s.
2021-08-15T15:04:06.858Z,1629039846.858 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:04:07.233Z,1629039847.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:04:07.233Z,1629039847.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:04:07.233Z,1629039847.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:04:07.234Z,1629039847.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:04:07.638Z,1629039847.638 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00761,189,80,80,C0,FF
2021-08-15T15:04:07.638Z,1629039847.638 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:04:07.639Z,1629039847.639 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:04:07.643Z,1629039847.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:04:08.045Z,1629039848.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:04:08.446Z,1629039848.446 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CD6,000,00749,189,80,80,C5,FF
2021-08-15T15:04:08.447Z,1629039848.447 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:04:08.891Z,1629039848.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.400009 m, bearing: 21.206242 deg, deltaT: 4.495262 s, approachRate: -0.320336 m/s, LOS rate: -1.209409 deg/s, posRepo size: 4
2021-08-15T15:04:08.893Z,1629039848.893 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.400009 m,
      bearing: 21.206242 deg,
      approachRate: -0.320336 m/s,
      LOS rate: -1.209409 deg/s,
      cmd update: -4.837637 deg/s,
      cmd heading: 26.642854 deg,
      new cmd heading: 26.642854 deg.

2021-08-15T15:04:11.311Z,1629039851.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:04:11.670Z,1629039851.670 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:04:11.671Z,1629039851.671 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:04:11.671Z,1629039851.671 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:04:11.672Z,1629039851.672 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:04:12.069Z,1629039852.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CD6,000,00749,189,80,80,C5,FF
2021-08-15T15:04:12.069Z,1629039852.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:04:12.070Z,1629039852.070 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:04:12.071Z,1629039852.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:04:12.483Z,1629039852.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:04:12.885Z,1629039852.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BD,000,0071F,186,80,80,99,FF
2021-08-15T15:04:12.886Z,1629039852.886 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:04:13.318Z,1629039853.318 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150414.02*59

2021-08-15T15:04:13.392Z,1629039853.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.880005 m, bearing: 338.468303 deg, deltaT: 4.405616 s, approachRate: -0.571998 m/s, LOS rate: -9.700784 deg/s, posRepo size: 4
2021-08-15T15:04:13.394Z,1629039853.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.880005 m,
      bearing: 338.468303 deg,
      approachRate: -0.571998 m/s,
      LOS rate: -9.700784 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 5.302125 deg,
      new cmd heading: 3.184193 deg.

2021-08-15T15:04:15.751Z,1629039855.751 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:04:16.109Z,1629039856.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:04:16.109Z,1629039856.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:04:16.109Z,1629039856.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:04:16.110Z,1629039856.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:04:16.528Z,1629039856.528 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BD,000,0071F,186,80,80,99,FF
2021-08-15T15:04:16.529Z,1629039856.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:04:16.529Z,1629039856.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:04:16.537Z,1629039856.537 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:04:16.928Z,1629039856.928 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:04:17.342Z,1629039857.342 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB2,000,006F5,189,80,80,9B,FF
2021-08-15T15:04:17.342Z,1629039857.342 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:04:17.761Z,1629039857.761 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150418.49*5A

2021-08-15T15:04:17.777Z,1629039857.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.360001 m, bearing: 40.339039 deg, deltaT: 4.508471 s, approachRate: -0.558949 m/s, LOS rate: 13.723220 deg/s, posRepo size: 4
2021-08-15T15:04:17.778Z,1629039857.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.723220 deg/s. Setting heading cmd to target bearing of 40.339039deg and heading rate command to 0 deg/s.
2021-08-15T15:04:20.175Z,1629039860.175 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:04:20.573Z,1629039860.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:04:20.573Z,1629039860.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:04:20.573Z,1629039860.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:04:20.574Z,1629039860.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:04:20.970Z,1629039860.970 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB2,000,006F5,189,80,80,9B,FF
2021-08-15T15:04:20.971Z,1629039860.971 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:04:20.971Z,1629039860.971 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:04:20.978Z,1629039860.978 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:04:21.365Z,1629039861.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:04:21.820Z,1629039861.820 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CDF,000,006C9,189,80,80,7A,FF
2021-08-15T15:04:21.820Z,1629039861.820 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:04:22.201Z,1629039862.201 [Micromodem](INFO): Nmea in: $SNTTA,0.052037,,,,150422.93*49

2021-08-15T15:04:22.251Z,1629039862.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.720009 m, bearing: 35.988796 deg, deltaT: 4.428624 s, approachRate: -0.596120 m/s, LOS rate: -0.982301 deg/s, posRepo size: 4
2021-08-15T15:04:22.259Z,1629039862.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.720009 m,
      bearing: 35.988796 deg,
      approachRate: -0.596120 m/s,
      LOS rate: -0.982301 deg/s,
      cmd update: -3.929205 deg/s,
      cmd heading: 40.339039 deg,
      new cmd heading: 40.339039 deg.

2021-08-15T15:04:24.663Z,1629039864.663 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:04:25.042Z,1629039865.042 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:04:25.042Z,1629039865.042 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:04:25.042Z,1629039865.042 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:04:25.043Z,1629039865.043 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:04:25.415Z,1629039865.415 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CDF,000,006C9,189,80,80,7A,FF
2021-08-15T15:04:25.415Z,1629039865.415 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:04:25.416Z,1629039865.416 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:04:25.418Z,1629039865.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:04:25.823Z,1629039865.823 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:04:25.904Z,1629039865.904 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T15:04:26.215Z,1629039866.215 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B8D,000,006A0,189,80,80,B5,FF
2021-08-15T15:04:26.215Z,1629039866.215 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:04:26.645Z,1629039866.645 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150427.37*5F

2021-08-15T15:04:26.707Z,1629039866.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.260010 m, bearing: 41.571376 deg, deltaT: 4.351804 s, approachRate: -0.565283 m/s, LOS rate: 1.282820 deg/s, posRepo size: 4
2021-08-15T15:04:26.715Z,1629039866.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.260010 m,
      bearing: 41.571376 deg,
      approachRate: -0.565283 m/s,
      LOS rate: 1.282820 deg/s,
      cmd update: 5.131279 deg/s,
      cmd heading: 23.239976 deg,
      new cmd heading: 21.373969 deg.

2021-08-15T15:04:29.100Z,1629039869.100 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T15:04:29.133Z,1629039869.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:04:29.447Z,1629039869.447 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:04:29.447Z,1629039869.447 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:04:29.447Z,1629039869.447 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:04:29.448Z,1629039869.448 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:04:29.851Z,1629039869.851 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B8D,000,006A0,189,80,80,B5,FF
2021-08-15T15:04:29.851Z,1629039869.851 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:04:29.851Z,1629039869.851 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:04:29.879Z,1629039869.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:04:30.304Z,1629039870.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:04:30.673Z,1629039870.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D2E,000,0067B,189,80,80,BF,FF
2021-08-15T15:04:30.673Z,1629039870.673 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:04:31.117Z,1629039871.117 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150431.83*57

2021-08-15T15:04:31.213Z,1629039871.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.039997 m, bearing: 31.955843 deg, deltaT: 4.463742 s, approachRate: -0.497343 m/s, LOS rate: -2.154142 deg/s, posRepo size: 4
2021-08-15T15:04:31.215Z,1629039871.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 62.039997 m,
      bearing: 31.955843 deg,
      approachRate: -0.497343 m/s,
      LOS rate: -2.154142 deg/s,
      cmd update: -8.616567 deg/s,
      cmd heading: 46.119923 deg,
      new cmd heading: 48.772240 deg.

2021-08-15T15:04:33.554Z,1629039873.554 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:04:33.905Z,1629039873.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:04:33.905Z,1629039873.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:04:33.905Z,1629039873.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:04:33.906Z,1629039873.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:04:34.313Z,1629039874.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D2E,000,0067B,189,80,80,BF,FF
2021-08-15T15:04:34.313Z,1629039874.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:04:34.313Z,1629039874.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:04:34.315Z,1629039874.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:04:34.705Z,1629039874.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:04:35.105Z,1629039875.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0E,000,0064F,186,80,80,AA,FF
2021-08-15T15:04:35.106Z,1629039875.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:04:35.549Z,1629039875.549 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150436.27*5E

2021-08-15T15:04:35.581Z,1629039875.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.400002 m, bearing: 40.316800 deg, deltaT: 4.489653 s, approachRate: -0.588018 m/s, LOS rate: 1.862273 deg/s, posRepo size: 4
2021-08-15T15:04:35.583Z,1629039875.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.400002 m,
      bearing: 40.316800 deg,
      approachRate: -0.588018 m/s,
      LOS rate: 1.862273 deg/s,
      cmd update: 7.449091 deg/s,
      cmd heading: 7.427255 deg,
      new cmd heading: 3.989348 deg.

2021-08-15T15:04:37.966Z,1629039877.966 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:04:38.353Z,1629039878.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:04:38.353Z,1629039878.353 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:04:38.354Z,1629039878.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:04:38.354Z,1629039878.354 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:04:38.745Z,1629039878.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0E,000,0064F,186,80,80,AA,FF
2021-08-15T15:04:38.745Z,1629039878.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:04:38.745Z,1629039878.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:04:38.747Z,1629039878.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:04:39.163Z,1629039879.163 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:04:39.561Z,1629039879.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3F,000,00624,187,80,80,A3,FF
2021-08-15T15:04:39.562Z,1629039879.562 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:04:39.990Z,1629039879.990 [Micromodem](INFO): Nmea in: $SNTTA,0.029486,,,,150440.70*42

2021-08-15T15:04:40.012Z,1629039880.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.820004 m, bearing: 36.184423 deg, deltaT: 4.440171 s, approachRate: -0.581058 m/s, LOS rate: -0.930680 deg/s, posRepo size: 4
2021-08-15T15:04:40.014Z,1629039880.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.820004 m,
      bearing: 36.184423 deg,
      approachRate: -0.581058 m/s,
      LOS rate: -0.930680 deg/s,
      cmd update: -3.722719 deg/s,
      cmd heading: 40.442868 deg,
      new cmd heading: 43.407390 deg.

2021-08-15T15:04:42.430Z,1629039882.430 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:04:42.785Z,1629039882.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:04:42.785Z,1629039882.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:04:42.785Z,1629039882.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:04:42.786Z,1629039882.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:04:43.190Z,1629039883.190 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3F,000,00624,187,80,80,A3,FF
2021-08-15T15:04:43.190Z,1629039883.190 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:04:43.190Z,1629039883.190 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:04:43.192Z,1629039883.192 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:04:43.592Z,1629039883.592 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:04:43.997Z,1629039883.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F09,000,005F4,186,80,80,A8,FF
2021-08-15T15:04:43.998Z,1629039883.998 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:04:44.446Z,1629039884.446 [Micromodem](INFO): Nmea in: $SNTTA,0.087986,,,,150445.14*4C

2021-08-15T15:04:44.453Z,1629039884.453 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T15:04:44.472Z,1629039884.472 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.939995 m, bearing: 40.719310 deg, deltaT: 4.389482 s, approachRate: -0.656116 m/s, LOS rate: 1.033126 deg/s, posRepo size: 4
2021-08-15T15:04:44.474Z,1629039884.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.939995 m,
      bearing: 40.719310 deg,
      approachRate: -0.656116 m/s,
      LOS rate: 1.033126 deg/s,
      cmd update: 4.132503 deg/s,
      cmd heading: 24.060805 deg,
      new cmd heading: 22.357996 deg.

2021-08-15T15:04:46.915Z,1629039886.915 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:04:47.238Z,1629039887.238 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:04:47.238Z,1629039887.238 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:04:47.238Z,1629039887.238 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:04:47.239Z,1629039887.239 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:04:47.633Z,1629039887.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F09,000,005F4,186,80,80,A8,FF
2021-08-15T15:04:47.633Z,1629039887.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:04:47.633Z,1629039887.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:04:47.635Z,1629039887.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:04:48.045Z,1629039888.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:04:48.453Z,1629039888.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC3,000,005C2,185,80,80,99,FF
2021-08-15T15:04:48.453Z,1629039888.453 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:04:48.905Z,1629039888.905 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150449.59*5F

2021-08-15T15:04:48.943Z,1629039888.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.939999 m, bearing: 40.726885 deg, deltaT: 4.457853 s, approachRate: -0.672969 m/s, LOS rate: 0.001699 deg/s, posRepo size: 4
2021-08-15T15:04:48.945Z,1629039888.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.939999 m,
      bearing: 40.726885 deg,
      approachRate: -0.672969 m/s,
      LOS rate: 0.001699 deg/s,
      cmd update: 0.006797 deg/s,
      cmd heading: 42.485388 deg,
      new cmd heading: 44.429011 deg.

2021-08-15T15:04:51.366Z,1629039891.366 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:04:51.673Z,1629039891.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:04:51.673Z,1629039891.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:04:51.673Z,1629039891.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:04:51.674Z,1629039891.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:04:52.077Z,1629039892.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC3,000,005C2,185,80,80,99,FF
2021-08-15T15:04:52.077Z,1629039892.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:04:52.077Z,1629039892.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:04:52.079Z,1629039892.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:04:52.493Z,1629039892.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:04:52.885Z,1629039892.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07C,000,0058D,186,80,80,71,FF
2021-08-15T15:04:52.885Z,1629039892.885 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:04:53.313Z,1629039893.313 [Micromodem](INFO): Nmea in: $SNTTA,0.049605,0.362718,,,150454.03*5B

2021-08-15T15:04:53.391Z,1629039893.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.759995 m, bearing: 39.372246 deg, deltaT: 4.457772 s, approachRate: -0.713362 m/s, LOS rate: -0.303882 deg/s, posRepo size: 4
2021-08-15T15:04:53.393Z,1629039893.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.759995 m,
      bearing: 39.372246 deg,
      approachRate: -0.713362 m/s,
      LOS rate: -0.303882 deg/s,
      cmd update: -1.215529 deg/s,
      cmd heading: 42.515660 deg,
      new cmd heading: 42.518814 deg.

2021-08-15T15:04:55.754Z,1629039895.754 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:04:56.117Z,1629039896.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:04:56.117Z,1629039896.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:04:56.117Z,1629039896.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:04:56.118Z,1629039896.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:04:56.526Z,1629039896.526 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07C,000,0058D,186,80,80,71,FF
2021-08-15T15:04:56.526Z,1629039896.526 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:04:56.526Z,1629039896.526 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:04:56.529Z,1629039896.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:04:56.933Z,1629039896.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:04:57.333Z,1629039897.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A5,000,00558,186,80,80,71,FF
2021-08-15T15:04:57.334Z,1629039897.334 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:04:57.756Z,1629039897.756 [Radio_Surface](INFO): Powering down
2021-08-15T15:04:57.789Z,1629039897.789 [Micromodem](INFO): Nmea in: $SNTTA,0.039485,,,,150458.48*42

2021-08-15T15:04:57.831Z,1629039897.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.579998 m, bearing: 40.869038 deg, deltaT: 4.546825 s, approachRate: -0.699388 m/s, LOS rate: 0.329195 deg/s, posRepo size: 4
2021-08-15T15:04:57.834Z,1629039897.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.579998 m,
      bearing: 40.869038 deg,
      approachRate: -0.699388 m/s,
      LOS rate: 0.329195 deg/s,
      cmd update: 1.316780 deg/s,
      cmd heading: 36.988721 deg,
      new cmd heading: 36.553652 deg.

2021-08-15T15:05:00.190Z,1629039900.190 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:05:00.569Z,1629039900.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:05:00.569Z,1629039900.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:05:00.569Z,1629039900.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:05:00.570Z,1629039900.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:05:01.028Z,1629039901.028 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A5,000,00558,186,80,80,71,FF
2021-08-15T15:05:01.029Z,1629039901.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:05:01.030Z,1629039901.030 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:05:01.036Z,1629039901.036 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:05:01.046Z,1629039901.046 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T15:05:01.404Z,1629039901.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:05:01.785Z,1629039901.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00C,000,0051C,183,80,80,6D,FF
2021-08-15T15:05:01.785Z,1629039901.785 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:05:02.049Z,1629039902.049 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2021-08-15T15:05:02.211Z,1629039902.211 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150502.99*5D

2021-08-15T15:05:02.308Z,1629039902.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.980000 m, bearing: 44.548174 deg, deltaT: 4.357428 s, approachRate: -0.826175 m/s, LOS rate: 0.844337 deg/s, posRepo size: 4
2021-08-15T15:05:02.310Z,1629039902.310 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 40.980000 m,
      bearing: 44.548174 deg,
      approachRate: -0.826175 m/s,
      LOS rate: 0.844337 deg/s,
      cmd update: 3.377346 deg/s,
      cmd heading: 42.726436 deg,
      new cmd heading: 43.302318 deg.

2021-08-15T15:05:04.643Z,1629039904.643 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:05:05.062Z,1629039905.062 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:05:05.062Z,1629039905.062 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:05:05.062Z,1629039905.062 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:05:05.063Z,1629039905.063 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:05:05.425Z,1629039905.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00C,000,0051C,183,80,80,6D,FF
2021-08-15T15:05:05.425Z,1629039905.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:05:05.425Z,1629039905.425 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:05:05.427Z,1629039905.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:05:05.838Z,1629039905.838 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:05:06.225Z,1629039906.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08F,000,004E8,186,80,80,52,FF
2021-08-15T15:05:06.226Z,1629039906.226 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:05:06.669Z,1629039906.669 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150507.38*53

2021-08-15T15:05:06.695Z,1629039906.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.859997 m, bearing: 42.051272 deg, deltaT: 4.468726 s, approachRate: -0.698186 m/s, LOS rate: -0.558750 deg/s, posRepo size: 4
2021-08-15T15:05:06.696Z,1629039906.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.86 m.
2021-08-15T15:05:06.698Z,1629039906.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.859997 m,
      bearing: 42.051272 deg,
      approachRate: -0.698186 m/s,
      LOS rate: -0.558750 deg/s,
      cmd update: -2.235001 deg/s,
      cmd heading: 57.699406 deg,
      new cmd heading: 59.155197 deg.

2021-08-15T15:05:07.122Z,1629039907.122 [PowerOnly](INFO): Powering up loadControl
2021-08-15T15:05:07.182Z,1629039907.182 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T15:05:07.182Z,1629039907.182 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T15:05:07.183Z,1629039907.183 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T15:05:07.183Z,1629039907.183 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T15:05:07.183Z,1629039907.183 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T15:05:07.184Z,1629039907.184 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T15:05:07.532Z,1629039907.532 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T15:05:07.533Z,1629039907.533 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T15:05:07.533Z,1629039907.533 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T15:05:07.533Z,1629039907.533 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T15:05:09.167Z,1629039909.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:05:09.465Z,1629039909.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:05:09.465Z,1629039909.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:05:09.465Z,1629039909.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:05:09.466Z,1629039909.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:05:09.873Z,1629039909.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08F,000,004E8,186,80,80,52,FF
2021-08-15T15:05:09.874Z,1629039909.874 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:05:09.874Z,1629039909.874 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:05:09.875Z,1629039909.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:05:10.294Z,1629039910.294 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:05:10.673Z,1629039910.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C5,000,004B1,185,80,80,6E,FF
2021-08-15T15:05:10.673Z,1629039910.673 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:05:10.718Z,1629039910.718 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:05:11.129Z,1629039911.129 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150511.83*54

2021-08-15T15:05:11.197Z,1629039911.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.559998 m, bearing: 39.132845 deg, deltaT: 4.411884 s, approachRate: -0.747980 m/s, LOS rate: -0.661492 deg/s, posRepo size: 4
2021-08-15T15:05:11.198Z,1629039911.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.56 m.
2021-08-15T15:05:11.204Z,1629039911.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.559998 m,
      bearing: 39.132845 deg,
      approachRate: -0.747980 m/s,
      LOS rate: -0.661492 deg/s,
      cmd update: -2.645969 deg/s,
      cmd heading: 47.752044 deg,
      new cmd heading: 46.684010 deg.

2021-08-15T15:05:13.584Z,1629039913.584 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:05:13.905Z,1629039913.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:05:13.905Z,1629039913.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:05:13.905Z,1629039913.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:05:13.906Z,1629039913.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:05:14.365Z,1629039914.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C5,000,004B1,185,80,80,6E,FF
2021-08-15T15:05:14.365Z,1629039914.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:05:14.365Z,1629039914.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:05:14.367Z,1629039914.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:05:14.717Z,1629039914.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:05:15.126Z,1629039915.126 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A2,000,0047A,186,80,80,53,FF
2021-08-15T15:05:15.127Z,1629039915.127 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:05:15.193Z,1629039915.193 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:05:15.547Z,1629039915.547 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150516.32*59

2021-08-15T15:05:15.604Z,1629039915.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.259998 m, bearing: 45.467835 deg, deltaT: 4.474772 s, approachRate: -0.737468 m/s, LOS rate: 1.415712 deg/s, posRepo size: 4
2021-08-15T15:05:15.604Z,1629039915.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.26 m.
2021-08-15T15:05:15.606Z,1629039915.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.259998 m,
      bearing: 45.467835 deg,
      approachRate: -0.737468 m/s,
      LOS rate: 1.415712 deg/s,
      cmd update: 5.662850 deg/s,
      cmd heading: 35.911557 deg,
      new cmd heading: 34.817092 deg.

2021-08-15T15:05:17.976Z,1629039917.976 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:05:18.354Z,1629039918.354 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:05:18.354Z,1629039918.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:05:18.355Z,1629039918.355 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:05:18.356Z,1629039918.356 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:05:18.761Z,1629039918.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A2,000,0047A,186,80,80,53,FF
2021-08-15T15:05:18.761Z,1629039918.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:05:18.761Z,1629039918.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:05:18.763Z,1629039918.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:05:19.170Z,1629039919.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:05:19.577Z,1629039919.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDA,000,0044F,185,80,80,7E,FF
2021-08-15T15:05:19.578Z,1629039919.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:05:19.588Z,1629039919.588 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T15:05:19.605Z,1629039919.605 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:05:20.025Z,1629039920.025 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150520.72*58

2021-08-15T15:05:20.057Z,1629039920.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.679998 m, bearing: 44.503467 deg, deltaT: 4.412185 s, approachRate: -0.584744 m/s, LOS rate: -0.218569 deg/s, posRepo size: 4
2021-08-15T15:05:20.058Z,1629039920.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 28.68 m.
2021-08-15T15:05:20.058Z,1629039920.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 28.68 m.
2021-08-15T15:05:20.058Z,1629039920.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-15T15:05:20.060Z,1629039920.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.679998 m,
      bearing: 44.503467 deg,
      approachRate: -0.584744 m/s,
      LOS rate: -0.218569 deg/s,
      cmd update: -0.874277 deg/s,
      cmd heading: 60.897149 deg,
      new cmd heading: 63.473173 deg.

2021-08-15T15:05:22.461Z,1629039922.461 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:05:22.793Z,1629039922.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:05:22.793Z,1629039922.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:05:22.793Z,1629039922.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:05:22.794Z,1629039922.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:05:23.214Z,1629039923.214 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDA,000,0044F,185,80,80,7E,FF
2021-08-15T15:05:23.215Z,1629039923.215 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:05:23.215Z,1629039923.215 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:05:23.219Z,1629039923.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:05:23.680Z,1629039923.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:05:24.082Z,1629039924.082 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,089,000,0041A,186,80,80,78,FF
2021-08-15T15:05:24.082Z,1629039924.082 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:05:24.126Z,1629039924.126 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:05:24.485Z,1629039924.485 [Micromodem](INFO): Nmea in: $SNTTA,0.044633,,,,150525.17*46

2021-08-15T15:05:24.496Z,1629039924.496 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T15:05:24.539Z,1629039924.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.499998 m, bearing: 47.285249 deg, deltaT: 4.521037 s, approachRate: -0.703378 m/s, LOS rate: 0.615297 deg/s, posRepo size: 4
2021-08-15T15:05:24.546Z,1629039924.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.499998 m,
      bearing: 47.285249 deg,
      approachRate: -0.703378 m/s,
      LOS rate: 0.615297 deg/s,
      cmd update: 2.461190 deg/s,
      cmd heading: 56.965418 deg,
      new cmd heading: 56.581422 deg.

2021-08-15T15:05:26.919Z,1629039926.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:05:27.321Z,1629039927.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:05:27.322Z,1629039927.322 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:05:27.322Z,1629039927.322 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:05:27.323Z,1629039927.323 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:05:27.709Z,1629039927.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
089,000,0041A,186,80,80,78,FF
2021-08-15T15:05:27.709Z,1629039927.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:05:27.709Z,1629039927.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:05:27.711Z,1629039927.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:05:28.119Z,1629039928.119 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:05:28.526Z,1629039928.526 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17D,000,003E4,185,80,80,76,FF
2021-08-15T15:05:28.527Z,1629039928.527 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:05:28.590Z,1629039928.590 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:05:28.962Z,1629039928.962 [Micromodem](INFO): Nmea in: $SNTTA,0.065438,,,,150529.66*46

2021-08-15T15:05:29.060Z,1629039929.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.260002 m, bearing: 46.533474 deg, deltaT: 4.464153 s, approachRate: -0.725781 m/s, LOS rate: -0.168403 deg/s, posRepo size: 4
2021-08-15T15:05:29.062Z,1629039929.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.260002 m,
      bearing: 46.533474 deg,
      approachRate: -0.725781 m/s,
      LOS rate: -0.168403 deg/s,
      cmd update: -0.673610 deg/s,
      cmd heading: 68.001782 deg,
      new cmd heading: 69.164485 deg.

2021-08-15T15:05:29.443Z,1629039929.443 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T15:05:31.461Z,1629039931.461 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:05:31.797Z,1629039931.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:05:31.797Z,1629039931.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:05:31.797Z,1629039931.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:05:31.798Z,1629039931.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:05:32.229Z,1629039932.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
17D,000,003E4,185,80,80,76,FF
2021-08-15T15:05:32.229Z,1629039932.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:05:32.229Z,1629039932.229 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:05:32.231Z,1629039932.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:05:32.626Z,1629039932.626 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:05:33.047Z,1629039933.047 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,206,000,003A4,187,80,80,66,FF
2021-08-15T15:05:33.047Z,1629039933.047 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:05:33.112Z,1629039933.112 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:05:33.432Z,1629039933.432 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150534.19*50

2021-08-15T15:05:33.470Z,1629039933.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.420000 m, bearing: 46.732294 deg, deltaT: 4.521609 s, approachRate: -0.849256 m/s, LOS rate: 0.043971 deg/s, posRepo size: 4
2021-08-15T15:05:33.473Z,1629039933.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.420000 m,
      bearing: 46.732294 deg,
      approachRate: -0.849256 m/s,
      LOS rate: 0.043971 deg/s,
      cmd update: 0.175884 deg/s,
      cmd heading: 64.953438 deg,
      new cmd heading: 64.709742 deg.

2021-08-15T15:05:34.651Z,1629039934.651 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T15:05:36.023Z,1629039936.023 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:05:36.246Z,1629039936.246 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:05:36.246Z,1629039936.246 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:05:36.247Z,1629039936.247 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:05:36.248Z,1629039936.248 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:05:36.649Z,1629039936.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
206,000,003A4,187,80,80,66,FF
2021-08-15T15:05:36.649Z,1629039936.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:05:36.649Z,1629039936.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:05:36.651Z,1629039936.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:05:37.103Z,1629039937.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:05:37.473Z,1629039937.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,151,000,00374,185,80,80,9F,FF
2021-08-15T15:05:37.473Z,1629039937.473 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:05:37.548Z,1629039937.548 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:05:37.898Z,1629039937.898 [Micromodem](INFO): Nmea in: $SNTTA,0.035247,,,,150538.60*4B

2021-08-15T15:05:37.940Z,1629039937.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.540001 m, bearing: 53.695505 deg, deltaT: 4.436294 s, approachRate: -0.649190 m/s, LOS rate: 1.569601 deg/s, posRepo size: 4
2021-08-15T15:05:37.942Z,1629039937.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.540001 m,
      bearing: 53.695505 deg,
      approachRate: -0.649190 m/s,
      LOS rate: 1.569601 deg/s,
      cmd update: 6.278403 deg/s,
      cmd heading: 65.731916 deg,
      new cmd heading: 65.803224 deg.

2021-08-15T15:05:39.510Z,1629039939.510 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T15:05:40.362Z,1629039940.362 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:05:40.685Z,1629039940.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:05:40.685Z,1629039940.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:05:40.685Z,1629039940.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:05:40.686Z,1629039940.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:05:41.097Z,1629039941.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
151,000,00374,185,80,80,9F,FF
2021-08-15T15:05:41.098Z,1629039941.098 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:05:41.098Z,1629039941.098 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:05:41.099Z,1629039941.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:05:41.496Z,1629039941.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:05:41.897Z,1629039941.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F6,000,00357,187,80,80,97,FF
2021-08-15T15:05:41.897Z,1629039941.897 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:05:41.994Z,1629039941.994 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:05:42.357Z,1629039942.357 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150543.05*5D

2021-08-15T15:05:42.402Z,1629039942.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.800002 m, bearing: 47.949844 deg, deltaT: 4.445935 s, approachRate: -0.391368 m/s, LOS rate: -1.292340 deg/s, posRepo size: 4
2021-08-15T15:05:42.404Z,1629039942.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.800002 m,
      bearing: 47.949844 deg,
      approachRate: -0.391368 m/s,
      LOS rate: -1.292340 deg/s,
      cmd update: -5.169361 deg/s,
      cmd heading: 93.661404 deg,
      new cmd heading: 96.291245 deg.

2021-08-15T15:05:44.416Z,1629039944.416 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T15:05:44.758Z,1629039944.758 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:05:45.129Z,1629039945.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:05:45.129Z,1629039945.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:05:45.129Z,1629039945.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:05:45.130Z,1629039945.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:05:45.545Z,1629039945.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F6,000,00357,187,80,80,97,FF
2021-08-15T15:05:45.545Z,1629039945.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:05:45.545Z,1629039945.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:05:45.547Z,1629039945.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:05:45.941Z,1629039945.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:05:46.354Z,1629039946.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0031E,189,80,80,7A,FF
2021-08-15T15:05:46.354Z,1629039946.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:05:46.432Z,1629039946.432 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:05:46.781Z,1629039946.781 [Micromodem](INFO): Nmea in: $SNTTA,0.017290,,,,150547.50*4A

2021-08-15T15:05:46.825Z,1629039946.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.380001 m, bearing: 24.782030 deg, deltaT: 4.437973 s, approachRate: -0.770622 m/s, LOS rate: -5.220359 deg/s, posRepo size: 4
2021-08-15T15:05:46.828Z,1629039946.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.380001 m,
      bearing: 24.782030 deg,
      approachRate: -0.770622 m/s,
      LOS rate: -5.220359 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 70.722539 deg,
      new cmd heading: 68.644115 deg.

2021-08-15T15:05:49.223Z,1629039949.223 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:05:49.581Z,1629039949.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:05:49.581Z,1629039949.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:05:49.581Z,1629039949.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:05:49.582Z,1629039949.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:05:49.981Z,1629039949.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0031E,189,80,80,7A,FF
2021-08-15T15:05:49.981Z,1629039949.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:05:49.981Z,1629039949.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:05:49.983Z,1629039949.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:05:50.394Z,1629039950.394 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:05:50.785Z,1629039950.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,293,000,00302,189,80,80,B6,FF
2021-08-15T15:05:50.785Z,1629039950.785 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:05:50.834Z,1629039950.834 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:05:51.229Z,1629039951.229 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150551.93*51

2021-08-15T15:05:51.317Z,1629039951.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.699999 m, bearing: 55.368061 deg, deltaT: 4.401766 s, approachRate: -0.381665 m/s, LOS rate: 6.948582 deg/s, posRepo size: 4
2021-08-15T15:05:51.319Z,1629039951.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.699999 m,
      bearing: 55.368061 deg,
      approachRate: -0.381665 m/s,
      LOS rate: 6.948582 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 17.850694 deg,
      new cmd heading: 11.972734 deg.

2021-08-15T15:05:53.667Z,1629039953.667 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:05:54.021Z,1629039954.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:05:54.021Z,1629039954.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:05:54.021Z,1629039954.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:05:54.022Z,1629039954.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:05:54.425Z,1629039954.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
293,000,00302,189,80,80,B6,FF
2021-08-15T15:05:54.426Z,1629039954.426 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:05:54.426Z,1629039954.426 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:05:54.427Z,1629039954.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:05:54.828Z,1629039954.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:05:55.237Z,1629039955.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F55,000,0030C,186,80,80,2E,FF
2021-08-15T15:05:55.238Z,1629039955.238 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:05:55.351Z,1629039955.351 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:05:55.683Z,1629039955.683 [Micromodem](INFO): Nmea in: $SNTTA,0.043474,,,,150556.38*49

2021-08-15T15:05:55.703Z,1629039955.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.299998 m, bearing: 82.613091 deg, deltaT: 4.516957 s, approachRate: 0.132833 m/s, LOS rate: 6.031722 deg/s, posRepo size: 4
2021-08-15T15:05:55.705Z,1629039955.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.299998 m,
      bearing: 82.613091 deg,
      approachRate: 0.132833 m/s,
      LOS rate: 6.031722 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 72.102240 deg,
      new cmd heading: 76.369812 deg.

2021-08-15T15:05:58.086Z,1629039958.086 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:05:58.469Z,1629039958.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:05:58.469Z,1629039958.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:05:58.469Z,1629039958.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:05:58.470Z,1629039958.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:05:58.865Z,1629039958.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F55,000,0030C,186,80,80,2E,FF
2021-08-15T15:05:58.865Z,1629039958.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:05:58.865Z,1629039958.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:05:58.867Z,1629039958.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:05:59.341Z,1629039959.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:05:59.669Z,1629039959.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C4,000,002FA,186,80,80,B5,FF
2021-08-15T15:05:59.670Z,1629039959.670 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:05:59.710Z,1629039959.710 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:06:00.113Z,1629039960.113 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150600.82*56

2021-08-15T15:06:00.153Z,1629039960.153 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.219998 m, bearing: 48.439514 deg, deltaT: 4.359409 s, approachRate: -0.247740 m/s, LOS rate: -7.839039 deg/s, posRepo size: 4
2021-08-15T15:06:00.155Z,1629039960.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.219998 m,
      bearing: 48.439514 deg,
      approachRate: -0.247740 m/s,
      LOS rate: -7.839039 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 124.320025 deg,
      new cmd heading: 129.762793 deg.

2021-08-15T15:06:02.569Z,1629039962.569 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:06:02.909Z,1629039962.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:06:02.909Z,1629039962.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:06:02.910Z,1629039962.910 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:06:02.911Z,1629039962.911 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:06:03.332Z,1629039963.332 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C4,000,002FA,186,80,80,B5,FF
2021-08-15T15:06:03.333Z,1629039963.333 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:06:03.333Z,1629039963.333 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:06:03.335Z,1629039963.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:06:03.796Z,1629039963.796 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:06:04.202Z,1629039964.202 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,116,000,00311,185,80,80,5A,FF
2021-08-15T15:06:04.202Z,1629039964.202 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:06:04.223Z,1629039964.223 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:06:04.614Z,1629039964.614 [Micromodem](INFO): Nmea in: $SNTTA,0.034650,,,,150605.29*48

2021-08-15T15:06:04.635Z,1629039964.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.599998 m, bearing: 49.904569 deg, deltaT: 4.512640 s, approachRate: 0.305808 m/s, LOS rate: 0.324656 deg/s, posRepo size: 4
2021-08-15T15:06:04.638Z,1629039964.638 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.599998 m,
      bearing: 49.904569 deg,
      approachRate: 0.305808 m/s,
      LOS rate: 0.324656 deg/s,
      cmd update: 1.298624 deg/s,
      cmd heading: 70.072223 deg,
      new cmd heading: 65.084399 deg.

2021-08-15T15:06:07.115Z,1629039967.115 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:06:07.433Z,1629039967.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:06:07.433Z,1629039967.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:06:07.433Z,1629039967.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:06:07.434Z,1629039967.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:06:07.829Z,1629039967.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
116,000,00311,185,80,80,5A,FF
2021-08-15T15:06:07.829Z,1629039967.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:06:07.829Z,1629039967.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:06:07.831Z,1629039967.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:06:08.240Z,1629039968.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:06:08.646Z,1629039968.646 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03F,000,00350,185,80,80,A1,FF
2021-08-15T15:06:08.646Z,1629039968.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:06:08.677Z,1629039968.677 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:06:09.093Z,1629039969.093 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150609.78*5A

2021-08-15T15:06:09.158Z,1629039969.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.380001 m, bearing: 76.974183 deg, deltaT: 4.454237 s, approachRate: 0.848631 m/s, LOS rate: 6.077273 deg/s, posRepo size: 4
2021-08-15T15:06:09.159Z,1629039969.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.380001 m,
      bearing: 76.974183 deg,
      approachRate: 0.848631 m/s,
      LOS rate: 6.077273 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 75.856768 deg,
      new cmd heading: 76.484411 deg.

2021-08-15T15:06:09.472Z,1629039969.472 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T15:06:11.519Z,1629039971.519 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:06:11.877Z,1629039971.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:06:11.877Z,1629039971.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:06:11.877Z,1629039971.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:06:11.878Z,1629039971.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:06:12.289Z,1629039972.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03F,000,00350,185,80,80,A1,FF
2021-08-15T15:06:12.289Z,1629039972.289 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:06:12.290Z,1629039972.290 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:06:12.296Z,1629039972.296 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:06:12.685Z,1629039972.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:06:13.085Z,1629039973.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DAC,000,0037B,189,80,80,5D,FF
2021-08-15T15:06:13.086Z,1629039973.086 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:06:13.126Z,1629039973.126 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:06:13.514Z,1629039973.514 [Micromodem](INFO): Nmea in: $SNTTA,0.043313,,,,150614.25*46

2021-08-15T15:06:13.565Z,1629039973.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.960001 m, bearing: 116.230545 deg, deltaT: 4.448222 s, approachRate: 0.580007 m/s, LOS rate: 8.825181 deg/s, posRepo size: 4
2021-08-15T15:06:13.567Z,1629039973.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.960001 m,
      bearing: 116.230545 deg,
      approachRate: 0.580007 m/s,
      LOS rate: 8.825181 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 128.995098 deg,
      new cmd heading: 134.545146 deg.

2021-08-15T15:06:15.959Z,1629039975.959 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:06:16.354Z,1629039976.354 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:06:16.354Z,1629039976.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:06:16.355Z,1629039976.355 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:06:16.376Z,1629039976.376 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:06:16.717Z,1629039976.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DAC,000,0037B,189,80,80,5D,FF
2021-08-15T15:06:16.717Z,1629039976.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:06:16.717Z,1629039976.717 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:06:16.719Z,1629039976.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:06:17.141Z,1629039977.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:06:17.585Z,1629039977.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC4,000,0039C,186,80,80,90,FF
2021-08-15T15:06:17.587Z,1629039977.587 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:06:17.642Z,1629039977.642 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:06:17.973Z,1629039977.973 [Micromodem](INFO): Nmea in: $SNTTA,0.023297,,,,150618.67*47

2021-08-15T15:06:18.058Z,1629039978.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.939997 m, bearing: 116.691309 deg, deltaT: 4.516706 s, approachRate: 0.438372 m/s, LOS rate: 0.102013 deg/s, posRepo size: 4
2021-08-15T15:06:18.059Z,1629039978.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 17.94 m. Rolling out.
2021-08-15T15:06:18.065Z,1629039978.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-15T15:06:20.439Z,1629039980.439 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:06:20.767Z,1629039980.767 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:06:20.767Z,1629039980.767 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:06:20.767Z,1629039980.767 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:06:20.768Z,1629039980.768 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:06:21.180Z,1629039981.180 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC4,000,0039C,186,80,80,90,FF
2021-08-15T15:06:21.181Z,1629039981.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:06:21.181Z,1629039981.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:06:21.182Z,1629039981.182 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:06:21.608Z,1629039981.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:06:22.000Z,1629039982.000 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7D,000,003C0,186,80,80,66,FF
2021-08-15T15:06:22.002Z,1629039982.002 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:06:22.088Z,1629039982.088 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:06:22.437Z,1629039982.437 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150623.13*5F

2021-08-15T15:06:22.496Z,1629039982.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.100002 m, bearing: 137.210564 deg, deltaT: 4.446083 s, approachRate: 0.485822 m/s, LOS rate: 4.615131 deg/s, posRepo size: 4
2021-08-15T15:06:24.847Z,1629039984.847 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:06:25.241Z,1629039985.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:06:25.241Z,1629039985.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:06:25.241Z,1629039985.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:06:25.242Z,1629039985.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:06:25.634Z,1629039985.634 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7D,000,003C0,186,80,80,66,FF
2021-08-15T15:06:25.634Z,1629039985.634 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:06:25.634Z,1629039985.634 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:06:25.635Z,1629039985.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:06:26.097Z,1629039986.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:06:26.445Z,1629039986.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDF,000,003D8,186,80,80,AD,FF
2021-08-15T15:06:26.446Z,1629039986.446 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:06:26.477Z,1629039986.477 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:06:26.905Z,1629039986.905 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150627.61*5E

2021-08-15T15:06:26.927Z,1629039986.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.540003 m, bearing: 142.685520 deg, deltaT: 4.388385 s, approachRate: 0.328139 m/s, LOS rate: 1.247602 deg/s, posRepo size: 4
2021-08-15T15:06:29.366Z,1629039989.366 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:06:29.681Z,1629039989.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:06:29.681Z,1629039989.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:06:29.681Z,1629039989.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:06:29.682Z,1629039989.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:06:30.109Z,1629039990.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDF,000,003D8,186,80,80,AD,FF
2021-08-15T15:06:30.109Z,1629039990.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:06:30.109Z,1629039990.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:06:30.111Z,1629039990.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:06:30.496Z,1629039990.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:06:30.887Z,1629039990.887 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D8A,000,003EA,189,80,80,3C,FF
2021-08-15T15:06:30.887Z,1629039990.887 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:06:30.907Z,1629039990.907 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:06:31.405Z,1629039991.405 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150632.06*5B

2021-08-15T15:06:31.432Z,1629039991.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.619999 m, bearing: 170.065659 deg, deltaT: 4.430818 s, approachRate: 0.243746 m/s, LOS rate: 6.179477 deg/s, posRepo size: 4
2021-08-15T15:06:33.440Z,1629039993.440 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:06:33.732Z,1629039993.732 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:06:33.732Z,1629039993.732 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:06:33.732Z,1629039993.732 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:06:33.733Z,1629039993.733 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:06:34.127Z,1629039994.127 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D8A,000,003EA,189,80,80,3C,FF
2021-08-15T15:06:34.127Z,1629039994.127 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:06:34.127Z,1629039994.127 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:06:34.129Z,1629039994.129 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:06:34.539Z,1629039994.539 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:06:34.959Z,1629039994.959 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C9,000,003FE,189,80,80,5B,FF
2021-08-15T15:06:34.960Z,1629039994.960 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:06:34.981Z,1629039994.981 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:06:35.377Z,1629039995.377 [Micromodem](INFO): Nmea in: $SNTTA,0.062499,,,,150636.08*4F

2021-08-15T15:06:35.404Z,1629039995.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.819998 m, bearing: 111.220751 deg, deltaT: 4.073261 s, approachRate: 0.294604 m/s, LOS rate: -14.446634 deg/s, posRepo size: 4
2021-08-15T15:06:37.779Z,1629039997.779 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:06:38.191Z,1629039998.191 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:06:38.191Z,1629039998.191 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:06:38.191Z,1629039998.191 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:06:38.192Z,1629039998.192 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:06:38.577Z,1629039998.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C9,000,003FE,189,80,80,5B,FF
2021-08-15T15:06:38.577Z,1629039998.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:06:38.578Z,1629039998.578 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:06:38.579Z,1629039998.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:06:38.992Z,1629039998.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:06:39.409Z,1629039999.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D76,000,003FD,189,80,80,73,FF
2021-08-15T15:06:39.409Z,1629039999.409 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:06:39.464Z,1629039999.464 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:06:39.825Z,1629039999.825 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150640.53*5E

2021-08-15T15:06:39.864Z,1629039999.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.760000 m, bearing: 190.270424 deg, deltaT: 4.483544 s, approachRate: -0.013382 m/s, LOS rate: 17.631070 deg/s, posRepo size: 4
2021-08-15T15:06:41.805Z,1629040001.805 [PowerOnly](INFO): Powering down loadControl
2021-08-15T15:06:42.322Z,1629040002.322 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:06:42.601Z,1629040002.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:06:42.601Z,1629040002.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:06:42.601Z,1629040002.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:06:42.602Z,1629040002.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:06:43.006Z,1629040003.006 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D76,000,003FD,189,80,80,73,FF
2021-08-15T15:06:43.007Z,1629040003.007 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:06:43.007Z,1629040003.007 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:06:43.010Z,1629040003.010 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:06:43.412Z,1629040003.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:06:43.815Z,1629040003.815 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DCB,000,00408,188,80,80,B2,FF
2021-08-15T15:06:43.815Z,1629040003.815 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:06:43.868Z,1629040003.868 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:06:44.253Z,1629040004.253 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150644.96*53

2021-08-15T15:06:44.403Z,1629040004.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.420002 m, bearing: 195.155785 deg, deltaT: 4.404083 s, approachRate: 0.149861 m/s, LOS rate: 1.109280 deg/s, posRepo size: 4
2021-08-15T15:06:46.371Z,1629040006.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:06:46.653Z,1629040006.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:06:46.653Z,1629040006.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:06:46.653Z,1629040006.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:06:46.654Z,1629040006.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:06:47.051Z,1629040007.051 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DCB,000,00408,188,80,80,B2,FF
2021-08-15T15:06:47.051Z,1629040007.051 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:06:47.052Z,1629040007.052 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:06:47.055Z,1629040007.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:06:47.464Z,1629040007.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:06:47.864Z,1629040007.864 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D6F,000,00409,188,80,80,98,FF
2021-08-15T15:06:47.864Z,1629040007.864 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:06:47.948Z,1629040007.948 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:06:48.317Z,1629040008.317 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150649.01*50

2021-08-15T15:06:48.376Z,1629040008.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.480000 m, bearing: 207.431233 deg, deltaT: 4.079698 s, approachRate: 0.014706 m/s, LOS rate: 3.008911 deg/s, posRepo size: 4
2021-08-15T15:06:50.714Z,1629040010.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:06:51.089Z,1629040011.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:06:51.089Z,1629040011.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:06:51.089Z,1629040011.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:06:51.090Z,1629040011.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:06:51.501Z,1629040011.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D6F,000,00409,188,80,80,98,FF
2021-08-15T15:06:51.502Z,1629040011.502 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:06:51.502Z,1629040011.502 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:06:51.504Z,1629040011.504 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:06:51.917Z,1629040011.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:06:52.326Z,1629040012.326 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0040B,18A,80,80,96,FF
2021-08-15T15:06:52.327Z,1629040012.327 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:06:52.402Z,1629040012.402 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:06:52.753Z,1629040012.753 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150653.46*58

2021-08-15T15:06:52.812Z,1629040012.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.600000 m, bearing: 246.103245 deg, deltaT: 4.453556 s, approachRate: 0.026945 m/s, LOS rate: 8.683400 deg/s, posRepo size: 4
2021-08-15T15:06:55.165Z,1629040015.165 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:06:55.538Z,1629040015.538 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:06:55.538Z,1629040015.538 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:06:55.538Z,1629040015.538 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:06:55.539Z,1629040015.539 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:06:55.945Z,1629040015.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0040B,18A,80,80,96,FF
2021-08-15T15:06:55.945Z,1629040015.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:06:55.946Z,1629040015.946 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:06:55.947Z,1629040015.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:06:56.380Z,1629040016.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:06:56.749Z,1629040016.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0040A,189,80,80,9E,FF
2021-08-15T15:06:56.750Z,1629040016.750 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:06:56.769Z,1629040016.769 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:06:57.197Z,1629040017.197 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150657.90*57

2021-08-15T15:06:57.231Z,1629040017.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.539997 m, bearing: 251.238236 deg, deltaT: 4.367605 s, approachRate: -0.013738 m/s, LOS rate: 1.175699 deg/s, posRepo size: 4
2021-08-15T15:06:59.623Z,1629040019.623 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:06:59.986Z,1629040019.986 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:06:59.986Z,1629040019.986 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:06:59.986Z,1629040019.986 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:06:59.987Z,1629040019.987 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:07:00.389Z,1629040020.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0040A,189,80,80,9E,FF
2021-08-15T15:07:00.389Z,1629040020.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:07:00.390Z,1629040020.390 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:07:00.391Z,1629040020.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:07:00.802Z,1629040020.802 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:07:01.208Z,1629040021.208 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00406,189,80,80,BD,FF
2021-08-15T15:07:01.209Z,1629040021.209 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:07:01.228Z,1629040021.228 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:07:01.641Z,1629040021.641 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150702.34*58

2021-08-15T15:07:01.667Z,1629040021.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.300001 m, bearing: 250.845227 deg, deltaT: 4.458991 s, approachRate: -0.053823 m/s, LOS rate: -0.088139 deg/s, posRepo size: 4
2021-08-15T15:07:04.113Z,1629040024.113 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:07:04.437Z,1629040024.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:07:04.437Z,1629040024.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:07:04.437Z,1629040024.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:07:04.438Z,1629040024.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:07:04.837Z,1629040024.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00406,189,80,80,BD,FF
2021-08-15T15:07:04.837Z,1629040024.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:07:04.837Z,1629040024.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:07:04.839Z,1629040024.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:07:05.241Z,1629040025.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:07:05.641Z,1629040025.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00401,189,80,80,89,FF
2021-08-15T15:07:05.642Z,1629040025.642 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:07:05.718Z,1629040025.718 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:07:06.109Z,1629040026.109 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150706.79*55

2021-08-15T15:07:06.160Z,1629040026.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.000002 m, bearing: 252.646566 deg, deltaT: 4.489721 s, approachRate: -0.066819 m/s, LOS rate: 0.401214 deg/s, posRepo size: 4
2021-08-15T15:07:08.546Z,1629040028.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:07:08.877Z,1629040028.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:07:08.877Z,1629040028.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:07:08.878Z,1629040028.878 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:07:08.878Z,1629040028.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:07:09.301Z,1629040029.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00401,189,80,80,89,FF
2021-08-15T15:07:09.302Z,1629040029.302 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:07:09.303Z,1629040029.303 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:07:09.316Z,1629040029.316 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:07:09.693Z,1629040029.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:07:10.114Z,1629040030.114 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA7,000,003FB,184,80,80,69,FF
2021-08-15T15:07:10.115Z,1629040030.115 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:07:10.175Z,1629040030.175 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:07:10.512Z,1629040030.512 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150711.27*58

2021-08-15T15:07:10.561Z,1629040030.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.639997 m, bearing: 193.838255 deg, deltaT: 4.456815 s, approachRate: -0.080776 m/s, LOS rate: -13.195143 deg/s, posRepo size: 4
2021-08-15T15:07:12.941Z,1629040032.941 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:07:13.365Z,1629040033.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:07:13.365Z,1629040033.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:07:13.365Z,1629040033.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:07:13.366Z,1629040033.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:07:13.725Z,1629040033.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA7,000,003FB,184,80,80,69,FF
2021-08-15T15:07:13.725Z,1629040033.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:07:13.725Z,1629040033.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:07:13.727Z,1629040033.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:07:14.132Z,1629040034.132 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:07:14.534Z,1629040034.534 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9C,000,003F4,187,80,80,58,FF
2021-08-15T15:07:14.534Z,1629040034.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:07:14.587Z,1629040034.587 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:07:14.985Z,1629040034.985 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150715.68*57

2021-08-15T15:07:15.007Z,1629040035.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.219997 m, bearing: 195.138559 deg, deltaT: 4.412673 s, approachRate: -0.095180 m/s, LOS rate: 0.294675 deg/s, posRepo size: 4
2021-08-15T15:07:15.388Z,1629040035.388 [RDI_PathfinderUp](ERROR): only read 1 of 4 data items
2021-08-15T15:07:17.402Z,1629040037.402 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:07:17.757Z,1629040037.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:07:17.757Z,1629040037.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:07:17.758Z,1629040037.758 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:07:17.759Z,1629040037.759 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:07:18.161Z,1629040038.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9C,000,003F4,187,80,80,58,FF
2021-08-15T15:07:18.161Z,1629040038.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:07:18.161Z,1629040038.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:07:18.163Z,1629040038.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:07:18.577Z,1629040038.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:07:18.982Z,1629040038.982 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,003ED,189,80,80,A9,FF
2021-08-15T15:07:18.982Z,1629040038.982 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:07:19.026Z,1629040039.026 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:07:19.425Z,1629040039.425 [Micromodem](INFO): Nmea in: $SNTTA,0.031040,,,,150720.12*44

2021-08-15T15:07:19.451Z,1629040039.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.799997 m, bearing: 254.885502 deg, deltaT: 4.438765 s, approachRate: -0.094621 m/s, LOS rate: 13.460262 deg/s, posRepo size: 4
2021-08-15T15:07:21.841Z,1629040041.841 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:07:22.209Z,1629040042.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:07:22.209Z,1629040042.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:07:22.209Z,1629040042.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:07:22.210Z,1629040042.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:07:22.605Z,1629040042.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,003ED,189,80,80,A9,FF
2021-08-15T15:07:22.605Z,1629040042.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:07:22.605Z,1629040042.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:07:22.607Z,1629040042.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:07:23.021Z,1629040043.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:07:23.425Z,1629040043.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,003E7,189,80,80,98,FF
2021-08-15T15:07:23.426Z,1629040043.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:07:23.476Z,1629040043.476 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:07:23.849Z,1629040043.849 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150724.56*58

2021-08-15T15:07:23.879Z,1629040043.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.440001 m, bearing: 255.418148 deg, deltaT: 4.449984 s, approachRate: -0.080898 m/s, LOS rate: 0.119696 deg/s, posRepo size: 4
2021-08-15T15:07:26.342Z,1629040046.342 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:07:26.649Z,1629040046.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:07:26.649Z,1629040046.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:07:26.649Z,1629040046.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:07:26.650Z,1629040046.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:07:27.061Z,1629040047.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,003E7,189,80,80,98,FF
2021-08-15T15:07:27.061Z,1629040047.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:07:27.061Z,1629040047.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:07:27.063Z,1629040047.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:07:27.464Z,1629040047.464 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:07:27.869Z,1629040047.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,003E9,189,80,80,88,FF
2021-08-15T15:07:27.870Z,1629040047.870 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:07:27.909Z,1629040047.909 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:07:28.313Z,1629040048.313 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150729.02*54

2021-08-15T15:07:28.392Z,1629040048.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.560001 m, bearing: 255.108986 deg, deltaT: 4.433089 s, approachRate: 0.027069 m/s, LOS rate: -0.069740 deg/s, posRepo size: 4
2021-08-15T15:07:30.723Z,1629040050.723 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:07:31.109Z,1629040051.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:07:31.109Z,1629040051.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:07:31.109Z,1629040051.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:07:31.110Z,1629040051.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:07:31.493Z,1629040051.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,003E9,189,80,80,88,FF
2021-08-15T15:07:31.493Z,1629040051.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:07:31.493Z,1629040051.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:07:31.495Z,1629040051.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:07:31.924Z,1629040051.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:07:32.328Z,1629040052.328 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B23,000,003E5,189,80,80,47,FF
2021-08-15T15:07:32.329Z,1629040052.329 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:07:32.399Z,1629040052.399 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:07:32.761Z,1629040052.761 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150733.45*5C

2021-08-15T15:07:32.784Z,1629040052.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.320000 m, bearing: 253.133859 deg, deltaT: 4.489407 s, approachRate: -0.053460 m/s, LOS rate: -0.439953 deg/s, posRepo size: 4
2021-08-15T15:07:35.175Z,1629040055.175 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:07:35.534Z,1629040055.534 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:07:35.534Z,1629040055.534 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:07:35.535Z,1629040055.535 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:07:35.535Z,1629040055.535 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:07:35.950Z,1629040055.950 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B23,000,003E5,189,80,80,47,FF
2021-08-15T15:07:35.950Z,1629040055.950 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:07:35.950Z,1629040055.950 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:07:35.953Z,1629040055.953 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:07:36.361Z,1629040056.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:07:36.765Z,1629040056.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,003D5,189,80,80,6D,FF
2021-08-15T15:07:36.766Z,1629040056.766 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:07:36.787Z,1629040056.787 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:07:37.193Z,1629040057.193 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150737.91*51

2021-08-15T15:07:37.215Z,1629040057.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.359999 m, bearing: 255.159803 deg, deltaT: 4.388328 s, approachRate: -0.218762 m/s, LOS rate: 0.461666 deg/s, posRepo size: 4
2021-08-15T15:07:39.621Z,1629040059.621 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:07:39.978Z,1629040059.978 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:07:39.978Z,1629040059.978 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:07:39.979Z,1629040059.979 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:07:39.980Z,1629040059.980 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:07:40.393Z,1629040060.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,003D5,189,80,80,6D,FF
2021-08-15T15:07:40.393Z,1629040060.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:07:40.393Z,1629040060.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:07:40.394Z,1629040060.394 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:07:40.791Z,1629040060.791 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:07:41.193Z,1629040061.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,003D1,18A,80,80,79,FF
2021-08-15T15:07:41.194Z,1629040061.194 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:07:41.213Z,1629040061.213 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:07:41.634Z,1629040061.634 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150742.35*5D

2021-08-15T15:07:41.687Z,1629040061.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.120001 m, bearing: 254.362419 deg, deltaT: 4.426033 s, approachRate: -0.054224 m/s, LOS rate: -0.180158 deg/s, posRepo size: 4
2021-08-15T15:07:44.112Z,1629040064.112 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:07:44.434Z,1629040064.434 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:07:44.434Z,1629040064.434 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:07:44.434Z,1629040064.434 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:07:44.435Z,1629040064.435 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:07:44.833Z,1629040064.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,003D1,18A,80,80,79,FF
2021-08-15T15:07:44.834Z,1629040064.834 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:07:44.834Z,1629040064.834 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:07:44.835Z,1629040064.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:07:45.240Z,1629040065.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:07:45.633Z,1629040065.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BD2,000,003D3,189,80,80,32,FF
2021-08-15T15:07:45.634Z,1629040065.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:07:45.739Z,1629040065.739 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:07:46.117Z,1629040066.117 [Micromodem](INFO): Nmea in: $SNTTA,0.048041,,,,150746.79*46

2021-08-15T15:07:46.159Z,1629040066.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.239996 m, bearing: 243.242434 deg, deltaT: 4.525994 s, approachRate: 0.026512 m/s, LOS rate: -2.456916 deg/s, posRepo size: 4
2021-08-15T15:07:48.514Z,1629040068.514 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:07:48.869Z,1629040068.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:07:48.869Z,1629040068.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:07:48.869Z,1629040068.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:07:48.870Z,1629040068.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:07:49.272Z,1629040069.272 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BD2,000,003D3,189,80,80,32,FF
2021-08-15T15:07:49.273Z,1629040069.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:07:49.273Z,1629040069.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:07:49.279Z,1629040069.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:07:49.693Z,1629040069.693 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:07:50.113Z,1629040070.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,003C3,189,80,80,85,FF
2021-08-15T15:07:50.114Z,1629040070.114 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:07:50.191Z,1629040070.191 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:07:50.518Z,1629040070.518 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150751.23*58

2021-08-15T15:07:50.579Z,1629040070.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.280001 m, bearing: 253.077988 deg, deltaT: 4.451796 s, approachRate: -0.215642 m/s, LOS rate: 2.209345 deg/s, posRepo size: 4
2021-08-15T15:07:52.927Z,1629040072.927 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:07:53.322Z,1629040073.322 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:07:53.322Z,1629040073.322 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:07:53.323Z,1629040073.323 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:07:53.324Z,1629040073.324 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:07:53.721Z,1629040073.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,003C3,189,80,80,85,FF
2021-08-15T15:07:53.722Z,1629040073.722 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:07:53.722Z,1629040073.722 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:07:53.723Z,1629040073.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:07:54.133Z,1629040074.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:07:54.522Z,1629040074.522 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CD1,000,003C9,189,80,80,55,FF
2021-08-15T15:07:54.522Z,1629040074.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:07:54.587Z,1629040074.587 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:07:54.977Z,1629040074.977 [Micromodem](INFO): Nmea in: $SNTTA,0.093291,,,,150755.68*4D

2021-08-15T15:07:55.010Z,1629040075.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.639997 m, bearing: 228.827675 deg, deltaT: 4.396068 s, approachRate: 0.081891 m/s, LOS rate: -5.516364 deg/s, posRepo size: 4
2021-08-15T15:07:57.402Z,1629040077.402 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:07:57.757Z,1629040077.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:07:57.757Z,1629040077.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:07:57.757Z,1629040077.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:07:57.758Z,1629040077.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:07:58.169Z,1629040078.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CD1,000,003C9,189,80,80,55,FF
2021-08-15T15:07:58.169Z,1629040078.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:07:58.169Z,1629040078.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:07:58.171Z,1629040078.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:07:58.585Z,1629040078.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:07:58.973Z,1629040078.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CBA,000,003C4,189,80,80,49,FF
2021-08-15T15:07:58.974Z,1629040078.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:07:59.019Z,1629040079.019 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:07:59.445Z,1629040079.445 [Micromodem](INFO): Nmea in: $SNTTA,0.206306,,,,150800.12*4E

2021-08-15T15:07:59.484Z,1629040079.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.339998 m, bearing: 230.105194 deg, deltaT: 4.431567 s, approachRate: -0.067696 m/s, LOS rate: 0.288277 deg/s, posRepo size: 4
2021-08-15T15:08:01.826Z,1629040081.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:08:02.212Z,1629040082.212 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:08:02.212Z,1629040082.212 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:08:02.213Z,1629040082.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:08:02.214Z,1629040082.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:08:02.613Z,1629040082.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CBA,000,003C4,189,80,80,49,FF
2021-08-15T15:08:02.613Z,1629040082.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:08:02.613Z,1629040082.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:08:02.615Z,1629040082.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:08:03.017Z,1629040083.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:08:03.430Z,1629040083.430 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D6F,000,003B8,188,80,80,5A,FF
2021-08-15T15:08:03.430Z,1629040083.430 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:08:03.461Z,1629040083.461 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:08:03.866Z,1629040083.866 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150804.57*54

2021-08-15T15:08:03.904Z,1629040083.904 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.619999 m, bearing: 220.968327 deg, deltaT: 4.442168 s, approachRate: -0.162083 m/s, LOS rate: -2.056849 deg/s, posRepo size: 4
2021-08-15T15:08:06.368Z,1629040086.368 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:08:06.661Z,1629040086.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:08:06.661Z,1629040086.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:08:06.661Z,1629040086.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:08:06.662Z,1629040086.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:08:07.061Z,1629040087.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D6F,000,003B8,188,80,80,5A,FF
2021-08-15T15:08:07.061Z,1629040087.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:08:07.061Z,1629040087.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:08:07.063Z,1629040087.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:08:07.473Z,1629040087.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:08:07.873Z,1629040087.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D77,000,003B6,189,80,80,66,FF
2021-08-15T15:08:07.873Z,1629040087.873 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:08:07.926Z,1629040087.926 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:08:08.325Z,1629040088.325 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150809.02*59

2021-08-15T15:08:08.389Z,1629040088.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.499998 m, bearing: 220.647472 deg, deltaT: 4.465041 s, approachRate: -0.026876 m/s, LOS rate: -0.071859 deg/s, posRepo size: 4
2021-08-15T15:08:10.723Z,1629040090.723 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:08:11.105Z,1629040091.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:08:11.105Z,1629040091.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:08:11.105Z,1629040091.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:08:11.106Z,1629040091.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:08:11.502Z,1629040091.502 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D77,000,003B6,189,80,80,66,FF
2021-08-15T15:08:11.502Z,1629040091.502 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:08:11.502Z,1629040091.502 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:08:11.505Z,1629040091.505 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:08:11.917Z,1629040091.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:08:12.345Z,1629040092.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA7,000,003B5,188,80,80,55,FF
2021-08-15T15:08:12.346Z,1629040092.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:08:12.349Z,1629040092.349 [Micromodem](INFO): Nmea in: $SNTTA,0.201908,0.201715,,,150813.46*50

2021-08-15T15:08:12.450Z,1629040092.450 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:08:12.756Z,1629040092.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.440001 m, bearing: 217.602082 deg, deltaT: 4.524039 s, approachRate: -0.013262 m/s, LOS rate: -0.673157 deg/s, posRepo size: 4
2021-08-15T15:08:15.166Z,1629040095.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:08:15.549Z,1629040095.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:08:15.549Z,1629040095.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:08:15.549Z,1629040095.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:08:15.550Z,1629040095.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:08:15.949Z,1629040095.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA7,000,003B5,188,80,80,55,FF
2021-08-15T15:08:15.949Z,1629040095.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:08:15.949Z,1629040095.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:08:15.951Z,1629040095.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:08:16.365Z,1629040096.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:08:16.753Z,1629040096.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDD,000,003B2,188,80,80,87,FF
2021-08-15T15:08:16.753Z,1629040096.753 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:08:16.774Z,1629040096.774 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:08:17.193Z,1629040097.193 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150817.91*5C

2021-08-15T15:08:17.246Z,1629040097.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.260002 m, bearing: 214.673747 deg, deltaT: 4.324156 s, approachRate: -0.041626 m/s, LOS rate: -0.677204 deg/s, posRepo size: 4
2021-08-15T15:08:19.644Z,1629040099.644 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:08:20.004Z,1629040100.004 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:08:20.004Z,1629040100.004 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:08:20.005Z,1629040100.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:08:20.006Z,1629040100.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:08:20.419Z,1629040100.419 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDD,000,003B2,188,80,80,87,FF
2021-08-15T15:08:20.419Z,1629040100.419 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:08:20.419Z,1629040100.419 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:08:20.422Z,1629040100.422 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:08:20.824Z,1629040100.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:08:21.225Z,1629040101.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE2,000,003B0,187,80,80,92,FF
2021-08-15T15:08:21.225Z,1629040101.225 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:08:21.309Z,1629040101.309 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:08:21.645Z,1629040101.645 [Micromodem](INFO): Nmea in: $SNTTA,0.049293,,,,150822.38*42

2021-08-15T15:08:21.696Z,1629040101.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.140001 m, bearing: 214.526461 deg, deltaT: 4.535065 s, approachRate: -0.026461 m/s, LOS rate: -0.032477 deg/s, posRepo size: 4
2021-08-15T15:08:24.150Z,1629040104.150 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:08:24.457Z,1629040104.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:08:24.458Z,1629040104.458 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:08:24.459Z,1629040104.459 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:08:24.472Z,1629040104.472 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:08:24.857Z,1629040104.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE2,000,003B0,187,80,80,92,FF
2021-08-15T15:08:24.857Z,1629040104.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:08:24.857Z,1629040104.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:08:24.859Z,1629040104.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:08:25.301Z,1629040105.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:08:25.673Z,1629040105.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEF,000,003B1,187,80,80,6E,FF
2021-08-15T15:08:25.673Z,1629040105.673 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:08:25.750Z,1629040105.750 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:08:26.117Z,1629040106.117 [Micromodem](INFO): Nmea in: $SNTTA,0.054935,,,,150826.81*4F

2021-08-15T15:08:26.177Z,1629040106.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.199999 m, bearing: 214.113303 deg, deltaT: 4.441292 s, approachRate: 0.013509 m/s, LOS rate: -0.093027 deg/s, posRepo size: 4
2021-08-15T15:08:28.546Z,1629040108.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:08:28.897Z,1629040108.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:08:28.897Z,1629040108.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:08:28.897Z,1629040108.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:08:28.898Z,1629040108.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:08:29.313Z,1629040109.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEF,000,003B1,187,80,80,6E,FF
2021-08-15T15:08:29.313Z,1629040109.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:08:29.313Z,1629040109.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:08:29.315Z,1629040109.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:08:29.718Z,1629040109.718 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:08:30.117Z,1629040110.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E32,000,003AE,187,80,80,6F,FF
2021-08-15T15:08:30.118Z,1629040110.118 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:08:30.198Z,1629040110.198 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:08:30.547Z,1629040110.547 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150831.27*55

2021-08-15T15:08:30.573Z,1629040110.573 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.020000 m, bearing: 210.598283 deg, deltaT: 4.448121 s, approachRate: -0.040466 m/s, LOS rate: -0.790226 deg/s, posRepo size: 4
2021-08-15T15:08:32.975Z,1629040112.975 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:08:33.365Z,1629040113.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:08:33.365Z,1629040113.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:08:33.365Z,1629040113.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:08:33.366Z,1629040113.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:08:33.765Z,1629040113.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E32,000,003AE,187,80,80,6F,FF
2021-08-15T15:08:33.765Z,1629040113.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:08:33.765Z,1629040113.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:08:33.767Z,1629040113.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:08:34.165Z,1629040114.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:08:34.182Z,1629040114.182 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T15:08:34.585Z,1629040114.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D88,000,003AF,188,80,80,80,FF
2021-08-15T15:08:34.585Z,1629040114.585 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:08:34.615Z,1629040114.615 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:08:35.009Z,1629040115.009 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150835.72*51

2021-08-15T15:08:35.031Z,1629040115.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.079998 m, bearing: 219.277759 deg, deltaT: 4.416747 s, approachRate: 0.013584 m/s, LOS rate: 1.965129 deg/s, posRepo size: 4
2021-08-15T15:08:37.434Z,1629040117.434 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:08:37.810Z,1629040117.810 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:08:37.810Z,1629040117.810 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:08:37.810Z,1629040117.810 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:08:37.811Z,1629040117.811 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:08:38.201Z,1629040118.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D88,000,003AF,188,80,80,80,FF
2021-08-15T15:08:38.201Z,1629040118.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:08:38.201Z,1629040118.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:08:38.203Z,1629040118.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:08:38.701Z,1629040118.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:08:39.097Z,1629040119.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE8,000,003B0,189,80,80,9A,FF
2021-08-15T15:08:39.098Z,1629040119.098 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:08:39.179Z,1629040119.179 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:08:39.541Z,1629040119.541 [Micromodem](INFO): Nmea in: $SNTTA,0.041628,,,,150840.16*46

2021-08-15T15:08:39.578Z,1629040119.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.140001 m, bearing: 227.749202 deg, deltaT: 4.563418 s, approachRate: 0.013149 m/s, LOS rate: 1.856381 deg/s, posRepo size: 4
2021-08-15T15:08:41.977Z,1629040121.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:08:42.353Z,1629040122.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:08:42.354Z,1629040122.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:08:42.354Z,1629040122.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:08:42.355Z,1629040122.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:08:42.741Z,1629040122.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CE8,000,003B0,189,80,80,9A,FF
2021-08-15T15:08:42.742Z,1629040122.742 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:08:42.742Z,1629040122.742 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:08:42.743Z,1629040122.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:08:43.137Z,1629040123.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:08:43.553Z,1629040123.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14F,000,003B1,186,80,80,60,FF
2021-08-15T15:08:43.554Z,1629040123.554 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:08:43.629Z,1629040123.629 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:08:43.963Z,1629040123.963 [Micromodem](INFO): Nmea in: $SNTTA,0.012455,,,,150844.72*4E

2021-08-15T15:08:44.065Z,1629040124.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.199999 m, bearing: 170.452097 deg, deltaT: 4.450406 s, approachRate: 0.013481 m/s, LOS rate: -12.874580 deg/s, posRepo size: 4
2021-08-15T15:08:46.447Z,1629040126.447 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:08:46.795Z,1629040126.795 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:08:46.795Z,1629040126.795 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:08:46.795Z,1629040126.795 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:08:46.796Z,1629040126.796 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:08:47.177Z,1629040127.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14F,000,003B1,186,80,80,60,FF
2021-08-15T15:08:47.177Z,1629040127.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:08:47.177Z,1629040127.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:08:47.179Z,1629040127.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:08:47.601Z,1629040127.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:08:47.986Z,1629040127.986 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,233,000,003B4,188,80,80,84,FF
2021-08-15T15:08:47.987Z,1629040127.987 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:08:48.088Z,1629040128.088 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:08:48.453Z,1629040128.453 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150849.14*5A

2021-08-15T15:08:48.530Z,1629040128.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.379997 m, bearing: 158.385530 deg, deltaT: 4.459348 s, approachRate: 0.040364 m/s, LOS rate: -2.705904 deg/s, posRepo size: 4
2021-08-15T15:08:50.857Z,1629040130.857 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:08:51.225Z,1629040131.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:08:51.225Z,1629040131.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:08:51.225Z,1629040131.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:08:51.226Z,1629040131.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:08:51.638Z,1629040131.638 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
233,000,003B4,188,80,80,84,FF
2021-08-15T15:08:51.639Z,1629040131.639 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:08:51.639Z,1629040131.639 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:08:51.642Z,1629040131.642 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:08:52.065Z,1629040132.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:08:52.448Z,1629040132.448 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C9,000,003B7,189,80,80,55,FF
2021-08-15T15:08:52.448Z,1629040132.448 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:08:52.504Z,1629040132.504 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:08:52.873Z,1629040132.873 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150853.60*52

2021-08-15T15:08:52.895Z,1629040132.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.560001 m, bearing: 149.730574 deg, deltaT: 4.415951 s, approachRate: 0.040762 m/s, LOS rate: -1.959930 deg/s, posRepo size: 4
2021-08-15T15:08:55.327Z,1629040135.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:08:55.673Z,1629040135.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:08:55.673Z,1629040135.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:08:55.673Z,1629040135.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:08:55.674Z,1629040135.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:08:56.101Z,1629040136.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C9,000,003B7,189,80,80,55,FF
2021-08-15T15:08:56.101Z,1629040136.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:08:56.101Z,1629040136.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:08:56.103Z,1629040136.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:08:56.477Z,1629040136.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:08:56.882Z,1629040136.882 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E47,000,003BC,186,80,80,63,FF
2021-08-15T15:08:56.882Z,1629040136.882 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:08:56.907Z,1629040136.907 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:08:57.322Z,1629040137.322 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150858.06*59

2021-08-15T15:08:57.379Z,1629040137.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.860001 m, bearing: 208.641734 deg, deltaT: 4.402338 s, approachRate: 0.068145 m/s, LOS rate: 13.381789 deg/s, posRepo size: 4
2021-08-15T15:08:59.732Z,1629040139.732 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:09:00.117Z,1629040140.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:09:00.118Z,1629040140.118 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:09:00.118Z,1629040140.118 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:09:00.119Z,1629040140.119 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:09:00.514Z,1629040140.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E47,000,003BC,186,80,80,63,FF
2021-08-15T15:09:00.514Z,1629040140.514 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:09:00.514Z,1629040140.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:09:00.517Z,1629040140.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:09:00.941Z,1629040140.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:09:01.341Z,1629040141.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D97,000,003BE,189,80,80,61,FF
2021-08-15T15:09:01.341Z,1629040141.341 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:09:01.420Z,1629040141.420 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:09:01.761Z,1629040141.761 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150902.47*52

2021-08-15T15:09:01.808Z,1629040141.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.980001 m, bearing: 217.600729 deg, deltaT: 4.513322 s, approachRate: 0.026588 m/s, LOS rate: 1.985011 deg/s, posRepo size: 4
2021-08-15T15:09:04.203Z,1629040144.203 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:09:04.576Z,1629040144.576 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:09:04.576Z,1629040144.576 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:09:04.577Z,1629040144.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:09:04.578Z,1629040144.578 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:09:04.961Z,1629040144.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D97,000,003BE,189,80,80,61,FF
2021-08-15T15:09:04.961Z,1629040144.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:09:04.961Z,1629040144.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:09:04.963Z,1629040144.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:09:05.364Z,1629040145.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:09:05.769Z,1629040145.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DCB,000,003C4,189,80,80,74,FF
2021-08-15T15:09:05.770Z,1629040145.770 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:09:05.838Z,1629040145.838 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:09:06.201Z,1629040146.201 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150906.92*5E

2021-08-15T15:09:06.257Z,1629040146.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.339998 m, bearing: 215.232771 deg, deltaT: 4.418056 s, approachRate: 0.081483 m/s, LOS rate: -0.535973 deg/s, posRepo size: 4
2021-08-15T15:09:08.633Z,1629040148.633 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:09:08.997Z,1629040148.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:09:08.997Z,1629040148.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:09:08.997Z,1629040148.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:09:08.998Z,1629040148.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:09:09.406Z,1629040149.406 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DCB,000,003C4,189,80,80,74,FF
2021-08-15T15:09:09.406Z,1629040149.406 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:09:09.406Z,1629040149.406 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:09:09.408Z,1629040149.408 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:09:09.814Z,1629040149.814 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:09:10.221Z,1629040150.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC8,000,003D2,188,80,80,5B,FF
2021-08-15T15:09:10.222Z,1629040150.222 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:09:10.311Z,1629040150.311 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:09:10.653Z,1629040150.653 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150911.36*56

2021-08-15T15:09:10.679Z,1629040150.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.179998 m, bearing: 215.334882 deg, deltaT: 4.485445 s, approachRate: 0.187272 m/s, LOS rate: 0.022765 deg/s, posRepo size: 4
2021-08-15T15:09:13.055Z,1629040153.055 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:09:13.449Z,1629040153.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:09:13.449Z,1629040153.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:09:13.449Z,1629040153.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:09:13.450Z,1629040153.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:09:13.845Z,1629040153.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC8,000,003D2,188,80,80,5B,FF
2021-08-15T15:09:13.845Z,1629040153.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:09:13.845Z,1629040153.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:09:13.847Z,1629040153.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:09:14.274Z,1629040154.274 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:09:14.653Z,1629040154.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E01,000,003D9,187,80,80,5E,FF
2021-08-15T15:09:14.654Z,1629040154.654 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:09:14.693Z,1629040154.693 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:09:15.098Z,1629040155.098 [Micromodem](INFO): Nmea in: $SNTTA,0.017547,,,,150915.80*41

2021-08-15T15:09:15.119Z,1629040155.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.600000 m, bearing: 212.447351 deg, deltaT: 4.370048 s, approachRate: 0.096109 m/s, LOS rate: -0.660755 deg/s, posRepo size: 4
2021-08-15T15:09:17.561Z,1629040157.561 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:09:17.900Z,1629040157.900 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:09:17.900Z,1629040157.900 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:09:17.900Z,1629040157.900 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:09:17.901Z,1629040157.901 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:09:18.304Z,1629040158.304 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E01,000,003D9,187,80,80,5E,FF
2021-08-15T15:09:18.304Z,1629040158.304 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:09:18.304Z,1629040158.304 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:09:18.306Z,1629040158.306 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:09:18.766Z,1629040158.766 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:09:19.161Z,1629040159.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7A,000,003E0,186,80,80,63,FF
2021-08-15T15:09:19.162Z,1629040159.162 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:09:19.244Z,1629040159.244 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:09:19.613Z,1629040159.613 [Micromodem](INFO): Nmea in: $SNTTA,0.036267,,,,150920.26*4D

2021-08-15T15:09:19.657Z,1629040159.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.020000 m, bearing: 206.105644 deg, deltaT: 4.550827 s, approachRate: 0.092291 m/s, LOS rate: -1.393529 deg/s, posRepo size: 4
2021-08-15T15:09:22.088Z,1629040162.088 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:09:22.393Z,1629040162.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:09:22.393Z,1629040162.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:09:22.394Z,1629040162.394 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:09:22.395Z,1629040162.395 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:09:22.797Z,1629040162.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7A,000,003E0,186,80,80,63,FF
2021-08-15T15:09:22.797Z,1629040162.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:09:22.797Z,1629040162.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:09:22.799Z,1629040162.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:09:23.205Z,1629040163.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:09:23.610Z,1629040163.610 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB7,000,003EB,186,80,80,85,FF
2021-08-15T15:09:23.610Z,1629040163.610 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:09:23.641Z,1629040163.641 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:09:24.069Z,1629040164.069 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150924.75*57

2021-08-15T15:09:24.114Z,1629040164.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.679996 m, bearing: 203.575209 deg, deltaT: 4.397078 s, approachRate: 0.150099 m/s, LOS rate: -0.575481 deg/s, posRepo size: 4
2021-08-15T15:09:26.150Z,1629040166.150 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:09:26.457Z,1629040166.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:09:26.458Z,1629040166.458 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:09:26.458Z,1629040166.458 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:09:26.459Z,1629040166.459 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:09:26.842Z,1629040166.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB7,000,003EB,186,80,80,85,FF
2021-08-15T15:09:26.842Z,1629040166.842 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:09:26.842Z,1629040166.842 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:09:26.843Z,1629040166.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:09:27.248Z,1629040167.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:09:27.645Z,1629040167.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1F,000,003EC,186,80,80,6B,FF
2021-08-15T15:09:27.645Z,1629040167.645 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:09:27.700Z,1629040167.700 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:09:28.115Z,1629040168.115 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150928.80*51

2021-08-15T15:09:28.178Z,1629040168.178 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.740000 m, bearing: 198.369129 deg, deltaT: 4.059005 s, approachRate: 0.014783 m/s, LOS rate: -1.282600 deg/s, posRepo size: 4
2021-08-15T15:09:30.517Z,1629040170.517 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:09:30.877Z,1629040170.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:09:30.877Z,1629040170.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:09:30.877Z,1629040170.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:09:30.878Z,1629040170.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:09:31.281Z,1629040171.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1F,000,003EC,186,80,80,6B,FF
2021-08-15T15:09:31.281Z,1629040171.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:09:31.282Z,1629040171.282 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:09:31.283Z,1629040171.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:09:31.685Z,1629040171.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:09:32.113Z,1629040172.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F83,000,003F2,187,80,80,54,FF
2021-08-15T15:09:32.113Z,1629040172.113 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:09:32.177Z,1629040172.177 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:09:32.542Z,1629040172.542 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150933.24*55

2021-08-15T15:09:32.593Z,1629040172.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.099997 m, bearing: 193.389061 deg, deltaT: 4.476203 s, approachRate: 0.080425 m/s, LOS rate: -1.112565 deg/s, posRepo size: 4
2021-08-15T15:09:34.939Z,1629040174.939 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:09:35.321Z,1629040175.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:09:35.321Z,1629040175.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:09:35.321Z,1629040175.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:09:35.322Z,1629040175.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:09:35.725Z,1629040175.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F83,000,003F2,187,80,80,54,FF
2021-08-15T15:09:35.725Z,1629040175.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:09:35.725Z,1629040175.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:09:35.727Z,1629040175.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:09:36.136Z,1629040176.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:09:36.541Z,1629040176.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,015,000,003FB,184,80,80,4C,FF
2021-08-15T15:09:36.541Z,1629040176.541 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:09:36.576Z,1629040176.576 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:09:36.973Z,1629040176.973 [Micromodem](INFO): Nmea in: $SNTTA,0.032016,,,,150937.68*41

2021-08-15T15:09:36.995Z,1629040176.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.639997 m, bearing: 186.492578 deg, deltaT: 4.399651 s, approachRate: 0.122737 m/s, LOS rate: -1.567507 deg/s, posRepo size: 4
2021-08-15T15:09:39.420Z,1629040179.420 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:09:39.777Z,1629040179.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:09:39.777Z,1629040179.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:09:39.777Z,1629040179.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:09:39.778Z,1629040179.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:09:40.173Z,1629040180.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
015,000,003FB,184,80,80,4C,FF
2021-08-15T15:09:40.173Z,1629040180.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:09:40.173Z,1629040180.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:09:40.175Z,1629040180.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:09:40.621Z,1629040180.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:09:41.013Z,1629040181.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E34,000,00408,186,80,80,AD,FF
2021-08-15T15:09:41.014Z,1629040181.014 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:09:41.034Z,1629040181.034 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:09:41.470Z,1629040181.470 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150942.13*57

2021-08-15T15:09:41.497Z,1629040181.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.420002 m, bearing: 210.526183 deg, deltaT: 4.458244 s, approachRate: 0.174958 m/s, LOS rate: 5.390823 deg/s, posRepo size: 4
2021-08-15T15:09:43.859Z,1629040183.859 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:09:44.245Z,1629040184.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:09:44.245Z,1629040184.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:09:44.245Z,1629040184.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:09:44.246Z,1629040184.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:09:44.657Z,1629040184.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E34,000,00408,186,80,80,AD,FF
2021-08-15T15:09:44.657Z,1629040184.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:09:44.657Z,1629040184.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:09:44.659Z,1629040184.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:09:45.061Z,1629040185.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:09:45.462Z,1629040185.462 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0B,000,00412,187,80,80,BA,FF
2021-08-15T15:09:45.462Z,1629040185.462 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:09:45.493Z,1629040185.493 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:09:45.901Z,1629040185.901 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150946.62*55

2021-08-15T15:09:45.941Z,1629040185.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.020000 m, bearing: 212.730285 deg, deltaT: 4.458750 s, approachRate: 0.134567 m/s, LOS rate: 0.494332 deg/s, posRepo size: 4
2021-08-15T15:09:48.343Z,1629040188.343 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:09:48.689Z,1629040188.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:09:48.689Z,1629040188.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:09:48.689Z,1629040188.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:09:48.690Z,1629040188.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:09:49.102Z,1629040189.102 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0B,000,00412,187,80,80,BA,FF
2021-08-15T15:09:49.102Z,1629040189.102 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:09:49.102Z,1629040189.102 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:09:49.104Z,1629040189.104 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:09:49.546Z,1629040189.546 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:09:49.910Z,1629040189.910 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE4,000,0041E,188,80,80,9B,FF
2021-08-15T15:09:49.911Z,1629040189.911 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:09:49.931Z,1629040189.931 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:09:50.333Z,1629040190.333 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150951.06*51

2021-08-15T15:09:50.427Z,1629040190.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.740000 m, bearing: 214.381852 deg, deltaT: 4.437498 s, approachRate: 0.162253 m/s, LOS rate: 0.372184 deg/s, posRepo size: 4
2021-08-15T15:09:52.785Z,1629040192.785 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:09:53.138Z,1629040193.138 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:09:53.138Z,1629040193.138 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:09:53.138Z,1629040193.138 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:09:53.139Z,1629040193.139 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:09:53.553Z,1629040193.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE4,000,0041E,188,80,80,9B,FF
2021-08-15T15:09:53.553Z,1629040193.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:09:53.553Z,1629040193.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:09:53.555Z,1629040193.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:09:53.949Z,1629040193.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:09:54.370Z,1629040194.370 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E95,000,0042A,186,80,80,92,FF
2021-08-15T15:09:54.371Z,1629040194.371 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:09:54.481Z,1629040194.481 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:09:54.789Z,1629040194.789 [Micromodem](INFO): Nmea in: $SNTTA,0.050340,,,,150955.51*4B

2021-08-15T15:09:54.812Z,1629040194.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.460001 m, bearing: 205.565212 deg, deltaT: 4.550659 s, approachRate: 0.158219 m/s, LOS rate: -1.937442 deg/s, posRepo size: 4
2021-08-15T15:09:57.191Z,1629040197.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:09:57.594Z,1629040197.594 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:09:57.594Z,1629040197.594 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:09:57.594Z,1629040197.594 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:09:57.595Z,1629040197.595 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:09:57.983Z,1629040197.983 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E95,000,0042A,186,80,80,92,FF
2021-08-15T15:09:57.983Z,1629040197.983 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:09:57.983Z,1629040197.983 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:09:57.985Z,1629040197.985 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:09:58.415Z,1629040198.415 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:09:59.223Z,1629040199.223 [Micromodem](INFO): Nmea in: $SNTTA,,,,,150959.94*52

2021-08-15T15:09:59.601Z,1629040199.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E91,000,02C8C,186,80,80,66,FF
2021-08-15T15:09:59.602Z,1629040199.602 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:09:59.658Z,1629040199.658 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:10:00.082Z,1629040200.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 646.739990 m, bearing: 205.437132 deg, deltaT: 5.176182 s, approachRate: 119.833496 m/s, LOS rate: -0.024744 deg/s, posRepo size: 4
2021-08-15T15:10:00.488Z,1629040200.488 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T15:10:00.488Z,1629040200.488 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T15:10:00.488Z,1629040200.488 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T15:10:00.489Z,1629040200.489 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T15:10:00.489Z,1629040200.489 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T15:10:00.489Z,1629040200.489 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T15:10:00.859Z,1629040200.859 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T15:10:00.860Z,1629040200.860 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T15:10:00.860Z,1629040200.860 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T15:10:00.860Z,1629040200.860 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T15:10:02.500Z,1629040202.500 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:10:02.834Z,1629040202.834 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:10:02.834Z,1629040202.834 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:10:02.834Z,1629040202.834 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:10:02.835Z,1629040202.835 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:10:03.234Z,1629040203.234 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E91,000,02C8C,186,80,80,66,FF
2021-08-15T15:10:03.234Z,1629040203.234 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:10:03.234Z,1629040203.234 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:10:03.265Z,1629040203.265 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:10:03.645Z,1629040203.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:10:04.086Z,1629040204.086 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2B,000,00442,187,80,80,67,FF
2021-08-15T15:10:04.087Z,1629040204.087 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:10:04.477Z,1629040204.477 [Micromodem](INFO): Nmea in: $SNTTA,0.067220,,,,151005.22*41

2021-08-15T15:10:04.505Z,1629040204.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.900000 m, bearing: 210.442459 deg, deltaT: 4.496304 s, approachRate: -137.633041 m/s, LOS rate: 1.113209 deg/s, posRepo size: 4
2021-08-15T15:10:04.887Z,1629040204.887 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T15:10:04.904Z,1629040204.904 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T15:10:04.904Z,1629040204.904 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T15:10:04.905Z,1629040204.905 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T15:10:04.906Z,1629040204.906 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T15:10:04.906Z,1629040204.906 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T15:10:05.321Z,1629040205.321 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T15:10:05.321Z,1629040205.321 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T15:10:05.321Z,1629040205.321 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T15:10:05.321Z,1629040205.321 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T15:10:06.911Z,1629040206.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:10:07.284Z,1629040207.284 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:10:07.285Z,1629040207.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:10:07.285Z,1629040207.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:10:07.287Z,1629040207.287 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:10:07.685Z,1629040207.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2B,000,00442,187,80,80,67,FF
2021-08-15T15:10:07.685Z,1629040207.685 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:10:07.685Z,1629040207.685 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:10:07.687Z,1629040207.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:10:08.123Z,1629040208.123 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:10:08.503Z,1629040208.503 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEB,000,0044E,186,80,80,83,FF
2021-08-15T15:10:08.503Z,1629040208.503 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:10:08.589Z,1629040208.589 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:10:08.954Z,1629040208.954 [Micromodem](INFO): Nmea in: $SNTTA,0.039126,,,,151009.65*40

2021-08-15T15:10:09.004Z,1629040209.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.620001 m, bearing: 200.691421 deg, deltaT: 4.434960 s, approachRate: 0.162347 m/s, LOS rate: -2.198675 deg/s, posRepo size: 4
2021-08-15T15:10:11.348Z,1629040211.348 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:10:11.733Z,1629040211.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:10:11.734Z,1629040211.734 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:10:11.734Z,1629040211.734 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:10:11.735Z,1629040211.735 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:10:12.141Z,1629040212.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEB,000,0044E,186,80,80,83,FF
2021-08-15T15:10:12.141Z,1629040212.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:10:12.141Z,1629040212.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:10:12.143Z,1629040212.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:10:12.549Z,1629040212.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:10:12.947Z,1629040212.947 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4C,000,00461,185,80,80,99,FF
2021-08-15T15:10:12.947Z,1629040212.947 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:10:12.967Z,1629040212.967 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:10:13.393Z,1629040213.393 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151014.10*5F

2021-08-15T15:10:13.415Z,1629040213.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.760000 m, bearing: 209.338085 deg, deltaT: 4.378641 s, approachRate: 0.260355 m/s, LOS rate: 1.974737 deg/s, posRepo size: 4
2021-08-15T15:10:15.826Z,1629040215.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:10:16.201Z,1629040216.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:10:16.201Z,1629040216.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:10:16.201Z,1629040216.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:10:16.202Z,1629040216.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:10:16.609Z,1629040216.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4C,000,00461,185,80,80,99,FF
2021-08-15T15:10:16.609Z,1629040216.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:10:16.610Z,1629040216.610 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:10:16.611Z,1629040216.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:10:17.018Z,1629040217.018 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:10:17.410Z,1629040217.410 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F64,000,00469,187,80,80,79,FF
2021-08-15T15:10:17.410Z,1629040217.410 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:10:17.463Z,1629040217.463 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:10:17.854Z,1629040217.854 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151018.57*50

2021-08-15T15:10:17.870Z,1629040217.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.239998 m, bearing: 195.525066 deg, deltaT: 4.495153 s, approachRate: 0.106781 m/s, LOS rate: -3.072870 deg/s, posRepo size: 4
2021-08-15T15:10:20.370Z,1629040220.370 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:10:20.649Z,1629040220.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:10:20.649Z,1629040220.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:10:20.649Z,1629040220.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:10:20.650Z,1629040220.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:10:21.053Z,1629040221.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F64,000,00469,187,80,80,79,FF
2021-08-15T15:10:21.053Z,1629040221.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:10:21.053Z,1629040221.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:10:21.055Z,1629040221.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:10:21.453Z,1629040221.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:10:21.857Z,1629040221.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB8,000,0047B,186,80,80,9F,FF
2021-08-15T15:10:21.858Z,1629040221.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:10:21.882Z,1629040221.882 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:10:22.293Z,1629040222.293 [Micromodem](INFO): Nmea in: $SNTTA,0.033302,,,,151023.01*44

2021-08-15T15:10:22.342Z,1629040222.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.320002 m, bearing: 204.147702 deg, deltaT: 4.419762 s, approachRate: 0.244358 m/s, LOS rate: 1.950928 deg/s, posRepo size: 4
2021-08-15T15:10:24.721Z,1629040224.721 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:10:25.085Z,1629040225.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:10:25.085Z,1629040225.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:10:25.085Z,1629040225.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:10:25.086Z,1629040225.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:10:25.489Z,1629040225.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB8,000,0047B,186,80,80,9F,FF
2021-08-15T15:10:25.489Z,1629040225.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:10:25.489Z,1629040225.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:10:25.491Z,1629040225.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:10:25.897Z,1629040225.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:10:26.332Z,1629040226.332 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F15,000,0048A,186,80,80,7A,FF
2021-08-15T15:10:26.333Z,1629040226.333 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:10:26.413Z,1629040226.413 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:10:26.750Z,1629040226.750 [Micromodem](INFO): Nmea in: $SNTTA,0.045945,,,,151027.45*48

2021-08-15T15:10:26.774Z,1629040226.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.220001 m, bearing: 199.015252 deg, deltaT: 4.530597 s, approachRate: 0.198649 m/s, LOS rate: -1.132842 deg/s, posRepo size: 4
2021-08-15T15:10:29.164Z,1629040229.164 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:10:29.569Z,1629040229.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:10:29.569Z,1629040229.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:10:29.571Z,1629040229.571 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:10:29.581Z,1629040229.581 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:10:29.949Z,1629040229.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F15,000,0048A,186,80,80,7A,FF
2021-08-15T15:10:29.949Z,1629040229.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:10:29.949Z,1629040229.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:10:29.951Z,1629040229.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:10:30.357Z,1629040230.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:10:30.753Z,1629040230.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF3,000,00496,186,80,80,85,FF
2021-08-15T15:10:30.754Z,1629040230.754 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:10:30.831Z,1629040230.831 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:10:31.201Z,1629040231.201 [Micromodem](INFO): Nmea in: $SNTTA,0.033918,,,,151031.91*4F

2021-08-15T15:10:31.226Z,1629040231.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.939999 m, bearing: 200.085324 deg, deltaT: 4.417852 s, approachRate: 0.162975 m/s, LOS rate: 0.242215 deg/s, posRepo size: 4
2021-08-15T15:10:33.618Z,1629040233.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:10:33.989Z,1629040233.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:10:33.989Z,1629040233.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:10:33.989Z,1629040233.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:10:33.990Z,1629040233.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:10:34.417Z,1629040234.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF3,000,00496,186,80,80,85,FF
2021-08-15T15:10:34.417Z,1629040234.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:10:34.417Z,1629040234.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:10:34.419Z,1629040234.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:10:34.912Z,1629040234.912 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:10:35.296Z,1629040235.296 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4B,000,004A8,187,80,80,20,FF
2021-08-15T15:10:35.297Z,1629040235.297 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:10:35.347Z,1629040235.347 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:10:35.717Z,1629040235.717 [Micromodem](INFO): Nmea in: $SNTTA,0.042947,,,,151036.38*47

2021-08-15T15:10:35.763Z,1629040235.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.020000 m, bearing: 208.943642 deg, deltaT: 4.515786 s, approachRate: 0.239161 m/s, LOS rate: 1.961634 deg/s, posRepo size: 4
2021-08-15T15:10:38.208Z,1629040238.208 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:10:38.534Z,1629040238.534 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:10:38.534Z,1629040238.534 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:10:38.535Z,1629040238.535 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:10:38.536Z,1629040238.536 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:10:38.934Z,1629040238.934 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4B,000,004A8,187,80,80,20,FF
2021-08-15T15:10:38.934Z,1629040238.934 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:10:38.934Z,1629040238.934 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:10:38.936Z,1629040238.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:10:39.366Z,1629040239.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:10:39.742Z,1629040239.742 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F11,000,004BE,186,80,80,98,FF
2021-08-15T15:10:39.742Z,1629040239.742 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:10:39.762Z,1629040239.762 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:10:40.193Z,1629040240.193 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151040.89*5E

2021-08-15T15:10:40.279Z,1629040240.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.340000 m, bearing: 198.834648 deg, deltaT: 4.415691 s, approachRate: 0.298934 m/s, LOS rate: -2.289335 deg/s, posRepo size: 4
2021-08-15T15:10:42.631Z,1629040242.631 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:10:42.974Z,1629040242.974 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:10:42.974Z,1629040242.974 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:10:42.974Z,1629040242.974 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:10:42.975Z,1629040242.975 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:10:43.393Z,1629040243.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F11,000,004BE,186,80,80,98,FF
2021-08-15T15:10:43.393Z,1629040243.393 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:10:43.393Z,1629040243.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:10:43.395Z,1629040243.395 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:10:43.804Z,1629040243.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:10:44.189Z,1629040244.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,013,000,004CC,183,80,80,8A,FF
2021-08-15T15:10:44.189Z,1629040244.189 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:10:44.299Z,1629040244.299 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:10:44.673Z,1629040244.673 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151045.35*5C

2021-08-15T15:10:44.710Z,1629040244.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.180000 m, bearing: 185.452367 deg, deltaT: 4.536709 s, approachRate: 0.185156 m/s, LOS rate: -2.949777 deg/s, posRepo size: 4
2021-08-15T15:10:47.067Z,1629040247.067 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:10:47.433Z,1629040247.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:10:47.433Z,1629040247.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:10:47.433Z,1629040247.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:10:47.434Z,1629040247.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:10:47.832Z,1629040247.832 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
013,000,004CC,183,80,80,8A,FF
2021-08-15T15:10:47.832Z,1629040247.832 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:10:47.833Z,1629040247.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:10:47.835Z,1629040247.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:10:48.244Z,1629040248.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:10:48.630Z,1629040248.630 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A5,000,004D9,186,80,80,84,FF
2021-08-15T15:10:48.630Z,1629040248.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:10:48.690Z,1629040248.690 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:10:49.086Z,1629040249.086 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151049.79*58

2021-08-15T15:10:49.108Z,1629040249.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.959999 m, bearing: 178.886069 deg, deltaT: 4.390662 s, approachRate: 0.177649 m/s, LOS rate: -1.495514 deg/s, posRepo size: 4
2021-08-15T15:10:51.516Z,1629040251.516 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:10:51.869Z,1629040251.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:10:51.869Z,1629040251.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:10:51.869Z,1629040251.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:10:51.870Z,1629040251.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:10:52.297Z,1629040252.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A5,000,004D9,186,80,80,84,FF
2021-08-15T15:10:52.298Z,1629040252.298 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:10:52.298Z,1629040252.298 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:10:52.299Z,1629040252.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:10:52.689Z,1629040252.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:10:53.085Z,1629040253.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3E,000,004E7,186,80,80,7F,FF
2021-08-15T15:10:53.085Z,1629040253.085 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:10:53.106Z,1629040253.106 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:10:53.518Z,1629040253.518 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151054.26*5E

2021-08-15T15:10:53.565Z,1629040253.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.799999 m, bearing: 198.124950 deg, deltaT: 4.416201 s, approachRate: 0.190209 m/s, LOS rate: 4.356432 deg/s, posRepo size: 4
2021-08-15T15:10:55.949Z,1629040255.949 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:10:56.353Z,1629040256.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:10:56.354Z,1629040256.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:10:56.354Z,1629040256.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:10:56.355Z,1629040256.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:10:56.721Z,1629040256.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3E,000,004E7,186,80,80,7F,FF
2021-08-15T15:10:56.721Z,1629040256.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:10:56.721Z,1629040256.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:10:56.723Z,1629040256.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:10:57.136Z,1629040257.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:10:57.540Z,1629040257.540 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7D,000,004F6,186,80,80,88,FF
2021-08-15T15:10:57.541Z,1629040257.541 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:10:57.571Z,1629040257.571 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:10:57.981Z,1629040257.981 [Micromodem](INFO): Nmea in: $SNTTA,,0.025129,,,151058.68*4B

2021-08-15T15:10:58.075Z,1629040258.075 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.699997 m, bearing: 207.176426 deg, deltaT: 4.464812 s, approachRate: 0.201576 m/s, LOS rate: 2.027292 deg/s, posRepo size: 4
2021-08-15T15:11:00.452Z,1629040260.452 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:11:00.773Z,1629040260.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:11:00.773Z,1629040260.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:11:00.773Z,1629040260.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:11:00.774Z,1629040260.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:11:01.169Z,1629040261.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7D,000,004F6,186,80,80,88,FF
2021-08-15T15:11:01.169Z,1629040261.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:11:01.169Z,1629040261.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:11:01.171Z,1629040261.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:11:01.585Z,1629040261.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:11:01.984Z,1629040261.984 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDD,000,0050B,185,80,80,41,FF
2021-08-15T15:11:01.984Z,1629040261.984 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:11:02.089Z,1629040262.089 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:11:02.425Z,1629040262.425 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151103.13*5B

2021-08-15T15:11:02.485Z,1629040262.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.959999 m, bearing: 189.708340 deg, deltaT: 4.518294 s, approachRate: 0.278867 m/s, LOS rate: -3.866080 deg/s, posRepo size: 4
2021-08-15T15:11:04.830Z,1629040264.830 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:11:05.205Z,1629040265.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:11:05.205Z,1629040265.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:11:05.205Z,1629040265.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:11:05.206Z,1629040265.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:11:05.614Z,1629040265.614 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDD,000,0050B,185,80,80,41,FF
2021-08-15T15:11:05.614Z,1629040265.614 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:11:05.614Z,1629040265.614 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:11:05.616Z,1629040265.616 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:11:06.062Z,1629040266.062 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:11:06.418Z,1629040266.418 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC8,000,0051D,185,80,80,58,FF
2021-08-15T15:11:06.418Z,1629040266.418 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:11:06.481Z,1629040266.481 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:11:06.867Z,1629040266.867 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151107.58*50

2021-08-15T15:11:06.883Z,1629040266.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.039997 m, bearing: 190.742322 deg, deltaT: 4.391726 s, approachRate: 0.245917 m/s, LOS rate: 0.235438 deg/s, posRepo size: 4
2021-08-15T15:11:07.302Z,1629040267.302 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T15:11:07.303Z,1629040267.303 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T15:11:07.308Z,1629040267.308 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T15:11:07.309Z,1629040267.309 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T15:11:07.309Z,1629040267.309 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T15:11:07.309Z,1629040267.309 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T15:11:07.672Z,1629040267.672 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T15:11:07.672Z,1629040267.672 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T15:11:07.672Z,1629040267.672 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T15:11:07.672Z,1629040267.672 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T15:11:09.324Z,1629040269.324 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:11:09.650Z,1629040269.650 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:11:09.650Z,1629040269.650 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:11:09.650Z,1629040269.650 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:11:09.651Z,1629040269.651 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:11:10.105Z,1629040270.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC8,000,0051D,185,80,80,58,FF
2021-08-15T15:11:10.105Z,1629040270.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:11:10.105Z,1629040270.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:11:10.107Z,1629040270.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:11:10.474Z,1629040270.474 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:11:10.873Z,1629040270.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4B,000,0052D,187,80,80,72,FF
2021-08-15T15:11:10.873Z,1629040270.873 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:11:11.317Z,1629040271.317 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151112.06*5F

2021-08-15T15:11:11.360Z,1629040271.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.000000 m, bearing: 197.224226 deg, deltaT: 4.441616 s, approachRate: 0.216138 m/s, LOS rate: 1.459357 deg/s, posRepo size: 4
2021-08-15T15:11:13.726Z,1629040273.726 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:11:14.105Z,1629040274.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:11:14.105Z,1629040274.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:11:14.106Z,1629040274.106 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:11:14.107Z,1629040274.107 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:11:14.541Z,1629040274.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4B,000,0052D,187,80,80,72,FF
2021-08-15T15:11:14.541Z,1629040274.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:11:14.541Z,1629040274.541 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:11:14.543Z,1629040274.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:11:14.925Z,1629040274.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:11:15.314Z,1629040275.314 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFD,000,00540,186,80,80,69,FF
2021-08-15T15:11:15.315Z,1629040275.315 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:11:15.765Z,1629040275.765 [Micromodem](INFO): Nmea in: $SNTTA,0.043960,,,,151116.50*4E

2021-08-15T15:11:15.848Z,1629040275.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.139999 m, bearing: 201.516508 deg, deltaT: 4.412627 s, approachRate: 0.258349 m/s, LOS rate: 0.972727 deg/s, posRepo size: 4
2021-08-15T15:11:18.211Z,1629040278.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:11:18.553Z,1629040278.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:11:18.553Z,1629040278.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:11:18.553Z,1629040278.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:11:18.554Z,1629040278.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:11:18.963Z,1629040278.963 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFD,000,00540,186,80,80,69,FF
2021-08-15T15:11:18.963Z,1629040278.963 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:11:18.963Z,1629040278.963 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:11:18.965Z,1629040278.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:11:19.361Z,1629040279.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:11:19.775Z,1629040279.775 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAB,000,0054E,186,80,80,A7,FF
2021-08-15T15:11:19.775Z,1629040279.775 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:11:20.201Z,1629040280.201 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151120.93*52

2021-08-15T15:11:20.294Z,1629040280.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.980000 m, bearing: 205.672651 deg, deltaT: 4.459531 s, approachRate: 0.188361 m/s, LOS rate: 0.931969 deg/s, posRepo size: 4
2021-08-15T15:11:22.298Z,1629040282.298 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:11:22.585Z,1629040282.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:11:22.585Z,1629040282.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:11:22.585Z,1629040282.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:11:22.586Z,1629040282.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:11:23.015Z,1629040283.015 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAB,000,0054E,186,80,80,A7,FF
2021-08-15T15:11:23.015Z,1629040283.015 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:11:23.015Z,1629040283.015 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:11:23.021Z,1629040283.021 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:11:23.401Z,1629040283.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:11:23.808Z,1629040283.808 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECC,000,00562,186,80,80,8D,FF
2021-08-15T15:11:23.809Z,1629040283.809 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:11:24.225Z,1629040284.225 [Micromodem](INFO): Nmea in: $SNTTA,0.059448,0.440534,,,151124.98*5B

2021-08-15T15:11:24.341Z,1629040284.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.179996 m, bearing: 203.674233 deg, deltaT: 4.071500 s, approachRate: 0.294731 m/s, LOS rate: -0.490831 deg/s, posRepo size: 4
2021-08-15T15:11:26.668Z,1629040286.668 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:11:27.039Z,1629040287.039 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:11:27.039Z,1629040287.039 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:11:27.039Z,1629040287.039 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:11:27.041Z,1629040287.041 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:11:27.437Z,1629040287.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECC,000,00562,186,80,80,8D,FF
2021-08-15T15:11:27.437Z,1629040287.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:11:27.437Z,1629040287.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:11:27.439Z,1629040287.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:11:27.865Z,1629040287.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:11:28.237Z,1629040288.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E99,000,00573,186,80,80,88,FF
2021-08-15T15:11:28.238Z,1629040288.238 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:11:28.694Z,1629040288.694 [Micromodem](INFO): Nmea in: $SNTTA,0.045696,,,,151129.40*43

2021-08-15T15:11:28.722Z,1629040288.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.199997 m, bearing: 206.833414 deg, deltaT: 4.436192 s, approachRate: 0.229927 m/s, LOS rate: 0.712138 deg/s, posRepo size: 4
2021-08-15T15:11:31.083Z,1629040291.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:11:31.481Z,1629040291.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:11:31.481Z,1629040291.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:11:31.481Z,1629040291.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:11:31.482Z,1629040291.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:11:31.881Z,1629040291.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E99,000,00573,186,80,80,88,FF
2021-08-15T15:11:31.881Z,1629040291.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:11:31.881Z,1629040291.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:11:31.883Z,1629040291.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:11:32.282Z,1629040292.282 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:11:32.683Z,1629040292.683 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB2,000,00581,186,80,80,7D,FF
2021-08-15T15:11:32.683Z,1629040292.683 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:11:33.145Z,1629040293.145 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151133.84*56

2021-08-15T15:11:33.167Z,1629040293.167 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.040001 m, bearing: 206.011606 deg, deltaT: 4.455498 s, approachRate: 0.188532 m/s, LOS rate: -0.184448 deg/s, posRepo size: 4
2021-08-15T15:11:35.561Z,1629040295.561 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:11:35.915Z,1629040295.915 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:11:35.915Z,1629040295.915 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:11:35.915Z,1629040295.915 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:11:35.916Z,1629040295.916 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:11:36.329Z,1629040296.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB2,000,00581,186,80,80,7D,FF
2021-08-15T15:11:36.329Z,1629040296.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:11:36.329Z,1629040296.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:11:36.331Z,1629040296.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:11:36.803Z,1629040296.803 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:11:37.213Z,1629040297.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED9,000,00591,187,80,80,A4,FF
2021-08-15T15:11:37.214Z,1629040297.214 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:11:37.629Z,1629040297.629 [Micromodem](INFO): Nmea in: $SNTTA,0.059172,,,,151138.29*4C

2021-08-15T15:11:37.682Z,1629040297.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.999996 m, bearing: 204.553961 deg, deltaT: 4.532886 s, approachRate: 0.211785 m/s, LOS rate: -0.321571 deg/s, posRepo size: 4
2021-08-15T15:11:40.136Z,1629040300.136 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:11:40.445Z,1629040300.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:11:40.445Z,1629040300.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:11:40.446Z,1629040300.446 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:11:40.447Z,1629040300.447 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:11:40.845Z,1629040300.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED9,000,00591,187,80,80,A4,FF
2021-08-15T15:11:40.846Z,1629040300.846 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:11:40.846Z,1629040300.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:11:40.847Z,1629040300.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:11:41.249Z,1629040301.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:11:41.653Z,1629040301.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E86,000,005A0,186,80,80,A9,FF
2021-08-15T15:11:41.654Z,1629040301.654 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:11:42.117Z,1629040302.117 [Micromodem](INFO): Nmea in: $SNTTA,0.047589,,,,151142.81*4C

2021-08-15T15:11:42.165Z,1629040302.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.900002 m, bearing: 209.164913 deg, deltaT: 4.434269 s, approachRate: 0.202966 m/s, LOS rate: 1.039845 deg/s, posRepo size: 4
2021-08-15T15:11:44.544Z,1629040304.544 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:11:44.877Z,1629040304.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:11:44.877Z,1629040304.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:11:44.877Z,1629040304.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:11:44.878Z,1629040304.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:11:45.293Z,1629040305.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E86,000,005A0,186,80,80,A9,FF
2021-08-15T15:11:45.293Z,1629040305.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:11:45.294Z,1629040305.294 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:11:45.295Z,1629040305.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:11:45.692Z,1629040305.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:11:46.125Z,1629040306.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFA,000,005B2,186,80,80,79,FF
2021-08-15T15:11:46.125Z,1629040306.125 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:11:46.537Z,1629040306.537 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151147.25*5E

2021-08-15T15:11:46.574Z,1629040306.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.980003 m, bearing: 203.660859 deg, deltaT: 4.460271 s, approachRate: 0.242138 m/s, LOS rate: -1.234018 deg/s, posRepo size: 4
2021-08-15T15:11:48.947Z,1629040308.947 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:11:49.353Z,1629040309.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:11:49.354Z,1629040309.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:11:49.354Z,1629040309.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:11:49.355Z,1629040309.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:11:49.733Z,1629040309.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFA,000,005B2,186,80,80,79,FF
2021-08-15T15:11:49.733Z,1629040309.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:11:49.733Z,1629040309.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:11:49.735Z,1629040309.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:11:50.144Z,1629040310.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:11:50.534Z,1629040310.534 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB4,000,005C9,185,80,80,79,FF
2021-08-15T15:11:50.535Z,1629040310.535 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:11:50.989Z,1629040310.989 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151151.69*51

2021-08-15T15:11:51.012Z,1629040311.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.360001 m, bearing: 194.025812 deg, deltaT: 4.412183 s, approachRate: 0.312770 m/s, LOS rate: -2.183737 deg/s, posRepo size: 4
2021-08-15T15:11:53.421Z,1629040313.421 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:11:53.769Z,1629040313.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:11:53.769Z,1629040313.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:11:53.769Z,1629040313.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:11:53.770Z,1629040313.770 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:11:54.189Z,1629040314.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB4,000,005C9,185,80,80,79,FF
2021-08-15T15:11:54.189Z,1629040314.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:11:54.189Z,1629040314.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:11:54.191Z,1629040314.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:11:54.595Z,1629040314.595 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:11:54.985Z,1629040314.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED7,000,005D1,186,80,80,99,FF
2021-08-15T15:11:54.985Z,1629040314.985 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:11:55.409Z,1629040315.409 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151156.15*5D

2021-08-15T15:11:55.452Z,1629040315.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.840004 m, bearing: 205.046719 deg, deltaT: 4.431733 s, approachRate: 0.108311 m/s, LOS rate: 2.486816 deg/s, posRepo size: 4
2021-08-15T15:11:57.836Z,1629040317.836 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:11:58.225Z,1629040318.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:11:58.225Z,1629040318.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:11:58.225Z,1629040318.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:11:58.226Z,1629040318.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:11:58.622Z,1629040318.622 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED7,000,005D1,186,80,80,99,FF
2021-08-15T15:11:58.622Z,1629040318.622 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:11:58.622Z,1629040318.622 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:11:58.624Z,1629040318.624 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:11:59.032Z,1629040319.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:11:59.425Z,1629040319.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF0,000,005DE,187,80,80,B5,FF
2021-08-15T15:11:59.426Z,1629040319.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:11:59.869Z,1629040319.869 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151200.58*54

2021-08-15T15:11:59.899Z,1629040319.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.620003 m, bearing: 203.239696 deg, deltaT: 4.451173 s, approachRate: 0.175234 m/s, LOS rate: -0.405965 deg/s, posRepo size: 4
2021-08-15T15:12:02.357Z,1629040322.357 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:12:02.657Z,1629040322.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:12:02.657Z,1629040322.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:12:02.657Z,1629040322.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:12:02.658Z,1629040322.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:12:03.075Z,1629040323.075 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF0,000,005DE,187,80,80,B5,FF
2021-08-15T15:12:03.075Z,1629040323.075 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:12:03.075Z,1629040323.075 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:12:03.077Z,1629040323.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:12:03.469Z,1629040323.469 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:12:03.881Z,1629040323.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F00,000,005EF,186,80,80,85,FF
2021-08-15T15:12:03.881Z,1629040323.881 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:12:04.321Z,1629040324.321 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151205.04*58

2021-08-15T15:12:04.374Z,1629040324.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.639999 m, bearing: 203.097301 deg, deltaT: 4.450925 s, approachRate: 0.229165 m/s, LOS rate: -0.031992 deg/s, posRepo size: 4
2021-08-15T15:12:06.726Z,1629040326.726 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:12:07.118Z,1629040327.118 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:12:07.118Z,1629040327.118 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:12:07.118Z,1629040327.118 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:12:07.119Z,1629040327.119 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:12:07.510Z,1629040327.510 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F00,000,005EF,186,80,80,85,FF
2021-08-15T15:12:07.510Z,1629040327.510 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:12:07.510Z,1629040327.510 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:12:07.513Z,1629040327.513 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:12:07.930Z,1629040327.930 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:12:08.341Z,1629040328.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDF,000,005FB,186,80,80,94,FF
2021-08-15T15:12:08.342Z,1629040328.342 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:12:08.765Z,1629040328.765 [Micromodem](INFO): Nmea in: $SNTTA,0.041985,,,,151209.47*4C

2021-08-15T15:12:08.787Z,1629040328.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.359993 m, bearing: 205.451940 deg, deltaT: 4.500871 s, approachRate: 0.159968 m/s, LOS rate: 0.523152 deg/s, posRepo size: 4
2021-08-15T15:12:11.173Z,1629040331.173 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:12:11.557Z,1629040331.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:12:11.557Z,1629040331.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:12:11.557Z,1629040331.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:12:11.558Z,1629040331.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:12:11.957Z,1629040331.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDF,000,005FB,186,80,80,94,FF
2021-08-15T15:12:11.957Z,1629040331.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:12:11.957Z,1629040331.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:12:11.959Z,1629040331.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:12:12.357Z,1629040332.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:12:12.765Z,1629040332.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5F,000,0060A,186,80,80,87,FF
2021-08-15T15:12:12.766Z,1629040332.766 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:12:13.193Z,1629040333.193 [Micromodem](INFO): Nmea in: $SNTTA,0.049385,,,,151213.92*4D

2021-08-15T15:12:13.255Z,1629040333.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.259998 m, bearing: 199.095875 deg, deltaT: 4.353251 s, approachRate: 0.206743 m/s, LOS rate: -1.460073 deg/s, posRepo size: 4
2021-08-15T15:12:15.631Z,1629040335.631 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:12:16.001Z,1629040336.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:12:16.002Z,1629040336.002 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:12:16.002Z,1629040336.002 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:12:16.004Z,1629040336.004 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:12:16.406Z,1629040336.406 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5F,000,0060A,186,80,80,87,FF
2021-08-15T15:12:16.407Z,1629040336.407 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:12:16.407Z,1629040336.407 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:12:16.409Z,1629040336.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:12:16.813Z,1629040336.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:12:17.642Z,1629040337.642 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151218.37*54

2021-08-15T15:12:18.469Z,1629040338.469 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:12:20.089Z,1629040340.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,87,FF
2021-08-15T15:12:20.089Z,1629040340.089 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,87,FF
2021-08-15T15:12:20.089Z,1629040340.089 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T15:12:21.017Z,1629040341.017 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:12:21.241Z,1629040341.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:12:21.241Z,1629040341.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:12:21.241Z,1629040341.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:12:21.242Z,1629040341.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:12:21.653Z,1629040341.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,87,FF
2021-08-15T15:12:21.654Z,1629040341.654 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:12:21.654Z,1629040341.654 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:12:21.655Z,1629040341.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:12:22.100Z,1629040342.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:12:22.482Z,1629040342.482 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED6,000,0061E,186,80,80,67,FF
2021-08-15T15:12:22.482Z,1629040342.482 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:12:22.894Z,1629040342.894 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151223.61*5F

2021-08-15T15:12:22.910Z,1629040342.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.459995 m, bearing: 204.713692 deg, deltaT: 9.758864 s, approachRate: 0.122965 m/s, LOS rate: 0.575663 deg/s, posRepo size: 4
2021-08-15T15:12:25.363Z,1629040345.363 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:12:25.703Z,1629040345.703 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:12:25.703Z,1629040345.703 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:12:25.703Z,1629040345.703 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:12:25.704Z,1629040345.704 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:12:26.112Z,1629040346.112 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED6,000,0061E,186,80,80,67,FF
2021-08-15T15:12:26.113Z,1629040346.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:12:26.113Z,1629040346.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:12:26.114Z,1629040346.114 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:12:26.522Z,1629040346.522 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:12:26.902Z,1629040346.902 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F48,000,00629,186,80,80,70,FF
2021-08-15T15:12:26.902Z,1629040346.902 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:12:27.385Z,1629040347.385 [Micromodem](INFO): Nmea in: $SNTTA,0.047664,,,,151228.07*4D

2021-08-15T15:12:27.415Z,1629040347.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.119999 m, bearing: 197.549698 deg, deltaT: 4.386969 s, approachRate: 0.150446 m/s, LOS rate: -1.633017 deg/s, posRepo size: 4
2021-08-15T15:12:29.784Z,1629040349.784 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:12:30.146Z,1629040350.146 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:12:30.146Z,1629040350.146 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:12:30.146Z,1629040350.146 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:12:30.147Z,1629040350.147 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:12:30.537Z,1629040350.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F48,000,00629,186,80,80,70,FF
2021-08-15T15:12:30.538Z,1629040350.538 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:12:30.538Z,1629040350.538 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:12:30.541Z,1629040350.541 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:12:31.049Z,1629040351.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:12:31.369Z,1629040351.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F93,000,00633,187,80,80,70,FF
2021-08-15T15:12:31.370Z,1629040351.370 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:12:31.797Z,1629040351.797 [Micromodem](INFO): Nmea in: $SNTTA,0.061005,,,,151232.50*41

2021-08-15T15:12:31.819Z,1629040351.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.719997 m, bearing: 192.367429 deg, deltaT: 4.503136 s, approachRate: 0.133240 m/s, LOS rate: -1.150813 deg/s, posRepo size: 4
2021-08-15T15:12:34.235Z,1629040354.235 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:12:34.589Z,1629040354.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:12:34.590Z,1629040354.590 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:12:34.590Z,1629040354.590 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:12:34.591Z,1629040354.591 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:12:34.985Z,1629040354.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F93,000,00633,187,80,80,70,FF
2021-08-15T15:12:34.985Z,1629040354.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:12:34.986Z,1629040354.986 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:12:34.987Z,1629040354.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:12:35.397Z,1629040355.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:12:35.787Z,1629040355.787 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,029,000,0063B,184,80,80,89,FF
2021-08-15T15:12:35.787Z,1629040355.787 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:12:36.246Z,1629040356.246 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151236.94*51

2021-08-15T15:12:36.348Z,1629040356.348 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.200001 m, bearing: 183.585390 deg, deltaT: 4.408364 s, approachRate: 0.108885 m/s, LOS rate: -1.992131 deg/s, posRepo size: 4
2021-08-15T15:12:38.646Z,1629040358.646 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:12:39.034Z,1629040359.034 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:12:39.034Z,1629040359.034 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:12:39.034Z,1629040359.034 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:12:39.035Z,1629040359.035 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:12:39.433Z,1629040359.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
029,000,0063B,184,80,80,89,FF
2021-08-15T15:12:39.433Z,1629040359.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:12:39.433Z,1629040359.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:12:39.435Z,1629040359.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:12:39.844Z,1629040359.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:12:40.233Z,1629040360.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF6,000,00647,184,80,80,4B,FF
2021-08-15T15:12:40.233Z,1629040360.233 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:12:40.689Z,1629040360.689 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151241.39*56

2021-08-15T15:12:40.711Z,1629040360.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.920006 m, bearing: 185.355543 deg, deltaT: 4.547634 s, approachRate: 0.158325 m/s, LOS rate: 0.389247 deg/s, posRepo size: 4
2021-08-15T15:12:43.094Z,1629040363.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:12:43.469Z,1629040363.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:12:43.469Z,1629040363.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:12:43.469Z,1629040363.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:12:43.470Z,1629040363.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:12:43.881Z,1629040363.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF6,000,00647,184,80,80,4B,FF
2021-08-15T15:12:43.881Z,1629040363.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:12:43.881Z,1629040363.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:12:43.883Z,1629040363.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:12:44.310Z,1629040364.310 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:12:45.098Z,1629040365.098 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151245.84*54

2021-08-15T15:12:45.907Z,1629040365.907 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:12:47.506Z,1629040367.506 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,184,80,80,4B,FF
2021-08-15T15:12:47.506Z,1629040367.506 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,184,80,80,4B,FF
2021-08-15T15:12:47.507Z,1629040367.507 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T15:12:48.447Z,1629040368.447 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:12:48.717Z,1629040368.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:12:48.717Z,1629040368.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:12:48.717Z,1629040368.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:12:48.718Z,1629040368.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:12:49.117Z,1629040369.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,184,80,80,4B,FF
2021-08-15T15:12:49.117Z,1629040369.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:12:49.117Z,1629040369.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:12:49.119Z,1629040369.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:12:49.540Z,1629040369.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:12:49.940Z,1629040369.940 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,037,000,0065C,184,80,80,96,FF
2021-08-15T15:12:49.941Z,1629040369.941 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:12:50.385Z,1629040370.385 [Micromodem](INFO): Nmea in: $SNTTA,0.063461,,,,151251.08*4D

2021-08-15T15:12:50.463Z,1629040370.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.179996 m, bearing: 181.615167 deg, deltaT: 9.570314 s, approachRate: 0.131656 m/s, LOS rate: -0.390831 deg/s, posRepo size: 4
2021-08-15T15:12:52.789Z,1629040372.789 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:12:53.169Z,1629040373.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:12:53.169Z,1629040373.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:12:53.169Z,1629040373.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:12:53.170Z,1629040373.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:12:53.581Z,1629040373.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
037,000,0065C,184,80,80,96,FF
2021-08-15T15:12:53.581Z,1629040373.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:12:53.581Z,1629040373.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:12:53.583Z,1629040373.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:12:53.982Z,1629040373.982 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:12:54.373Z,1629040374.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06F,000,00669,186,80,80,6C,FF
2021-08-15T15:12:54.373Z,1629040374.374 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:12:54.805Z,1629040374.805 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151255.54*58

2021-08-15T15:12:54.839Z,1629040374.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.960007 m, bearing: 176.939288 deg, deltaT: 4.558116 s, approachRate: 0.171126 m/s, LOS rate: -1.025836 deg/s, posRepo size: 4
2021-08-15T15:12:57.238Z,1629040377.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:12:57.605Z,1629040377.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:12:57.605Z,1629040377.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:12:57.605Z,1629040377.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:12:57.606Z,1629040377.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:12:58.026Z,1629040378.026 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06F,000,00669,186,80,80,6C,FF
2021-08-15T15:12:58.026Z,1629040378.026 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:12:58.027Z,1629040378.027 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:12:58.041Z,1629040378.041 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:12:58.417Z,1629040378.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:12:58.813Z,1629040378.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09E,000,00672,186,80,80,58,FF
2021-08-15T15:12:58.814Z,1629040378.814 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:12:59.243Z,1629040379.243 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151300.00*58

2021-08-15T15:12:59.301Z,1629040379.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.500000 m, bearing: 174.743068 deg, deltaT: 4.314757 s, approachRate: 0.125150 m/s, LOS rate: -0.509002 deg/s, posRepo size: 4
2021-08-15T15:13:01.691Z,1629040381.691 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:13:02.093Z,1629040382.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:13:02.093Z,1629040382.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:13:02.093Z,1629040382.093 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:13:02.094Z,1629040382.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:13:02.465Z,1629040382.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09E,000,00672,186,80,80,58,FF
2021-08-15T15:13:02.465Z,1629040382.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:13:02.465Z,1629040382.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:13:02.467Z,1629040382.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:13:02.857Z,1629040382.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:13:03.265Z,1629040383.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,058,000,0067A,185,80,80,69,FF
2021-08-15T15:13:03.265Z,1629040383.265 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:13:03.697Z,1629040383.697 [Micromodem](INFO): Nmea in: $SNTTA,0.046109,,,,151304.43*4F

2021-08-15T15:13:03.740Z,1629040383.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.980007 m, bearing: 178.467543 deg, deltaT: 4.508238 s, approachRate: 0.106473 m/s, LOS rate: 0.826149 deg/s, posRepo size: 4
2021-08-15T15:13:06.172Z,1629040386.172 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:13:06.514Z,1629040386.514 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:13:06.514Z,1629040386.514 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:13:06.514Z,1629040386.514 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:13:06.515Z,1629040386.515 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:13:06.893Z,1629040386.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
058,000,0067A,185,80,80,69,FF
2021-08-15T15:13:06.893Z,1629040386.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:13:06.893Z,1629040386.893 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:13:06.895Z,1629040386.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:13:07.334Z,1629040387.334 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:13:07.713Z,1629040387.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F31,000,0068A,186,80,80,A3,FF
2021-08-15T15:13:07.714Z,1629040387.714 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:13:08.153Z,1629040388.153 [Micromodem](INFO): Nmea in: $SNTTA,0.046740,,,,151308.85*42

2021-08-15T15:13:08.213Z,1629040388.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.940002 m, bearing: 193.560184 deg, deltaT: 4.432598 s, approachRate: 0.216576 m/s, LOS rate: 3.404920 deg/s, posRepo size: 4
2021-08-15T15:13:10.573Z,1629040390.573 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:13:10.933Z,1629040390.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:13:10.933Z,1629040390.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:13:10.933Z,1629040390.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:13:10.934Z,1629040390.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:13:11.365Z,1629040391.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F31,000,0068A,186,80,80,A3,FF
2021-08-15T15:13:11.365Z,1629040391.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:13:11.365Z,1629040391.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:13:11.367Z,1629040391.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:13:11.753Z,1629040391.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:13:12.146Z,1629040392.146 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02F,000,0068B,184,80,80,86,FF
2021-08-15T15:13:12.146Z,1629040392.146 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:13:12.589Z,1629040392.589 [Micromodem](INFO): Nmea in: $SNTTA,0.045645,,,,151313.33*42

2021-08-15T15:13:12.620Z,1629040392.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.000004 m, bearing: 181.064545 deg, deltaT: 4.453811 s, approachRate: 0.013472 m/s, LOS rate: -2.805606 deg/s, posRepo size: 4
2021-08-15T15:13:15.006Z,1629040395.006 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:13:15.401Z,1629040395.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:13:15.401Z,1629040395.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:13:15.401Z,1629040395.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:13:15.402Z,1629040395.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:13:15.781Z,1629040395.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02F,000,0068B,184,80,80,86,FF
2021-08-15T15:13:15.781Z,1629040395.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:13:15.781Z,1629040395.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:13:15.783Z,1629040395.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:13:16.209Z,1629040396.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:13:16.593Z,1629040396.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0C,000,00698,186,80,80,91,FF
2021-08-15T15:13:16.593Z,1629040396.593 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:13:17.041Z,1629040397.041 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151317.74*5D

2021-08-15T15:13:17.084Z,1629040397.084 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.780003 m, bearing: 196.340645 deg, deltaT: 4.427857 s, approachRate: 0.176157 m/s, LOS rate: 3.449999 deg/s, posRepo size: 4
2021-08-15T15:13:19.489Z,1629040399.489 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:13:19.829Z,1629040399.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:13:19.829Z,1629040399.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:13:19.830Z,1629040399.830 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:13:19.830Z,1629040399.830 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:13:20.246Z,1629040400.246 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0C,000,00698,186,80,80,91,FF
2021-08-15T15:13:20.246Z,1629040400.246 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:13:20.246Z,1629040400.246 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:13:20.248Z,1629040400.248 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:13:20.697Z,1629040400.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:13:21.098Z,1629040401.098 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A2,000,006A2,187,80,80,22,FF
2021-08-15T15:13:21.098Z,1629040401.098 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:13:21.526Z,1629040401.526 [Micromodem](INFO): Nmea in: $SNTTA,0.058230,,,,151322.21*49

2021-08-15T15:13:21.583Z,1629040401.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.380005 m, bearing: 176.443648 deg, deltaT: 4.462041 s, approachRate: 0.134468 m/s, LOS rate: -4.459169 deg/s, posRepo size: 4
2021-08-15T15:13:23.935Z,1629040403.935 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:13:24.372Z,1629040404.372 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:13:24.372Z,1629040404.372 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:13:24.373Z,1629040404.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:13:24.373Z,1629040404.373 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:13:24.761Z,1629040404.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A2,000,006A2,187,80,80,22,FF
2021-08-15T15:13:24.761Z,1629040404.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:13:24.761Z,1629040404.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:13:24.763Z,1629040404.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:13:25.144Z,1629040405.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:13:25.548Z,1629040405.548 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F47,000,006A8,186,80,80,83,FF
2021-08-15T15:13:25.548Z,1629040405.548 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:13:25.974Z,1629040405.974 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151326.72*59

2021-08-15T15:13:26.070Z,1629040406.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.739998 m, bearing: 194.807227 deg, deltaT: 4.484542 s, approachRate: 0.080274 m/s, LOS rate: 4.094861 deg/s, posRepo size: 4
2021-08-15T15:13:28.471Z,1629040408.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:13:28.793Z,1629040408.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:13:28.793Z,1629040408.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:13:28.793Z,1629040408.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:13:28.794Z,1629040408.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:13:29.209Z,1629040409.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F47,000,006A8,186,80,80,83,FF
2021-08-15T15:13:29.209Z,1629040409.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:13:29.209Z,1629040409.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:13:29.211Z,1629040409.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:13:29.605Z,1629040409.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:13:30.437Z,1629040410.437 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151331.17*5C

2021-08-15T15:13:31.222Z,1629040411.222 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF8,000,03A1D,186,80,80,9A,FF
2021-08-15T15:13:31.222Z,1629040411.222 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:13:31.701Z,1629040411.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 855.120056 m, bearing: 199.301136 deg, deltaT: 5.648647 s, approachRate: 139.923782 m/s, LOS rate: 0.795573 deg/s, posRepo size: 4
2021-08-15T15:13:34.159Z,1629040414.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:13:34.457Z,1629040414.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:13:34.457Z,1629040414.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:13:34.457Z,1629040414.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:13:34.458Z,1629040414.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:13:34.870Z,1629040414.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF8,000,03A1D,186,80,80,9A,FF
2021-08-15T15:13:34.871Z,1629040414.871 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:13:34.871Z,1629040414.871 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:13:34.873Z,1629040414.873 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:13:35.264Z,1629040415.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:13:35.667Z,1629040415.667 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBA,000,006C2,186,80,80,86,FF
2021-08-15T15:13:35.667Z,1629040415.667 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:13:36.126Z,1629040416.126 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151336.83*56

2021-08-15T15:13:36.162Z,1629040416.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.300003 m, bearing: 202.478745 deg, deltaT: 4.482279 s, approachRate: -175.986389 m/s, LOS rate: 0.708927 deg/s, posRepo size: 4
2021-08-15T15:13:38.551Z,1629040418.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:13:38.895Z,1629040418.895 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:13:38.895Z,1629040418.895 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:13:38.896Z,1629040418.896 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:13:38.897Z,1629040418.897 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:13:39.317Z,1629040419.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBA,000,006C2,186,80,80,86,FF
2021-08-15T15:13:39.317Z,1629040419.317 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:13:39.317Z,1629040419.317 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:13:39.319Z,1629040419.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:13:39.747Z,1629040419.747 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:13:40.570Z,1629040420.570 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151341.28*57

2021-08-15T15:13:41.427Z,1629040421.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:13:42.953Z,1629040422.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3E,000,09573,186,80,80,49,FF
2021-08-15T15:13:42.953Z,1629040422.953 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:13:43.409Z,1629040423.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 2258.040039 m, bearing: 207.512130 deg, deltaT: 7.305475 s, approachRate: 300.013336 m/s, LOS rate: 0.688988 deg/s, posRepo size: 4
2021-08-15T15:13:43.409Z,1629040423.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 2258.04 m. Resuming terminal guidance.
2021-08-15T15:13:43.409Z,1629040423.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-15T15:13:45.803Z,1629040425.803 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:13:46.189Z,1629040426.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:13:46.189Z,1629040426.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:13:46.189Z,1629040426.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:13:46.190Z,1629040426.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:13:46.593Z,1629040426.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3E,000,09573,186,80,80,49,FF
2021-08-15T15:13:46.593Z,1629040426.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:13:46.593Z,1629040426.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:13:46.595Z,1629040426.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:13:46.993Z,1629040426.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:13:47.393Z,1629040427.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7A,000,006EC,186,80,80,73,FF
2021-08-15T15:13:47.393Z,1629040427.393 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:13:47.833Z,1629040427.833 [Micromodem](INFO): Nmea in: $SNTTA,0.045404,,,,151348.55*4B

2021-08-15T15:13:47.863Z,1629040427.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.820007 m, bearing: 204.631853 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-15T15:13:47.889Z,1629040427.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 204.631853deg and heading rate command to 0 deg/s.
2021-08-15T15:13:50.313Z,1629040430.313 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:13:50.621Z,1629040430.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:13:50.621Z,1629040430.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:13:50.621Z,1629040430.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:13:50.622Z,1629040430.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:13:51.025Z,1629040431.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7A,000,006EC,186,80,80,73,FF
2021-08-15T15:13:51.025Z,1629040431.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:13:51.025Z,1629040431.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:13:51.027Z,1629040431.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:13:51.437Z,1629040431.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:13:51.833Z,1629040431.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3D,000,006FE,186,80,80,67,FF
2021-08-15T15:13:51.834Z,1629040431.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:13:52.257Z,1629040432.257 [Micromodem](INFO): Nmea in: $SNTTA,0.434507,0.434757,,,151352.99*58

2021-08-15T15:13:52.347Z,1629040432.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.900002 m, bearing: 209.224636 deg, deltaT: 4.427949 s, approachRate: 0.243904 m/s, LOS rate: 1.037226 deg/s, posRepo size: 2
2021-08-15T15:13:52.349Z,1629040432.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.900002 m,
      bearing: 209.224636 deg,
      approachRate: 0.243904 m/s,
      LOS rate: 1.037226 deg/s,
      cmd update: 4.148903 deg/s,
      cmd heading: 204.631853 deg,
      new cmd heading: 204.631853 deg.

2021-08-15T15:13:54.679Z,1629040434.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:13:55.065Z,1629040435.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:13:55.065Z,1629040435.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:13:55.065Z,1629040435.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:13:55.066Z,1629040435.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:13:55.474Z,1629040435.474 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3D,000,006FE,186,80,80,67,FF
2021-08-15T15:13:55.474Z,1629040435.474 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:13:55.474Z,1629040435.474 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:13:55.475Z,1629040435.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:13:55.884Z,1629040435.884 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:13:56.296Z,1629040436.296 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07F,000,00723,186,80,80,36,FF
2021-08-15T15:13:56.298Z,1629040436.298 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:13:56.309Z,1629040436.309 [Micromodem](INFO): Nmea in: $SNTTA,0.060406,0.211510,,,151357.43*5F

2021-08-15T15:13:56.724Z,1629040436.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.120010 m, bearing: 189.822077 deg, deltaT: 4.511375 s, approachRate: 0.492091 m/s, LOS rate: -4.300808 deg/s, posRepo size: 3
2021-08-15T15:13:56.726Z,1629040436.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.120010 m,
      bearing: 189.822077 deg,
      approachRate: 0.492091 m/s,
      LOS rate: -4.300808 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 223.365980 deg,
      new cmd heading: 224.732861 deg.

2021-08-15T15:13:59.127Z,1629040439.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:13:59.510Z,1629040439.510 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:13:59.510Z,1629040439.510 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:13:59.510Z,1629040439.510 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:13:59.511Z,1629040439.511 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:13:59.928Z,1629040439.928 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07F,000,00723,186,80,80,36,FF
2021-08-15T15:13:59.928Z,1629040439.928 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:13:59.929Z,1629040439.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:13:59.930Z,1629040439.930 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:14:00.359Z,1629040440.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:14:00.735Z,1629040440.735 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E84,000,00733,186,80,80,57,FF
2021-08-15T15:14:00.735Z,1629040440.735 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:14:01.161Z,1629040441.161 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151401.89*5F

2021-08-15T15:14:01.184Z,1629040441.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.080002 m, bearing: 229.375484 deg, deltaT: 4.357363 s, approachRate: 0.220315 m/s, LOS rate: 9.077373 deg/s, posRepo size: 4
2021-08-15T15:14:01.186Z,1629040441.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.080002 m,
      bearing: 229.375484 deg,
      approachRate: 0.220315 m/s,
      LOS rate: 9.077373 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 171.076219 deg,
      new cmd heading: 165.892062 deg.

2021-08-15T15:14:03.598Z,1629040443.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:14:03.953Z,1629040443.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:14:03.953Z,1629040443.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:14:03.953Z,1629040443.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:14:03.954Z,1629040443.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:14:04.372Z,1629040444.372 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E84,000,00733,186,80,80,57,FF
2021-08-15T15:14:04.373Z,1629040444.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:14:04.373Z,1629040444.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:14:04.375Z,1629040444.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:14:04.809Z,1629040444.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:14:05.165Z,1629040445.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA3,000,00752,186,80,80,88,FF
2021-08-15T15:14:05.166Z,1629040445.166 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:14:05.603Z,1629040445.603 [Micromodem](INFO): Nmea in: $SNTTA,0.052776,,,,151406.33*46

2021-08-15T15:14:05.658Z,1629040445.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.940002 m, bearing: 228.715113 deg, deltaT: 4.430575 s, approachRate: 0.419810 m/s, LOS rate: -0.149048 deg/s, posRepo size: 4
2021-08-15T15:14:05.664Z,1629040445.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.940002 m,
      bearing: 228.715113 deg,
      approachRate: 0.419810 m/s,
      LOS rate: -0.149048 deg/s,
      cmd update: -0.596193 deg/s,
      cmd heading: 224.241656 deg,
      new cmd heading: 229.955804 deg.

2021-08-15T15:14:08.066Z,1629040448.066 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:14:08.409Z,1629040448.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:14:08.409Z,1629040448.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:14:08.409Z,1629040448.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:14:08.410Z,1629040448.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:14:08.813Z,1629040448.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA3,000,00752,186,80,80,88,FF
2021-08-15T15:14:08.813Z,1629040448.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:14:08.813Z,1629040448.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:14:08.814Z,1629040448.814 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:14:09.216Z,1629040449.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:14:09.609Z,1629040449.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,039,000,00771,184,80,80,9B,FF
2021-08-15T15:14:09.610Z,1629040449.610 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:14:10.057Z,1629040450.057 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151410.77*5E

2021-08-15T15:14:10.102Z,1629040450.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.800003 m, bearing: 197.670374 deg, deltaT: 4.474243 s, approachRate: 0.415713 m/s, LOS rate: -6.938546 deg/s, posRepo size: 4
2021-08-15T15:14:10.104Z,1629040450.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.800003 m,
      bearing: 197.670374 deg,
      approachRate: 0.415713 m/s,
      LOS rate: -6.938546 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 221.585890 deg,
      new cmd heading: 221.308360 deg.

2021-08-15T15:14:12.490Z,1629040452.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:14:12.846Z,1629040452.846 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:14:12.846Z,1629040452.846 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:14:12.846Z,1629040452.846 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:14:12.847Z,1629040452.847 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:14:13.245Z,1629040453.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
039,000,00771,184,80,80,9B,FF
2021-08-15T15:14:13.245Z,1629040453.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:14:13.246Z,1629040453.246 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:14:13.247Z,1629040453.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:14:13.649Z,1629040453.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:14:14.109Z,1629040454.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB3,000,00791,187,80,80,8F,FF
2021-08-15T15:14:14.109Z,1629040454.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:14:14.493Z,1629040454.493 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151415.21*58

2021-08-15T15:14:14.555Z,1629040454.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.720009 m, bearing: 229.207242 deg, deltaT: 4.489287 s, approachRate: 0.427686 m/s, LOS rate: 7.024917 deg/s, posRepo size: 4
2021-08-15T15:14:14.562Z,1629040454.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.720009 m,
      bearing: 229.207242 deg,
      approachRate: 0.427686 m/s,
      LOS rate: 7.024917 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 167.471192 deg,
      new cmd heading: 162.559928 deg.

2021-08-15T15:14:16.906Z,1629040456.906 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:14:17.311Z,1629040457.311 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:14:17.311Z,1629040457.311 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:14:17.312Z,1629040457.312 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:14:17.317Z,1629040457.317 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:14:17.685Z,1629040457.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB3,000,00791,187,80,80,8F,FF
2021-08-15T15:14:17.685Z,1629040457.685 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:14:17.685Z,1629040457.685 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:14:17.687Z,1629040457.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:14:18.109Z,1629040458.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:14:18.505Z,1629040458.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED7,000,007AE,186,80,80,75,FF
2021-08-15T15:14:18.506Z,1629040458.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:14:18.937Z,1629040458.937 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151419.65*54

2021-08-15T15:14:18.960Z,1629040458.960 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.459999 m, bearing: 222.004125 deg, deltaT: 4.417181 s, approachRate: 0.393914 m/s, LOS rate: -1.630705 deg/s, posRepo size: 4
2021-08-15T15:14:18.962Z,1629040458.962 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.459999 m,
      bearing: 222.004125 deg,
      approachRate: 0.393914 m/s,
      LOS rate: -1.630705 deg/s,
      cmd update: -6.522819 deg/s,
      cmd heading: 220.236657 deg,
      new cmd heading: 225.233241 deg.

2021-08-15T15:14:21.394Z,1629040461.394 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:14:21.725Z,1629040461.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:14:21.725Z,1629040461.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:14:21.725Z,1629040461.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:14:21.726Z,1629040461.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:14:22.141Z,1629040462.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED7,000,007AE,186,80,80,75,FF
2021-08-15T15:14:22.141Z,1629040462.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:14:22.141Z,1629040462.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:14:22.143Z,1629040462.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:14:22.557Z,1629040462.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:14:22.945Z,1629040462.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA7,000,002CE,189,80,80,47,FF
2021-08-15T15:14:22.945Z,1629040462.945 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:14:23.393Z,1629040463.393 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151424.10*58

2021-08-15T15:14:23.419Z,1629040463.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.580000 m, bearing: 225.871241 deg, deltaT: 4.431409 s, approachRate: -16.897560 m/s, LOS rate: 0.872661 deg/s, posRepo size: 4
2021-08-15T15:14:23.420Z,1629040463.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 5.58 m.
2021-08-15T15:14:23.422Z,1629040463.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.580000 m,
      bearing: 225.871241 deg,
      approachRate: -16.897560 m/s,
      LOS rate: 0.872661 deg/s,
      cmd update: 3.490643 deg/s,
      cmd heading: 191.227112 deg,
      new cmd heading: 188.431693 deg.

2021-08-15T15:14:23.807Z,1629040463.807 [PowerOnly](INFO): Powering up loadControl
2021-08-15T15:14:23.841Z,1629040463.841 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T15:14:23.842Z,1629040463.842 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T15:14:23.842Z,1629040463.842 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T15:14:23.842Z,1629040463.842 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T15:14:23.843Z,1629040463.843 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T15:14:23.843Z,1629040463.843 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T15:14:24.237Z,1629040464.237 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T15:14:24.237Z,1629040464.237 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T15:14:24.237Z,1629040464.237 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T15:14:24.238Z,1629040464.238 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T15:14:25.812Z,1629040465.812 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:14:26.188Z,1629040466.188 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:14:26.188Z,1629040466.188 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:14:26.188Z,1629040466.188 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:14:26.189Z,1629040466.189 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:14:26.577Z,1629040466.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA7,000,002CE,189,80,80,47,FF
2021-08-15T15:14:26.577Z,1629040466.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:14:26.577Z,1629040466.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:14:26.579Z,1629040466.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:14:26.993Z,1629040466.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:14:27.822Z,1629040467.822 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151428.54*54

2021-08-15T15:14:28.662Z,1629040468.662 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:14:30.222Z,1629040470.222 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,189,80,80,47,FF
2021-08-15T15:14:30.223Z,1629040470.223 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,189,80,80,47,FF
2021-08-15T15:14:30.223Z,1629040470.223 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T15:14:31.454Z,1629040471.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:14:31.826Z,1629040471.826 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:14:31.826Z,1629040471.826 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:14:31.827Z,1629040471.827 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:14:31.828Z,1629040471.828 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:14:32.233Z,1629040472.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,189,80,80,47,FF
2021-08-15T15:14:32.233Z,1629040472.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:14:32.233Z,1629040472.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:14:32.235Z,1629040472.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:14:32.670Z,1629040472.670 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:14:33.494Z,1629040473.494 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151434.20*5A

2021-08-15T15:14:34.358Z,1629040474.358 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:14:35.891Z,1629040475.891 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,189,80,80,47,FF
2021-08-15T15:14:35.891Z,1629040475.891 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,189,80,80,47,FF
2021-08-15T15:14:35.892Z,1629040475.892 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T15:14:37.120Z,1629040477.120 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:14:37.499Z,1629040477.499 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:14:37.499Z,1629040477.499 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:14:37.499Z,1629040477.499 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:14:37.500Z,1629040477.500 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:14:37.909Z,1629040477.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,189,80,80,47,FF
2021-08-15T15:14:37.910Z,1629040477.910 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:14:37.910Z,1629040477.910 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:14:37.911Z,1629040477.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:14:38.340Z,1629040478.340 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:14:38.713Z,1629040478.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E35,000,00834,186,80,80,98,FF
2021-08-15T15:14:38.713Z,1629040478.713 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:14:38.734Z,1629040478.734 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:14:39.166Z,1629040479.166 [Micromodem](INFO): Nmea in: $SNTTA,0.060965,,,,151439.87*48

2021-08-15T15:14:39.191Z,1629040479.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.500000 m, bearing: 249.610493 deg, deltaT: 15.736521 s, approachRate: 5.269271 m/s, LOS rate: 1.508545 deg/s, posRepo size: 4
2021-08-15T15:14:39.194Z,1629040479.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.500000 m,
      bearing: 249.610493 deg,
      approachRate: 5.269271 m/s,
      LOS rate: 1.508545 deg/s,
      cmd update: 6.034180 deg/s,
      cmd heading: 246.170829 deg,
      new cmd heading: 247.774455 deg.

2021-08-15T15:14:39.577Z,1629040479.577 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T15:14:39.578Z,1629040479.578 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T15:14:39.578Z,1629040479.578 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T15:14:39.578Z,1629040479.578 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T15:14:39.578Z,1629040479.578 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T15:14:39.579Z,1629040479.579 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T15:14:39.979Z,1629040479.979 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T15:14:39.980Z,1629040479.980 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T15:14:39.980Z,1629040479.980 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T15:14:39.980Z,1629040479.980 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T15:14:41.628Z,1629040481.628 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:14:41.945Z,1629040481.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:14:41.945Z,1629040481.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:14:41.945Z,1629040481.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:14:41.946Z,1629040481.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:14:42.365Z,1629040482.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E35,000,00834,186,80,80,98,FF
2021-08-15T15:14:42.365Z,1629040482.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:14:42.365Z,1629040482.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:14:42.367Z,1629040482.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:14:42.761Z,1629040482.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:14:43.165Z,1629040483.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F95,000,00845,187,80,80,7B,FF
2021-08-15T15:14:43.165Z,1629040483.165 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:14:43.589Z,1629040483.589 [Micromodem](INFO): Nmea in: $SNTTA,0.068275,,,,151444.33*4F

2021-08-15T15:14:43.633Z,1629040483.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.519997 m, bearing: 249.683466 deg, deltaT: 4.476196 s, approachRate: 0.227871 m/s, LOS rate: 0.016303 deg/s, posRepo size: 4
2021-08-15T15:14:43.635Z,1629040483.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.519997 m,
      bearing: 249.683466 deg,
      approachRate: 0.227871 m/s,
      LOS rate: 0.016303 deg/s,
      cmd update: 0.065210 deg/s,
      cmd heading: 273.036139 deg,
      new cmd heading: 275.749547 deg.

2021-08-15T15:14:46.073Z,1629040486.073 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:14:46.393Z,1629040486.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:14:46.393Z,1629040486.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:14:46.393Z,1629040486.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:14:46.394Z,1629040486.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:14:46.805Z,1629040486.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F95,000,00845,187,80,80,7B,FF
2021-08-15T15:14:46.806Z,1629040486.806 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:14:46.806Z,1629040486.806 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:14:46.808Z,1629040486.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:14:47.205Z,1629040487.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:14:47.601Z,1629040487.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E75,000,0084B,186,80,80,78,FF
2021-08-15T15:14:47.602Z,1629040487.602 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:14:48.049Z,1629040488.049 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151448.77*53

2021-08-15T15:14:48.127Z,1629040488.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.879997 m, bearing: 284.077540 deg, deltaT: 4.453219 s, approachRate: 0.080841 m/s, LOS rate: 7.723418 deg/s, posRepo size: 4
2021-08-15T15:14:48.135Z,1629040488.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.879997 m,
      bearing: 284.077540 deg,
      approachRate: 0.080841 m/s,
      LOS rate: 7.723418 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 273.327579 deg,
      new cmd heading: 273.358508 deg.

2021-08-15T15:14:50.474Z,1629040490.474 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:14:50.837Z,1629040490.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:14:50.837Z,1629040490.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:14:50.837Z,1629040490.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:14:50.838Z,1629040490.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:14:51.243Z,1629040491.243 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E75,000,0084B,186,80,80,78,FF
2021-08-15T15:14:51.243Z,1629040491.243 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:14:51.243Z,1629040491.243 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:14:51.245Z,1629040491.245 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:14:51.644Z,1629040491.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:14:52.093Z,1629040492.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D76,000,00845,189,80,80,5B,FF
2021-08-15T15:14:52.093Z,1629040492.093 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:14:52.489Z,1629040492.489 [Micromodem](INFO): Nmea in: $SNTTA,0.062993,,,,151453.20*42

2021-08-15T15:14:52.543Z,1629040492.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.519997 m, bearing: 313.007571 deg, deltaT: 4.469762 s, approachRate: -0.080541 m/s, LOS rate: 6.472388 deg/s, posRepo size: 4
2021-08-15T15:14:52.546Z,1629040492.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 89.519997 m,
      bearing: 313.007571 deg,
      approachRate: -0.080541 m/s,
      LOS rate: 6.472388 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 327.064804 deg,
      new cmd heading: 332.020732 deg.

2021-08-15T15:14:54.900Z,1629040494.900 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:14:55.301Z,1629040495.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:14:55.301Z,1629040495.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:14:55.302Z,1629040495.302 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:14:55.303Z,1629040495.303 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:14:55.681Z,1629040495.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D76,000,00845,189,80,80,5B,FF
2021-08-15T15:14:55.681Z,1629040495.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:14:55.681Z,1629040495.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:14:55.683Z,1629040495.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:14:56.104Z,1629040496.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:14:56.493Z,1629040496.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D92,000,00838,188,80,80,A4,FF
2021-08-15T15:14:56.494Z,1629040496.494 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:14:56.925Z,1629040496.925 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151457.64*5F

2021-08-15T15:14:56.968Z,1629040496.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.740005 m, bearing: 330.136975 deg, deltaT: 4.419850 s, approachRate: -0.176475 m/s, LOS rate: 3.875562 deg/s, posRepo size: 4
2021-08-15T15:14:56.970Z,1629040496.970 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.740005 m,
      bearing: 330.136975 deg,
      approachRate: -0.176475 m/s,
      LOS rate: 3.875562 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 20.102765 deg,
      new cmd heading: 24.870797 deg.

2021-08-15T15:14:59.370Z,1629040499.370 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:14:59.721Z,1629040499.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:14:59.721Z,1629040499.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:14:59.721Z,1629040499.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:14:59.722Z,1629040499.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:15:00.129Z,1629040500.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D92,000,00838,188,80,80,A4,FF
2021-08-15T15:15:00.129Z,1629040500.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:15:00.129Z,1629040500.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:15:00.131Z,1629040500.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:15:00.537Z,1629040500.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:15:00.937Z,1629040500.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00820,18A,80,80,AC,FF
2021-08-15T15:15:00.938Z,1629040500.938 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:15:01.386Z,1629040501.386 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151502.09*55

2021-08-15T15:15:01.413Z,1629040501.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.300003 m, bearing: 21.033467 deg, deltaT: 4.404579 s, approachRate: -0.326933 m/s, LOS rate: 11.555357 deg/s, posRepo size: 4
2021-08-15T15:15:01.413Z,1629040501.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.555357 deg/s. Setting heading cmd to target bearing of 21.033467deg and heading rate command to 0 deg/s.
2021-08-15T15:15:03.795Z,1629040503.795 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:15:04.169Z,1629040504.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:15:04.169Z,1629040504.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:15:04.169Z,1629040504.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:15:04.170Z,1629040504.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:15:04.573Z,1629040504.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00820,18A,80,80,AC,FF
2021-08-15T15:15:04.573Z,1629040504.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:15:04.573Z,1629040504.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:15:04.575Z,1629040504.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:15:04.998Z,1629040504.998 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:15:05.377Z,1629040505.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CAB,000,007FA,189,80,80,A9,FF
2021-08-15T15:15:05.378Z,1629040505.378 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:15:05.813Z,1629040505.813 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151506.54*59

2021-08-15T15:15:05.845Z,1629040505.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.020004 m, bearing: 18.209047 deg, deltaT: 4.510606 s, approachRate: -0.505475 m/s, LOS rate: -0.626173 deg/s, posRepo size: 4
2021-08-15T15:15:05.847Z,1629040505.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.020004 m,
      bearing: 18.209047 deg,
      approachRate: -0.505475 m/s,
      LOS rate: -0.626173 deg/s,
      cmd update: -2.504692 deg/s,
      cmd heading: 21.033467 deg,
      new cmd heading: 21.033467 deg.

2021-08-15T15:15:08.302Z,1629040508.302 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:15:08.617Z,1629040508.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:15:08.617Z,1629040508.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:15:08.617Z,1629040508.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:15:08.618Z,1629040508.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:15:09.033Z,1629040509.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CAB,000,007FA,189,80,80,A9,FF
2021-08-15T15:15:09.033Z,1629040509.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:15:09.033Z,1629040509.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:15:09.035Z,1629040509.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:15:09.424Z,1629040509.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:15:09.841Z,1629040509.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,258,000,007D0,188,80,80,61,FF
2021-08-15T15:15:09.842Z,1629040509.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:15:10.272Z,1629040510.272 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151510.99*5F

2021-08-15T15:15:10.360Z,1629040510.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.500000 m, bearing: 324.498053 deg, deltaT: 4.393632 s, approachRate: -0.573558 m/s, LOS rate: -12.224735 deg/s, posRepo size: 4
2021-08-15T15:15:10.361Z,1629040510.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.224735 deg/s. Setting heading cmd to target bearing of 324.498053deg and heading rate command to 0 deg/s.
2021-08-15T15:15:12.672Z,1629040512.672 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:15:13.057Z,1629040513.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:15:13.058Z,1629040513.058 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:15:13.058Z,1629040513.058 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:15:13.059Z,1629040513.059 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:15:13.473Z,1629040513.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
258,000,007D0,188,80,80,61,FF
2021-08-15T15:15:13.473Z,1629040513.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:15:13.473Z,1629040513.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:15:13.475Z,1629040513.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:15:13.868Z,1629040513.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:15:14.280Z,1629040514.280 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB8,000,0079B,187,80,80,CB,FF
2021-08-15T15:15:14.282Z,1629040514.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:15:14.705Z,1629040514.705 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151515.44*5A

2021-08-15T15:15:14.730Z,1629040514.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.320007 m, bearing: 25.829644 deg, deltaT: 4.535290 s, approachRate: -0.701166 m/s, LOS rate: 13.523191 deg/s, posRepo size: 4
2021-08-15T15:15:14.730Z,1629040514.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.523191 deg/s. Setting heading cmd to target bearing of 25.829644deg and heading rate command to 0 deg/s.
2021-08-15T15:15:17.125Z,1629040517.125 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:15:17.502Z,1629040517.502 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:15:17.502Z,1629040517.502 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:15:17.502Z,1629040517.502 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:15:17.503Z,1629040517.503 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:15:17.905Z,1629040517.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB8,000,0079B,187,80,80,CB,FF
2021-08-15T15:15:17.905Z,1629040517.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:15:17.905Z,1629040517.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:15:17.907Z,1629040517.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:15:18.345Z,1629040518.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:15:18.714Z,1629040518.714 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E28,000,0076B,187,80,80,B6,FF
2021-08-15T15:15:18.715Z,1629040518.715 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:15:19.149Z,1629040519.149 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151519.87*59

2021-08-15T15:15:19.181Z,1629040519.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.440010 m, bearing: 26.229166 deg, deltaT: 4.337368 s, approachRate: -0.663997 m/s, LOS rate: 0.092112 deg/s, posRepo size: 4
2021-08-15T15:15:19.183Z,1629040519.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.440010 m,
      bearing: 26.229166 deg,
      approachRate: -0.663997 m/s,
      LOS rate: 0.092112 deg/s,
      cmd update: 0.368446 deg/s,
      cmd heading: 25.829644 deg,
      new cmd heading: 25.829644 deg.

2021-08-15T15:15:21.594Z,1629040521.594 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:15:21.953Z,1629040521.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:15:21.953Z,1629040521.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:15:21.953Z,1629040521.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:15:21.954Z,1629040521.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:15:22.361Z,1629040522.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E28,000,0076B,187,80,80,B6,FF
2021-08-15T15:15:22.361Z,1629040522.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:15:22.361Z,1629040522.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:15:22.363Z,1629040522.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:15:22.753Z,1629040522.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:15:23.165Z,1629040523.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C9A,000,00735,189,80,80,A3,FF
2021-08-15T15:15:23.166Z,1629040523.166 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:15:23.601Z,1629040523.601 [Micromodem](INFO): Nmea in: $SNTTA,0.065779,,,,151524.33*4C

2021-08-15T15:15:23.640Z,1629040523.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.199997 m, bearing: 35.909624 deg, deltaT: 4.474825 s, approachRate: -0.724054 m/s, LOS rate: 2.163315 deg/s, posRepo size: 4
2021-08-15T15:15:23.642Z,1629040523.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.199997 m,
      bearing: 35.909624 deg,
      approachRate: -0.724054 m/s,
      LOS rate: 2.163315 deg/s,
      cmd update: 8.653261 deg/s,
      cmd heading: 27.469521 deg,
      new cmd heading: 27.638087 deg.

2021-08-15T15:15:26.074Z,1629040526.074 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:15:26.394Z,1629040526.394 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:15:26.394Z,1629040526.394 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:15:26.395Z,1629040526.395 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:15:26.395Z,1629040526.395 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:15:26.789Z,1629040526.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C9A,000,00735,189,80,80,A3,FF
2021-08-15T15:15:26.789Z,1629040526.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:15:26.789Z,1629040526.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:15:26.791Z,1629040526.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:15:27.210Z,1629040527.210 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:15:27.597Z,1629040527.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D86,000,00704,189,80,80,9D,FF
2021-08-15T15:15:27.598Z,1629040527.598 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:15:28.089Z,1629040528.089 [Micromodem](INFO): Nmea in: $SNTTA,,0.046393,,,151528.75*43

2021-08-15T15:15:28.150Z,1629040528.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.260010 m, bearing: 35.499143 deg, deltaT: 4.456522 s, approachRate: -0.659704 m/s, LOS rate: -0.092108 deg/s, posRepo size: 4
2021-08-15T15:15:28.151Z,1629040528.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.260010 m,
      bearing: 35.499143 deg,
      approachRate: -0.659704 m/s,
      LOS rate: -0.092108 deg/s,
      cmd update: -0.368431 deg/s,
      cmd heading: 66.136654 deg,
      new cmd heading: 70.408250 deg.

2021-08-15T15:15:30.499Z,1629040530.499 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:15:30.829Z,1629040530.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:15:30.829Z,1629040530.829 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:15:30.830Z,1629040530.830 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:15:30.831Z,1629040530.831 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:15:31.242Z,1629040531.242 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D86,000,00704,189,80,80,9D,FF
2021-08-15T15:15:31.242Z,1629040531.242 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:15:31.243Z,1629040531.243 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:15:31.245Z,1629040531.245 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:15:31.649Z,1629040531.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:15:32.099Z,1629040532.099 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2B,000,006D1,186,80,80,AF,FF
2021-08-15T15:15:32.099Z,1629040532.099 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:15:32.489Z,1629040532.489 [Micromodem](INFO): Nmea in: $SNTTA,0.053104,,,,151533.21*40

2021-08-15T15:15:32.553Z,1629040532.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.199997 m, bearing: 29.796062 deg, deltaT: 4.532910 s, approachRate: -0.675066 m/s, LOS rate: -1.258150 deg/s, posRepo size: 4
2021-08-15T15:15:32.555Z,1629040532.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.199997 m,
      bearing: 29.796062 deg,
      approachRate: -0.675066 m/s,
      LOS rate: -1.258150 deg/s,
      cmd update: -5.032601 deg/s,
      cmd heading: 64.466217 deg,
      new cmd heading: 64.332198 deg.

2021-08-15T15:15:34.892Z,1629040534.892 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:15:35.269Z,1629040535.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:15:35.269Z,1629040535.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:15:35.269Z,1629040535.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:15:35.270Z,1629040535.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:15:35.677Z,1629040535.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2B,000,006D1,186,80,80,AF,FF
2021-08-15T15:15:35.677Z,1629040535.677 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:15:35.678Z,1629040535.678 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:15:35.679Z,1629040535.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:15:36.113Z,1629040536.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:15:36.493Z,1629040536.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,089,000,0069E,186,80,80,9C,FF
2021-08-15T15:15:36.494Z,1629040536.494 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:15:36.925Z,1629040536.925 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151537.64*58

2021-08-15T15:15:36.978Z,1629040536.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.139999 m, bearing: 28.968523 deg, deltaT: 4.375851 s, approachRate: -0.699292 m/s, LOS rate: -0.189115 deg/s, posRepo size: 4
2021-08-15T15:15:36.985Z,1629040536.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.139999 m,
      bearing: 28.968523 deg,
      approachRate: -0.699292 m/s,
      LOS rate: -0.189115 deg/s,
      cmd update: -0.756460 deg/s,
      cmd heading: 42.408951 deg,
      new cmd heading: 40.347357 deg.

2021-08-15T15:15:39.335Z,1629040539.335 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:15:39.721Z,1629040539.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:15:39.721Z,1629040539.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:15:39.721Z,1629040539.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:15:39.722Z,1629040539.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:15:40.133Z,1629040540.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
089,000,0069E,186,80,80,9C,FF
2021-08-15T15:15:40.133Z,1629040540.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:15:40.133Z,1629040540.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:15:40.135Z,1629040540.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:15:40.540Z,1629040540.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:15:40.937Z,1629040540.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C8,000,00667,186,80,80,A3,FF
2021-08-15T15:15:40.937Z,1629040540.937 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:15:41.398Z,1629040541.398 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151542.10*59

2021-08-15T15:15:41.431Z,1629040541.431 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.840000 m, bearing: 23.467869 deg, deltaT: 4.383297 s, approachRate: -0.752858 m/s, LOS rate: -1.254912 deg/s, posRepo size: 4
2021-08-15T15:15:41.458Z,1629040541.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.840000 m,
      bearing: 23.467869 deg,
      approachRate: -0.752858 m/s,
      LOS rate: -1.254912 deg/s,
      cmd update: -5.019649 deg/s,
      cmd heading: 39.090169 deg,
      new cmd heading: 38.729874 deg.

2021-08-15T15:15:43.807Z,1629040543.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:15:44.173Z,1629040544.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:15:44.173Z,1629040544.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:15:44.173Z,1629040544.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:15:44.174Z,1629040544.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:15:44.577Z,1629040544.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C8,000,00667,186,80,80,A3,FF
2021-08-15T15:15:44.577Z,1629040544.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:15:44.577Z,1629040544.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:15:44.579Z,1629040544.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:15:44.977Z,1629040544.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:15:45.381Z,1629040545.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,11E,000,00636,185,80,80,BC,FF
2021-08-15T15:15:45.382Z,1629040545.382 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:15:45.825Z,1629040545.825 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151546.54*5D

2021-08-15T15:15:45.852Z,1629040545.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.900009 m, bearing: 26.422701 deg, deltaT: 4.484408 s, approachRate: -0.655603 m/s, LOS rate: 0.658912 deg/s, posRepo size: 4
2021-08-15T15:15:45.854Z,1629040545.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.900009 m,
      bearing: 26.422701 deg,
      approachRate: -0.655603 m/s,
      LOS rate: 0.658912 deg/s,
      cmd update: 2.635650 deg/s,
      cmd heading: 16.600127 deg,
      new cmd heading: 14.511355 deg.

2021-08-15T15:15:48.262Z,1629040548.262 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:15:48.609Z,1629040548.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:15:48.609Z,1629040548.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:15:48.609Z,1629040548.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:15:48.610Z,1629040548.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:15:49.019Z,1629040549.019 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
11E,000,00636,185,80,80,BC,FF
2021-08-15T15:15:49.019Z,1629040549.019 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:15:49.019Z,1629040549.019 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:15:49.021Z,1629040549.021 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:15:49.417Z,1629040549.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:15:49.829Z,1629040549.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD8,000,005FF,185,80,80,C7,FF
2021-08-15T15:15:49.829Z,1629040549.829 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:15:50.265Z,1629040550.265 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151550.98*5A

2021-08-15T15:15:50.318Z,1629040550.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.599998 m, bearing: 28.364280 deg, deltaT: 4.433257 s, approachRate: -0.744376 m/s, LOS rate: 0.437958 deg/s, posRepo size: 4
2021-08-15T15:15:50.320Z,1629040550.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.599998 m,
      bearing: 28.364280 deg,
      approachRate: -0.744376 m/s,
      LOS rate: 0.437958 deg/s,
      cmd update: 1.751830 deg/s,
      cmd heading: 28.258048 deg,
      new cmd heading: 29.469102 deg.

2021-08-15T15:15:52.706Z,1629040552.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:15:53.053Z,1629040553.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:15:53.053Z,1629040553.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:15:53.053Z,1629040553.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:15:53.054Z,1629040553.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:15:53.462Z,1629040553.462 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD8,000,005FF,185,80,80,C7,FF
2021-08-15T15:15:53.462Z,1629040553.462 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:15:53.462Z,1629040553.462 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:15:53.463Z,1629040553.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:15:53.873Z,1629040553.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:15:54.269Z,1629040554.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F98,000,005C4,187,80,80,8A,FF
2021-08-15T15:15:54.270Z,1629040554.270 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:15:54.701Z,1629040554.701 [Micromodem](INFO): Nmea in: $SNTTA,0.047650,,,,151555.42*46

2021-08-15T15:15:54.748Z,1629040554.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.059994 m, bearing: 29.100069 deg, deltaT: 4.458607 s, approachRate: -0.793971 m/s, LOS rate: 0.165027 deg/s, posRepo size: 4
2021-08-15T15:15:54.750Z,1629040554.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.059994 m,
      bearing: 29.100069 deg,
      approachRate: -0.793971 m/s,
      LOS rate: 0.165027 deg/s,
      cmd update: 0.660107 deg/s,
      cmd heading: 36.093509 deg,
      new cmd heading: 36.823307 deg.

2021-08-15T15:15:57.120Z,1629040557.120 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:15:57.505Z,1629040557.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:15:57.506Z,1629040557.506 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:15:57.506Z,1629040557.506 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:15:57.507Z,1629040557.507 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:15:57.909Z,1629040557.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F98,000,005C4,187,80,80,8A,FF
2021-08-15T15:15:57.909Z,1629040557.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:15:57.909Z,1629040557.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:15:57.911Z,1629040557.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:15:58.349Z,1629040558.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:15:58.713Z,1629040558.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,081,000,0058E,186,80,80,BB,FF
2021-08-15T15:15:58.713Z,1629040558.713 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:15:59.145Z,1629040559.145 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151559.87*5D

2021-08-15T15:15:59.200Z,1629040559.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.820000 m, bearing: 28.548806 deg, deltaT: 4.444274 s, approachRate: -0.729027 m/s, LOS rate: -0.124039 deg/s, posRepo size: 4
2021-08-15T15:15:59.202Z,1629040559.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.820000 m,
      bearing: 28.548806 deg,
      approachRate: -0.729027 m/s,
      LOS rate: -0.124039 deg/s,
      cmd update: -0.496156 deg/s,
      cmd heading: 39.027070 deg,
      new cmd heading: 39.304468 deg.

2021-08-15T15:16:01.589Z,1629040561.589 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:16:01.941Z,1629040561.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:16:01.941Z,1629040561.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:16:01.941Z,1629040561.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:16:01.942Z,1629040561.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:16:02.354Z,1629040562.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
081,000,0058E,186,80,80,BB,FF
2021-08-15T15:16:02.354Z,1629040562.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:16:02.354Z,1629040562.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:16:02.356Z,1629040562.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:16:02.760Z,1629040562.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:16:03.153Z,1629040563.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,129,000,00560,185,80,80,9F,FF
2021-08-15T15:16:03.154Z,1629040563.154 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:16:03.605Z,1629040563.605 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151604.32*58

2021-08-15T15:16:03.631Z,1629040563.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.059998 m, bearing: 25.552455 deg, deltaT: 4.430995 s, approachRate: -0.622885 m/s, LOS rate: -0.676225 deg/s, posRepo size: 4
2021-08-15T15:16:03.657Z,1629040563.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.059998 m,
      bearing: 25.552455 deg,
      approachRate: -0.622885 m/s,
      LOS rate: -0.676225 deg/s,
      cmd update: -2.704901 deg/s,
      cmd heading: 36.830500 deg,
      new cmd heading: 36.617880 deg.

2021-08-15T15:16:06.068Z,1629040566.068 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:16:06.389Z,1629040566.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:16:06.389Z,1629040566.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:16:06.389Z,1629040566.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:16:06.390Z,1629040566.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:16:06.794Z,1629040566.794 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
129,000,00560,185,80,80,9F,FF
2021-08-15T15:16:06.794Z,1629040566.794 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:16:06.794Z,1629040566.794 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:16:06.796Z,1629040566.796 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:16:07.205Z,1629040567.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:16:07.601Z,1629040567.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E8,000,00529,186,80,80,A1,FF
2021-08-15T15:16:07.601Z,1629040567.601 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:16:08.065Z,1629040568.065 [Micromodem](INFO): Nmea in: $SNTTA,0.042098,,,,151608.76*4D

2021-08-15T15:16:08.122Z,1629040568.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.759998 m, bearing: 26.436285 deg, deltaT: 4.451195 s, approachRate: -0.741374 m/s, LOS rate: 0.198560 deg/s, posRepo size: 4
2021-08-15T15:16:08.123Z,1629040568.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.759998 m,
      bearing: 26.436285 deg,
      approachRate: -0.741374 m/s,
      LOS rate: 0.198560 deg/s,
      cmd update: 0.794241 deg/s,
      cmd heading: 24.790319 deg,
      new cmd heading: 23.525345 deg.

2021-08-15T15:16:10.482Z,1629040570.482 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:16:10.833Z,1629040570.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:16:10.833Z,1629040570.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:16:10.833Z,1629040570.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:16:10.834Z,1629040570.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:16:11.245Z,1629040571.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E8,000,00529,186,80,80,A1,FF
2021-08-15T15:16:11.245Z,1629040571.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:16:11.245Z,1629040571.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:16:11.247Z,1629040571.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:16:11.640Z,1629040571.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:16:12.101Z,1629040572.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,068,000,004F3,186,80,80,A2,FF
2021-08-15T15:16:12.101Z,1629040572.101 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:16:12.485Z,1629040572.485 [Micromodem](INFO): Nmea in: $SNTTA,0.040677,,,,151613.21*40

2021-08-15T15:16:12.539Z,1629040572.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.520000 m, bearing: 26.513502 deg, deltaT: 4.504462 s, approachRate: -0.719286 m/s, LOS rate: 0.017142 deg/s, posRepo size: 4
2021-08-15T15:16:12.540Z,1629040572.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.52 m.
2021-08-15T15:16:12.541Z,1629040572.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 38.52 m.
2021-08-15T15:16:12.541Z,1629040572.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-15T15:16:12.543Z,1629040572.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.520000 m,
      bearing: 26.513502 deg,
      approachRate: -0.719286 m/s,
      LOS rate: 0.017142 deg/s,
      cmd update: 0.068569 deg/s,
      cmd heading: 28.371103 deg,
      new cmd heading: 28.670699 deg.

2021-08-15T15:16:12.893Z,1629040572.893 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T15:16:12.893Z,1629040572.893 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T15:16:12.894Z,1629040572.894 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T15:16:12.894Z,1629040572.894 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T15:16:12.894Z,1629040572.894 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T15:16:12.895Z,1629040572.895 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T15:16:13.297Z,1629040573.297 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T15:16:13.298Z,1629040573.298 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T15:16:13.298Z,1629040573.298 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T15:16:13.298Z,1629040573.298 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T15:16:14.940Z,1629040574.940 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:16:15.285Z,1629040575.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:16:15.285Z,1629040575.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:16:15.285Z,1629040575.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:16:15.286Z,1629040575.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:16:15.677Z,1629040575.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
068,000,004F3,186,80,80,A2,FF
2021-08-15T15:16:15.677Z,1629040575.677 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:16:15.677Z,1629040575.677 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:16:15.679Z,1629040575.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:16:16.108Z,1629040576.108 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:16:16.498Z,1629040576.498 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,039,000,004BE,184,80,80,64,FF
2021-08-15T15:16:16.498Z,1629040576.498 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:16:16.562Z,1629040576.562 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:16:16.938Z,1629040576.938 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151617.64*59

2021-08-15T15:16:16.939Z,1629040576.939 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,151618,30*71
 expected 4A
2021-08-15T15:16:16.954Z,1629040576.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.340000 m, bearing: 26.888131 deg, deltaT: 4.396656 s, approachRate: -0.723277 m/s, LOS rate: 0.085208 deg/s, posRepo size: 4
2021-08-15T15:16:16.956Z,1629040576.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.340000 m,
      bearing: 26.888131 deg,
      approachRate: -0.723277 m/s,
      LOS rate: 0.085208 deg/s,
      cmd update: 0.340831 deg/s,
      cmd heading: 28.672549 deg,
      new cmd heading: 28.699669 deg.

2021-08-15T15:16:19.400Z,1629040579.400 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:16:19.732Z,1629040579.732 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:16:19.732Z,1629040579.732 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:16:19.732Z,1629040579.732 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:16:19.733Z,1629040579.733 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:16:20.137Z,1629040580.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
039,000,004BE,184,80,80,64,FF
2021-08-15T15:16:20.137Z,1629040580.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:16:20.137Z,1629040580.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:16:20.139Z,1629040580.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:16:20.534Z,1629040580.534 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:16:20.946Z,1629040580.946 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,035,000,00487,185,80,80,82,FF
2021-08-15T15:16:20.947Z,1629040580.947 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:16:20.999Z,1629040580.999 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:16:21.397Z,1629040581.397 [Micromodem](INFO): Nmea in: $SNTTA,0.036103,,,,151622.10*45

2021-08-15T15:16:21.448Z,1629040581.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.040001 m, bearing: 26.897900 deg, deltaT: 4.437028 s, approachRate: -0.743741 m/s, LOS rate: 0.002202 deg/s, posRepo size: 4
2021-08-15T15:16:21.450Z,1629040581.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.040001 m,
      bearing: 26.897900 deg,
      approachRate: -0.743741 m/s,
      LOS rate: 0.002202 deg/s,
      cmd update: 0.008807 deg/s,
      cmd heading: 30.183433 deg,
      new cmd heading: 30.332068 deg.

2021-08-15T15:16:23.800Z,1629040583.800 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:16:24.162Z,1629040584.162 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:16:24.162Z,1629040584.162 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:16:24.163Z,1629040584.163 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:16:24.166Z,1629040584.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:16:24.574Z,1629040584.574 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
035,000,00487,185,80,80,82,FF
2021-08-15T15:16:24.574Z,1629040584.574 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:16:24.574Z,1629040584.574 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:16:24.576Z,1629040584.576 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:16:24.976Z,1629040584.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:16:25.377Z,1629040585.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06C,000,0044F,186,80,80,7A,FF
2021-08-15T15:16:25.377Z,1629040585.377 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:16:25.444Z,1629040585.444 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:16:25.801Z,1629040585.801 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151626.54*58

2021-08-15T15:16:25.865Z,1629040585.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.679998 m, bearing: 24.583862 deg, deltaT: 4.445346 s, approachRate: -0.755847 m/s, LOS rate: -0.520553 deg/s, posRepo size: 4
2021-08-15T15:16:25.867Z,1629040585.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.679998 m,
      bearing: 24.583862 deg,
      approachRate: -0.755847 m/s,
      LOS rate: -0.520553 deg/s,
      cmd update: -2.082211 deg/s,
      cmd heading: 30.222592 deg,
      new cmd heading: 30.226242 deg.

2021-08-15T15:16:28.325Z,1629040588.325 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:16:28.610Z,1629040588.610 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:16:28.610Z,1629040588.610 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:16:28.610Z,1629040588.610 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:16:28.611Z,1629040588.611 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:16:29.013Z,1629040589.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06C,000,0044F,186,80,80,7A,FF
2021-08-15T15:16:29.013Z,1629040589.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:16:29.013Z,1629040589.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:16:29.015Z,1629040589.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:16:29.417Z,1629040589.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:16:29.817Z,1629040589.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,032,000,00421,184,80,80,8C,FF
2021-08-15T15:16:29.817Z,1629040589.817 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:16:29.903Z,1629040589.903 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:16:30.260Z,1629040590.260 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151630.98*5F

2021-08-15T15:16:30.356Z,1629040590.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.919998 m, bearing: 27.102713 deg, deltaT: 4.458848 s, approachRate: -0.618994 m/s, LOS rate: 0.564911 deg/s, posRepo size: 4
2021-08-15T15:16:30.358Z,1629040590.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.919998 m,
      bearing: 27.102713 deg,
      approachRate: -0.618994 m/s,
      LOS rate: 0.564911 deg/s,
      cmd update: 2.259643 deg/s,
      cmd heading: 20.944844 deg,
      new cmd heading: 19.982114 deg.

2021-08-15T15:16:32.663Z,1629040592.663 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:16:33.053Z,1629040593.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:16:33.053Z,1629040593.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:16:33.054Z,1629040593.054 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:16:33.054Z,1629040593.055 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:16:33.461Z,1629040593.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
032,000,00421,184,80,80,8C,FF
2021-08-15T15:16:33.461Z,1629040593.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:16:33.461Z,1629040593.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:16:33.463Z,1629040593.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:16:33.864Z,1629040593.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:16:34.285Z,1629040594.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB1,000,003E8,185,80,80,4E,FF
2021-08-15T15:16:34.286Z,1629040594.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:16:34.398Z,1629040594.398 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:16:34.709Z,1629040594.709 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151635.43*5C

2021-08-15T15:16:34.773Z,1629040594.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.499998 m, bearing: 28.050825 deg, deltaT: 4.495070 s, approachRate: -0.760834 m/s, LOS rate: 0.210923 deg/s, posRepo size: 4
2021-08-15T15:16:34.781Z,1629040594.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.499998 m,
      bearing: 28.050825 deg,
      approachRate: -0.760834 m/s,
      LOS rate: 0.210923 deg/s,
      cmd update: 0.843691 deg/s,
      cmd heading: 31.106916 deg,
      new cmd heading: 31.956207 deg.

2021-08-15T15:16:37.131Z,1629040597.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:16:37.486Z,1629040597.486 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:16:37.486Z,1629040597.486 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:16:37.487Z,1629040597.487 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:16:37.488Z,1629040597.488 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:16:37.905Z,1629040597.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB1,000,003E8,185,80,80,4E,FF
2021-08-15T15:16:37.906Z,1629040597.906 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:16:37.906Z,1629040597.906 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:16:37.907Z,1629040597.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:16:38.337Z,1629040598.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:16:38.705Z,1629040598.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,074,000,003BA,186,80,80,83,FF
2021-08-15T15:16:38.705Z,1629040598.705 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:16:38.762Z,1629040598.762 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:16:39.145Z,1629040599.145 [Micromodem](INFO): Nmea in: $SNTTA,0.050787,,,,151639.87*4B

2021-08-15T15:16:39.168Z,1629040599.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.740000 m, bearing: 24.330252 deg, deltaT: 4.364032 s, approachRate: -0.632442 m/s, LOS rate: -0.852554 deg/s, posRepo size: 4
2021-08-15T15:16:39.170Z,1629040599.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.740000 m,
      bearing: 24.330252 deg,
      approachRate: -0.632442 m/s,
      LOS rate: -0.852554 deg/s,
      cmd update: -3.410216 deg/s,
      cmd heading: 34.788817 deg,
      new cmd heading: 35.136960 deg.

2021-08-15T15:16:41.587Z,1629040601.587 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:16:41.937Z,1629040601.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:16:41.937Z,1629040601.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:16:41.937Z,1629040601.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:16:41.938Z,1629040601.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:16:42.349Z,1629040602.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
074,000,003BA,186,80,80,83,FF
2021-08-15T15:16:42.349Z,1629040602.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:16:42.349Z,1629040602.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:16:42.351Z,1629040602.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:16:42.752Z,1629040602.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:16:43.149Z,1629040603.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D8,000,00383,186,80,80,66,FF
2021-08-15T15:16:43.150Z,1629040603.150 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:16:43.175Z,1629040603.175 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:16:43.593Z,1629040603.593 [Micromodem](INFO): Nmea in: $SNTTA,0.039986,,,,151644.31*4C

2021-08-15T15:16:43.632Z,1629040603.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.439999 m, bearing: 24.892146 deg, deltaT: 4.412594 s, approachRate: -0.747860 m/s, LOS rate: 0.127339 deg/s, posRepo size: 4
2021-08-15T15:16:43.634Z,1629040603.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.439999 m,
      bearing: 24.892146 deg,
      approachRate: -0.747860 m/s,
      LOS rate: 0.127339 deg/s,
      cmd update: 0.509355 deg/s,
      cmd heading: 19.727127 deg,
      new cmd heading: 18.157562 deg.

2021-08-15T15:16:46.066Z,1629040606.066 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:16:46.385Z,1629040606.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:16:46.385Z,1629040606.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:16:46.385Z,1629040606.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:16:46.386Z,1629040606.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:16:46.785Z,1629040606.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D8,000,00383,186,80,80,66,FF
2021-08-15T15:16:46.785Z,1629040606.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:16:46.785Z,1629040606.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:16:46.787Z,1629040606.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:16:47.192Z,1629040607.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:16:47.601Z,1629040607.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F80,000,0033F,186,80,80,BA,FF
2021-08-15T15:16:47.601Z,1629040607.601 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:16:47.664Z,1629040607.664 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:16:48.051Z,1629040608.051 [Micromodem](INFO): Nmea in: $SNTTA,0.008060,,,,151648.75*43

2021-08-15T15:16:48.117Z,1629040608.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.360002 m, bearing: 31.121040 deg, deltaT: 4.489538 s, approachRate: -0.908779 m/s, LOS rate: 1.387424 deg/s, posRepo size: 4
2021-08-15T15:16:48.119Z,1629040608.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.360002 m,
      bearing: 31.121040 deg,
      approachRate: -0.908779 m/s,
      LOS rate: 1.387424 deg/s,
      cmd update: 5.549696 deg/s,
      cmd heading: 22.009738 deg,
      new cmd heading: 22.243833 deg.

2021-08-15T15:16:50.463Z,1629040610.463 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:16:50.825Z,1629040610.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:16:50.825Z,1629040610.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:16:50.825Z,1629040610.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:16:50.826Z,1629040610.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:16:51.237Z,1629040611.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F80,000,0033F,186,80,80,BA,FF
2021-08-15T15:16:51.237Z,1629040611.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:16:51.237Z,1629040611.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:16:51.239Z,1629040611.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:16:51.637Z,1629040611.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:16:52.089Z,1629040612.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED7,000,00311,186,80,80,BB,FF
2021-08-15T15:16:52.090Z,1629040612.090 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:16:52.192Z,1629040612.192 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:16:52.477Z,1629040612.477 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151653.20*59

2021-08-15T15:16:52.528Z,1629040612.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.599998 m, bearing: 31.782868 deg, deltaT: 4.527886 s, approachRate: -0.609557 m/s, LOS rate: 0.146167 deg/s, posRepo size: 4
2021-08-15T15:16:52.531Z,1629040612.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.599998 m,
      bearing: 31.782868 deg,
      approachRate: -0.609557 m/s,
      LOS rate: 0.146167 deg/s,
      cmd update: 0.584669 deg/s,
      cmd heading: 47.071257 deg,
      new cmd heading: 49.058708 deg.

2021-08-15T15:16:54.910Z,1629040614.910 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:16:55.281Z,1629040615.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:16:55.281Z,1629040615.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:16:55.282Z,1629040615.282 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:16:55.283Z,1629040615.283 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:16:55.679Z,1629040615.679 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED7,000,00311,186,80,80,BB,FF
2021-08-15T15:16:55.679Z,1629040615.679 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:16:55.679Z,1629040615.679 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:16:55.681Z,1629040615.681 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:16:56.104Z,1629040616.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:16:56.482Z,1629040616.482 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F93,000,002EB,187,80,80,8A,FF
2021-08-15T15:16:56.482Z,1629040616.482 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:16:56.547Z,1629040616.547 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:16:56.925Z,1629040616.925 [Micromodem](INFO): Nmea in: $SNTTA,0.045697,,,,151657.64*4A

2021-08-15T15:16:56.957Z,1629040616.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.320000 m, bearing: 33.314261 deg, deltaT: 4.354872 s, approachRate: -0.523551 m/s, LOS rate: 0.351651 deg/s, posRepo size: 4
2021-08-15T15:16:56.959Z,1629040616.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.320000 m,
      bearing: 33.314261 deg,
      approachRate: -0.523551 m/s,
      LOS rate: 0.351651 deg/s,
      cmd update: 1.406602 deg/s,
      cmd heading: 49.626897 deg,
      new cmd heading: 49.870825 deg.

2021-08-15T15:16:59.374Z,1629040619.374 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:16:59.713Z,1629040619.713 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:16:59.713Z,1629040619.713 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:16:59.713Z,1629040619.713 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:16:59.714Z,1629040619.714 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:17:00.125Z,1629040620.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F93,000,002EB,187,80,80,8A,FF
2021-08-15T15:17:00.125Z,1629040620.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:17:00.125Z,1629040620.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:17:00.127Z,1629040620.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:17:00.523Z,1629040620.523 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:17:00.925Z,1629040620.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E77,000,002D9,186,80,80,8A,FF
2021-08-15T15:17:00.926Z,1629040620.926 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:17:00.951Z,1629040620.951 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:17:01.378Z,1629040621.378 [Micromodem](INFO): Nmea in: $SNTTA,0.057543,,,,151702.09*49

2021-08-15T15:17:01.410Z,1629040621.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.240000 m, bearing: 60.923156 deg, deltaT: 4.403525 s, approachRate: -0.245258 m/s, LOS rate: 6.269726 deg/s, posRepo size: 4
2021-08-15T15:17:01.412Z,1629040621.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.240000 m,
      bearing: 60.923156 deg,
      approachRate: -0.245258 m/s,
      LOS rate: 6.269726 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 55.826547 deg,
      new cmd heading: 56.476854 deg.

2021-08-15T15:17:03.775Z,1629040623.775 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:17:04.162Z,1629040624.162 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:17:04.162Z,1629040624.162 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:17:04.162Z,1629040624.162 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:17:04.163Z,1629040624.163 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:17:04.573Z,1629040624.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E77,000,002D9,186,80,80,8A,FF
2021-08-15T15:17:04.574Z,1629040624.574 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:17:04.574Z,1629040624.574 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:17:04.575Z,1629040624.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:17:04.969Z,1629040624.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:17:05.369Z,1629040625.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F76,000,002DE,186,80,80,6E,FF
2021-08-15T15:17:05.370Z,1629040625.370 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:17:05.482Z,1629040625.482 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:17:05.813Z,1629040625.813 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151706.54*5B

2021-08-15T15:17:05.846Z,1629040625.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.539999 m, bearing: 62.954605 deg, deltaT: 4.531305 s, approachRate: 0.066206 m/s, LOS rate: 0.448314 deg/s, posRepo size: 4
2021-08-15T15:17:05.848Z,1629040625.848 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.539999 m,
      bearing: 62.954605 deg,
      approachRate: 0.066206 m/s,
      LOS rate: 0.448314 deg/s,
      cmd update: 1.793257 deg/s,
      cmd heading: 110.154437 deg,
      new cmd heading: 114.611885 deg.

2021-08-15T15:17:08.249Z,1629040628.249 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:17:08.613Z,1629040628.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:17:08.613Z,1629040628.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:17:08.613Z,1629040628.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:17:08.614Z,1629040628.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:17:09.017Z,1629040629.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F76,000,002DE,186,80,80,6E,FF
2021-08-15T15:17:09.017Z,1629040629.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:17:09.017Z,1629040629.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:17:09.019Z,1629040629.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:17:09.421Z,1629040629.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:17:09.837Z,1629040629.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,412,000,002FB,189,80,80,56,FF
2021-08-15T15:17:09.838Z,1629040629.838 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:17:09.858Z,1629040629.858 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:17:10.253Z,1629040630.253 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151710.98*5C

2021-08-15T15:17:10.355Z,1629040630.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.279999 m, bearing: 18.681910 deg, deltaT: 4.376115 s, approachRate: 0.397613 m/s, LOS rate: -10.116895 deg/s, posRepo size: 4
2021-08-15T15:17:10.361Z,1629040630.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.279999 m,
      bearing: 18.681910 deg,
      approachRate: 0.397613 m/s,
      LOS rate: -10.116895 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 118.009010 deg,
      new cmd heading: 118.905267 deg.

2021-08-15T15:17:12.670Z,1629040632.670 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:17:13.053Z,1629040633.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:17:13.053Z,1629040633.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:17:13.053Z,1629040633.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:17:13.054Z,1629040633.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:17:13.449Z,1629040633.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
412,000,002FB,189,80,80,56,FF
2021-08-15T15:17:13.449Z,1629040633.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:17:13.449Z,1629040633.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:17:13.451Z,1629040633.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:17:13.871Z,1629040633.871 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:17:14.254Z,1629040634.254 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E58,000,0031E,186,80,80,A1,FF
2021-08-15T15:17:14.254Z,1629040634.254 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:17:14.386Z,1629040634.386 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:17:14.702Z,1629040634.702 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151715.42*5E

2021-08-15T15:17:14.718Z,1629040634.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.380001 m, bearing: 110.164483 deg, deltaT: 4.527732 s, approachRate: 0.463809 m/s, LOS rate: 20.204944 deg/s, posRepo size: 4
2021-08-15T15:17:14.719Z,1629040634.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 20.204944 deg/s. Setting heading cmd to target bearing of 110.164483deg and heading rate command to 0 deg/s.
2021-08-15T15:17:17.126Z,1629040637.126 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:17:17.485Z,1629040637.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:17:17.485Z,1629040637.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:17:17.485Z,1629040637.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:17:17.486Z,1629040637.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:17:17.894Z,1629040637.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E58,000,0031E,186,80,80,A1,FF
2021-08-15T15:17:17.894Z,1629040637.894 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:17:17.895Z,1629040637.895 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:17:17.897Z,1629040637.897 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:17:18.317Z,1629040638.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:17:18.703Z,1629040638.703 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFF,000,0033F,187,80,80,A4,FF
2021-08-15T15:17:18.703Z,1629040638.703 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:17:18.772Z,1629040638.772 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:17:19.153Z,1629040639.153 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151719.86*5A

2021-08-15T15:17:19.169Z,1629040639.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.360002 m, bearing: 122.371377 deg, deltaT: 4.386128 s, approachRate: 0.451423 m/s, LOS rate: 2.783068 deg/s, posRepo size: 4
2021-08-15T15:17:19.171Z,1629040639.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.360002 m,
      bearing: 122.371377 deg,
      approachRate: 0.451423 m/s,
      LOS rate: 2.783068 deg/s,
      cmd update: 11.132273 deg/s,
      cmd heading: 110.164483 deg,
      new cmd heading: 110.164483 deg.

2021-08-15T15:17:21.571Z,1629040641.571 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:17:21.934Z,1629040641.934 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:17:21.934Z,1629040641.934 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:17:21.935Z,1629040641.935 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:17:21.936Z,1629040641.936 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:17:22.349Z,1629040642.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFF,000,0033F,187,80,80,A4,FF
2021-08-15T15:17:22.349Z,1629040642.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:17:22.350Z,1629040642.350 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:17:22.351Z,1629040642.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:17:22.744Z,1629040642.744 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:17:23.150Z,1629040643.150 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F85,000,00374,188,80,80,33,FF
2021-08-15T15:17:23.150Z,1629040643.150 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:17:23.175Z,1629040643.175 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:17:23.611Z,1629040643.611 [Micromodem](INFO): Nmea in: $SNTTA,0.037618,,,,151724.31*4D

2021-08-15T15:17:23.659Z,1629040643.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.540001 m, bearing: 96.627519 deg, deltaT: 4.402758 s, approachRate: 0.722274 m/s, LOS rate: -5.847211 deg/s, posRepo size: 4
2021-08-15T15:17:23.659Z,1629040643.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 15.54 m. Rolling out.
2021-08-15T15:17:23.659Z,1629040643.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-15T15:17:26.068Z,1629040646.068 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:17:26.385Z,1629040646.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:17:26.385Z,1629040646.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:17:26.385Z,1629040646.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:17:26.386Z,1629040646.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:17:26.781Z,1629040646.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F85,000,00374,188,80,80,33,FF
2021-08-15T15:17:26.781Z,1629040646.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:17:26.781Z,1629040646.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:17:26.783Z,1629040646.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:17:27.192Z,1629040647.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:17:27.601Z,1629040647.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E68,000,00390,186,80,80,49,FF
2021-08-15T15:17:27.601Z,1629040647.601 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:17:27.634Z,1629040647.634 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:17:28.055Z,1629040648.055 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151728.75*54

2021-08-15T15:17:28.103Z,1629040648.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.219997 m, bearing: 127.771912 deg, deltaT: 4.460000 s, approachRate: 0.376681 m/s, LOS rate: 6.983048 deg/s, posRepo size: 4
2021-08-15T15:17:30.446Z,1629040650.446 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:17:30.821Z,1629040650.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:17:30.821Z,1629040650.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:17:30.821Z,1629040650.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:17:30.822Z,1629040650.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:17:31.229Z,1629040651.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E68,000,00390,186,80,80,49,FF
2021-08-15T15:17:31.229Z,1629040651.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:17:31.229Z,1629040651.229 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:17:31.231Z,1629040651.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:17:31.645Z,1629040651.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:17:32.077Z,1629040652.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB6,000,003AB,186,80,80,93,FF
2021-08-15T15:17:32.077Z,1629040652.077 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:17:32.159Z,1629040652.159 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:17:32.473Z,1629040652.473 [Micromodem](INFO): Nmea in: $SNTTA,0.018993,,,,151733.19*40

2021-08-15T15:17:32.533Z,1629040652.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.840000 m, bearing: 136.770303 deg, deltaT: 4.524465 s, approachRate: 0.358054 m/s, LOS rate: 1.988830 deg/s, posRepo size: 4
2021-08-15T15:17:34.878Z,1629040654.878 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:17:35.282Z,1629040655.282 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:17:35.283Z,1629040655.283 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:17:35.288Z,1629040655.288 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:17:35.289Z,1629040655.289 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:17:35.665Z,1629040655.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB6,000,003AB,186,80,80,93,FF
2021-08-15T15:17:35.665Z,1629040655.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:17:35.666Z,1629040655.666 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:17:35.667Z,1629040655.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:17:36.109Z,1629040656.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:17:36.519Z,1629040656.519 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC8,000,003BD,188,80,80,89,FF
2021-08-15T15:17:36.520Z,1629040656.520 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:17:36.583Z,1629040656.583 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:17:36.930Z,1629040656.930 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151737.63*5D

2021-08-15T15:17:36.957Z,1629040656.957 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.919998 m, bearing: 157.201817 deg, deltaT: 4.428692 s, approachRate: 0.243864 m/s, LOS rate: 4.613442 deg/s, posRepo size: 4
2021-08-15T15:17:39.400Z,1629040659.400 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:17:39.750Z,1629040659.750 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:17:39.750Z,1629040659.750 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:17:39.750Z,1629040659.750 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:17:39.751Z,1629040659.751 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:17:40.143Z,1629040660.143 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC8,000,003BD,188,80,80,89,FF
2021-08-15T15:17:40.143Z,1629040660.143 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:17:40.143Z,1629040660.143 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:17:40.145Z,1629040660.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:17:40.560Z,1629040660.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:17:40.957Z,1629040660.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1D,000,003CE,187,80,80,52,FF
2021-08-15T15:17:40.958Z,1629040660.958 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:17:41.026Z,1629040661.026 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:17:41.393Z,1629040661.393 [Micromodem](INFO): Nmea in: $SNTTA,0.025197,,,,151742.11*4C

2021-08-15T15:17:41.439Z,1629040661.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.939997 m, bearing: 159.138558 deg, deltaT: 4.438579 s, approachRate: 0.229803 m/s, LOS rate: 0.436343 deg/s, posRepo size: 4
2021-08-15T15:17:42.990Z,1629040662.990 [PowerOnly](INFO): Powering down loadControl
2021-08-15T15:17:43.799Z,1629040663.799 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:17:44.189Z,1629040664.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:17:44.189Z,1629040664.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:17:44.190Z,1629040664.190 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:17:44.190Z,1629040664.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:17:44.589Z,1629040664.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1D,000,003CE,187,80,80,52,FF
2021-08-15T15:17:44.589Z,1629040664.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:17:44.589Z,1629040664.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:17:44.591Z,1629040664.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:17:45.005Z,1629040665.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:17:45.393Z,1629040665.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C1,000,003DD,18A,80,80,43,FF
2021-08-15T15:17:45.394Z,1629040665.394 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:17:45.478Z,1629040665.478 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:17:45.835Z,1629040665.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.840002 m, bearing: 108.940793 deg, deltaT: 4.451534 s, approachRate: 0.202179 m/s, LOS rate: -11.276509 deg/s, posRepo size: 4
2021-08-15T15:17:48.318Z,1629040668.318 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:17:48.625Z,1629040668.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:17:48.625Z,1629040668.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:17:48.625Z,1629040668.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:17:48.626Z,1629040668.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:17:49.073Z,1629040669.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C1,000,003DD,18A,80,80,43,FF
2021-08-15T15:17:49.073Z,1629040669.073 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:17:49.073Z,1629040669.073 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:17:49.081Z,1629040669.081 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:17:49.441Z,1629040669.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:17:49.834Z,1629040669.834 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2A,000,003F0,185,80,80,60,FF
2021-08-15T15:17:49.834Z,1629040669.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:17:49.859Z,1629040669.859 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:17:50.274Z,1629040670.274 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151751.04*5C

2021-08-15T15:17:50.374Z,1629040670.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.980001 m, bearing: 174.440272 deg, deltaT: 4.380984 s, approachRate: 0.260215 m/s, LOS rate: 14.950861 deg/s, posRepo size: 4
2021-08-15T15:17:52.725Z,1629040672.725 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:17:53.097Z,1629040673.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:17:53.097Z,1629040673.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:17:53.097Z,1629040673.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:17:53.098Z,1629040673.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:17:53.502Z,1629040673.502 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2A,000,003F0,185,80,80,60,FF
2021-08-15T15:17:53.502Z,1629040673.502 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:17:53.502Z,1629040673.502 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:17:53.505Z,1629040673.505 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:17:53.908Z,1629040673.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:17:54.345Z,1629040674.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE3,000,003ED,188,80,80,93,FF
2021-08-15T15:17:54.345Z,1629040674.345 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:17:54.349Z,1629040674.349 [Micromodem](INFO): Nmea in: $SNTTA,0.042352,0.196727,,,151755.47*51

2021-08-15T15:17:54.454Z,1629040674.454 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:17:54.747Z,1629040674.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.799997 m, bearing: 183.152124 deg, deltaT: 4.594760 s, approachRate: -0.039176 m/s, LOS rate: 1.896041 deg/s, posRepo size: 4
2021-08-15T15:17:57.155Z,1629040677.155 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:17:57.557Z,1629040677.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:17:57.557Z,1629040677.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:17:57.557Z,1629040677.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:17:57.558Z,1629040677.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:17:57.941Z,1629040677.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE3,000,003ED,188,80,80,93,FF
2021-08-15T15:17:57.941Z,1629040677.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:17:57.942Z,1629040677.942 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:17:57.943Z,1629040677.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:17:58.353Z,1629040678.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:17:58.753Z,1629040678.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DED,000,003F3,187,80,80,69,FF
2021-08-15T15:17:58.754Z,1629040678.754 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:17:58.823Z,1629040678.823 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:17:59.193Z,1629040679.193 [Micromodem](INFO): Nmea in: $SNTTA,0.027290,,,,151759.91*48

2021-08-15T15:17:59.229Z,1629040679.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.160000 m, bearing: 184.633414 deg, deltaT: 4.369194 s, approachRate: 0.082396 m/s, LOS rate: 0.339031 deg/s, posRepo size: 4
2021-08-15T15:18:01.609Z,1629040681.609 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:18:01.987Z,1629040681.987 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:18:01.987Z,1629040681.987 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:18:01.988Z,1629040681.988 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:18:01.990Z,1629040681.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:18:02.386Z,1629040682.386 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DED,000,003F3,187,80,80,69,FF
2021-08-15T15:18:02.386Z,1629040682.386 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:18:02.386Z,1629040682.386 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:18:02.388Z,1629040682.388 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:18:02.801Z,1629040682.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:18:03.197Z,1629040683.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE5,000,003F6,187,80,80,54,FF
2021-08-15T15:18:03.197Z,1629040683.197 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:18:03.257Z,1629040683.257 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:18:03.638Z,1629040683.638 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151804.35*51

2021-08-15T15:18:03.664Z,1629040683.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.339998 m, bearing: 185.488854 deg, deltaT: 4.433973 s, approachRate: 0.040595 m/s, LOS rate: 0.192929 deg/s, posRepo size: 4
2021-08-15T15:18:06.115Z,1629040686.115 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:18:06.429Z,1629040686.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:18:06.429Z,1629040686.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:18:06.429Z,1629040686.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:18:06.430Z,1629040686.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:18:06.837Z,1629040686.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE5,000,003F6,187,80,80,54,FF
2021-08-15T15:18:06.837Z,1629040686.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:18:06.837Z,1629040686.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:18:06.839Z,1629040686.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:18:07.245Z,1629040687.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:18:07.637Z,1629040687.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DCB,000,003FB,189,80,80,6C,FF
2021-08-15T15:18:07.638Z,1629040687.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:18:07.694Z,1629040687.694 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:18:08.101Z,1629040688.101 [Micromodem](INFO): Nmea in: $SNTTA,0.040840,,,,151808.80*45

2021-08-15T15:18:08.155Z,1629040688.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.639997 m, bearing: 187.769386 deg, deltaT: 4.437220 s, approachRate: 0.067610 m/s, LOS rate: 0.513955 deg/s, posRepo size: 4
2021-08-15T15:18:10.511Z,1629040690.511 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:18:10.881Z,1629040690.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:18:10.881Z,1629040690.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:18:10.881Z,1629040690.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:18:10.882Z,1629040690.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:18:11.289Z,1629040691.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DCB,000,003FB,189,80,80,6C,FF
2021-08-15T15:18:11.289Z,1629040691.289 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:18:11.290Z,1629040691.290 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:18:11.295Z,1629040691.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:18:11.705Z,1629040691.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:18:12.110Z,1629040692.110 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC6,000,00400,189,80,80,4E,FF
2021-08-15T15:18:12.110Z,1629040692.110 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:18:12.163Z,1629040692.163 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:18:12.541Z,1629040692.541 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151813.26*55

2021-08-15T15:18:12.587Z,1629040692.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.939999 m, bearing: 188.505339 deg, deltaT: 4.468839 s, approachRate: 0.067132 m/s, LOS rate: 0.164685 deg/s, posRepo size: 4
2021-08-15T15:18:14.978Z,1629040694.978 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:18:15.353Z,1629040695.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:18:15.354Z,1629040695.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:18:15.354Z,1629040695.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:18:15.355Z,1629040695.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:18:15.729Z,1629040695.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC6,000,00400,189,80,80,4E,FF
2021-08-15T15:18:15.729Z,1629040695.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:18:15.730Z,1629040695.730 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:18:15.731Z,1629040695.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:18:16.133Z,1629040696.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:18:16.549Z,1629040696.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DAC,000,00405,188,80,80,81,FF
2021-08-15T15:18:16.550Z,1629040696.550 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:18:16.606Z,1629040696.606 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:18:16.983Z,1629040696.983 [Micromodem](INFO): Nmea in: $SNTTA,0.033975,,,,151817.70*47

2021-08-15T15:18:17.000Z,1629040697.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.239998 m, bearing: 190.316637 deg, deltaT: 4.442740 s, approachRate: 0.067526 m/s, LOS rate: 0.407698 deg/s, posRepo size: 4
2021-08-15T15:18:19.392Z,1629040699.392 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:18:19.761Z,1629040699.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:18:19.762Z,1629040699.762 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:18:19.762Z,1629040699.762 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:18:19.763Z,1629040699.763 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:18:20.169Z,1629040700.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DAC,000,00405,188,80,80,81,FF
2021-08-15T15:18:20.169Z,1629040700.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:18:20.169Z,1629040700.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:18:20.171Z,1629040700.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:18:20.583Z,1629040700.583 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:18:20.977Z,1629040700.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D7B,000,0040A,189,80,80,68,FF
2021-08-15T15:18:20.978Z,1629040700.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:18:20.998Z,1629040700.998 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:18:21.429Z,1629040701.429 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151822.14*56

2021-08-15T15:18:21.456Z,1629040701.456 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.539997 m, bearing: 192.832400 deg, deltaT: 4.392489 s, approachRate: 0.068298 m/s, LOS rate: 0.572742 deg/s, posRepo size: 4
2021-08-15T15:18:23.857Z,1629040703.857 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:18:24.205Z,1629040704.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:18:24.205Z,1629040704.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:18:24.205Z,1629040704.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:18:24.206Z,1629040704.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:18:24.609Z,1629040704.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D7B,000,0040A,189,80,80,68,FF
2021-08-15T15:18:24.609Z,1629040704.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:18:24.609Z,1629040704.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:18:24.611Z,1629040704.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:18:25.028Z,1629040705.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:18:25.413Z,1629040705.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D8B,000,00412,189,80,80,88,FF
2021-08-15T15:18:25.414Z,1629040705.414 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:18:25.501Z,1629040705.501 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:18:25.873Z,1629040705.873 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151826.58*5A

2021-08-15T15:18:25.896Z,1629040705.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.020000 m, bearing: 191.691814 deg, deltaT: 4.503273 s, approachRate: 0.106590 m/s, LOS rate: -0.253280 deg/s, posRepo size: 4
2021-08-15T15:18:28.339Z,1629040708.339 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:18:28.649Z,1629040708.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:18:28.649Z,1629040708.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:18:28.649Z,1629040708.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:18:28.650Z,1629040708.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:18:29.057Z,1629040709.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D8B,000,00412,189,80,80,88,FF
2021-08-15T15:18:29.057Z,1629040709.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:18:29.057Z,1629040709.057 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:18:29.059Z,1629040709.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:18:29.472Z,1629040709.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:18:29.869Z,1629040709.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA6,000,0041F,185,80,80,5D,FF
2021-08-15T15:18:29.870Z,1629040709.870 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:18:29.922Z,1629040709.922 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:18:30.325Z,1629040710.325 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151831.02*53

2021-08-15T15:18:30.398Z,1629040710.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.799997 m, bearing: 177.154931 deg, deltaT: 4.420463 s, approachRate: 0.176451 m/s, LOS rate: -3.288543 deg/s, posRepo size: 4
2021-08-15T15:18:31.502Z,1629040711.502 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T15:18:32.707Z,1629040712.707 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:18:33.097Z,1629040713.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:18:33.097Z,1629040713.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:18:33.097Z,1629040713.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:18:33.098Z,1629040713.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:18:33.506Z,1629040713.506 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA6,000,0041F,185,80,80,5D,FF
2021-08-15T15:18:33.506Z,1629040713.506 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:18:33.506Z,1629040713.506 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:18:33.509Z,1629040713.509 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:18:33.904Z,1629040713.904 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:18:34.333Z,1629040714.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D5,000,0041D,187,80,80,6A,FF
2021-08-15T15:18:34.334Z,1629040714.334 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:18:34.456Z,1629040714.456 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:18:34.749Z,1629040714.749 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151835.47*56

2021-08-15T15:18:34.781Z,1629040714.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.679996 m, bearing: 136.228915 deg, deltaT: 4.534048 s, approachRate: -0.026467 m/s, LOS rate: -9.026374 deg/s, posRepo size: 4
2021-08-15T15:18:37.154Z,1629040717.154 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:18:37.541Z,1629040717.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:18:37.541Z,1629040717.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:18:37.541Z,1629040717.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:18:37.542Z,1629040717.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:18:37.557Z,1629040717.557 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T15:18:37.950Z,1629040717.950 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D5,000,0041D,187,80,80,6A,FF
2021-08-15T15:18:37.950Z,1629040717.950 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:18:37.950Z,1629040717.950 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:18:37.952Z,1629040717.952 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:18:38.357Z,1629040718.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:18:38.375Z,1629040718.375 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T15:18:38.757Z,1629040718.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,227,000,00423,188,80,80,7F,FF
2021-08-15T15:18:38.758Z,1629040718.758 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:18:38.834Z,1629040718.834 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:18:39.197Z,1629040719.197 [Micromodem](INFO): Nmea in: $SNTTA,0.032745,,,,151839.92*4B

2021-08-15T15:18:39.231Z,1629040719.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.039999 m, bearing: 132.107497 deg, deltaT: 4.378613 s, approachRate: 0.082218 m/s, LOS rate: -0.941261 deg/s, posRepo size: 4
2021-08-15T15:18:41.613Z,1629040721.613 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:18:42.004Z,1629040722.004 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:18:42.004Z,1629040722.004 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:18:42.005Z,1629040722.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:18:42.007Z,1629040722.007 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:18:42.385Z,1629040722.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
227,000,00423,188,80,80,7F,FF
2021-08-15T15:18:42.385Z,1629040722.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:18:42.385Z,1629040722.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:18:42.387Z,1629040722.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:18:42.801Z,1629040722.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:18:43.189Z,1629040723.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,233,000,0042B,188,80,80,73,FF
2021-08-15T15:18:43.190Z,1629040723.190 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:18:43.234Z,1629040723.234 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:18:43.645Z,1629040723.645 [Micromodem](INFO): Nmea in: $SNTTA,0.038487,,,,151844.35*4B

2021-08-15T15:18:43.699Z,1629040723.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.519999 m, bearing: 131.554484 deg, deltaT: 4.399489 s, approachRate: 0.109103 m/s, LOS rate: -0.125699 deg/s, posRepo size: 4
2021-08-15T15:18:46.100Z,1629040726.100 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:18:46.425Z,1629040726.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:18:46.425Z,1629040726.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:18:46.425Z,1629040726.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:18:46.426Z,1629040726.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:18:46.829Z,1629040726.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
233,000,0042B,188,80,80,73,FF
2021-08-15T15:18:46.829Z,1629040726.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:18:46.829Z,1629040726.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:18:46.831Z,1629040726.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:18:47.249Z,1629040727.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:18:47.637Z,1629040727.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEE,000,0043B,186,80,80,4B,FF
2021-08-15T15:18:47.638Z,1629040727.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:18:47.708Z,1629040727.708 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:18:48.093Z,1629040728.093 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151848.79*51

2021-08-15T15:18:48.157Z,1629040728.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.480000 m, bearing: 173.638859 deg, deltaT: 4.474181 s, approachRate: 0.214565 m/s, LOS rate: 9.406051 deg/s, posRepo size: 4
2021-08-15T15:18:50.506Z,1629040730.506 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:18:50.869Z,1629040730.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:18:50.869Z,1629040730.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:18:50.869Z,1629040730.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:18:50.870Z,1629040730.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:18:51.292Z,1629040731.292 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEE,000,0043B,186,80,80,4B,FF
2021-08-15T15:18:51.293Z,1629040731.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:18:51.293Z,1629040731.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:18:51.322Z,1629040731.322 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:18:51.690Z,1629040731.690 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:18:52.105Z,1629040732.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,272,000,00437,188,80,80,67,FF
2021-08-15T15:18:52.105Z,1629040732.105 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:18:52.145Z,1629040732.145 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:18:52.526Z,1629040732.526 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151853.29*5E

2021-08-15T15:18:52.561Z,1629040732.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.239998 m, bearing: 128.639865 deg, deltaT: 4.436614 s, approachRate: -0.054096 m/s, LOS rate: -10.142643 deg/s, posRepo size: 4
2021-08-15T15:18:54.988Z,1629040734.988 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:18:55.334Z,1629040735.334 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:18:55.334Z,1629040735.334 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:18:55.335Z,1629040735.335 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:18:55.336Z,1629040735.336 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:18:55.717Z,1629040735.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
272,000,00437,188,80,80,67,FF
2021-08-15T15:18:55.717Z,1629040735.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:18:55.717Z,1629040735.717 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:18:55.719Z,1629040735.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:18:56.125Z,1629040736.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:18:56.535Z,1629040736.535 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,317,000,00447,189,80,80,3E,FF
2021-08-15T15:18:56.535Z,1629040736.535 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:18:56.566Z,1629040736.566 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:18:56.969Z,1629040736.969 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151857.68*5F

2021-08-15T15:18:57.016Z,1629040737.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.199999 m, bearing: 120.518934 deg, deltaT: 4.421172 s, approachRate: 0.217137 m/s, LOS rate: -1.836828 deg/s, posRepo size: 4
2021-08-15T15:18:59.382Z,1629040739.382 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:18:59.761Z,1629040739.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:18:59.761Z,1629040739.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:18:59.762Z,1629040739.762 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:18:59.763Z,1629040739.763 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:19:00.161Z,1629040740.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
317,000,00447,189,80,80,3E,FF
2021-08-15T15:19:00.161Z,1629040740.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:19:00.161Z,1629040740.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:19:00.163Z,1629040740.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:19:00.581Z,1629040740.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:19:00.977Z,1629040740.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E6,000,00448,18A,80,80,68,FF
2021-08-15T15:19:00.978Z,1629040740.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:19:01.033Z,1629040741.033 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:19:01.414Z,1629040741.414 [Micromodem](INFO): Nmea in: $SNTTA,0.039886,,,,151902.13*40

2021-08-15T15:19:01.440Z,1629040741.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.259996 m, bearing: 123.427952 deg, deltaT: 4.467559 s, approachRate: 0.013430 m/s, LOS rate: 0.651143 deg/s, posRepo size: 4
2021-08-15T15:19:03.827Z,1629040743.827 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:19:04.209Z,1629040744.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:19:04.209Z,1629040744.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:19:04.209Z,1629040744.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:19:04.210Z,1629040744.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:19:04.617Z,1629040744.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E6,000,00448,18A,80,80,68,FF
2021-08-15T15:19:04.617Z,1629040744.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:19:04.617Z,1629040744.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:19:04.619Z,1629040744.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:19:05.045Z,1629040745.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:19:05.421Z,1629040745.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E5,000,00452,189,80,80,58,FF
2021-08-15T15:19:05.422Z,1629040745.422 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:19:05.529Z,1629040745.529 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:19:05.857Z,1629040745.857 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151906.58*59

2021-08-15T15:19:05.880Z,1629040745.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.860003 m, bearing: 123.158898 deg, deltaT: 4.496068 s, approachRate: 0.133451 m/s, LOS rate: -0.059842 deg/s, posRepo size: 4
2021-08-15T15:19:08.338Z,1629040748.338 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:19:08.653Z,1629040748.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:19:08.654Z,1629040748.654 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:19:08.654Z,1629040748.654 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:19:08.655Z,1629040748.655 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:19:09.072Z,1629040749.072 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E5,000,00452,189,80,80,58,FF
2021-08-15T15:19:09.072Z,1629040749.072 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:19:09.072Z,1629040749.072 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:19:09.074Z,1629040749.074 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:19:09.476Z,1629040749.476 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:19:09.857Z,1629040749.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F3,000,00460,189,80,80,24,FF
2021-08-15T15:19:09.858Z,1629040749.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:19:09.877Z,1629040749.877 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:19:10.299Z,1629040750.299 [Micromodem](INFO): Nmea in: $SNTTA,0.412550,0.413118,,,151911.04*5F

2021-08-15T15:19:10.381Z,1629040750.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.699997 m, bearing: 122.750015 deg, deltaT: 4.347913 s, approachRate: 0.193195 m/s, LOS rate: -0.094041 deg/s, posRepo size: 4
2021-08-15T15:19:12.734Z,1629040752.734 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:19:13.089Z,1629040753.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:19:13.089Z,1629040753.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:19:13.089Z,1629040753.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:19:13.090Z,1629040753.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:19:13.508Z,1629040753.508 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F3,000,00460,189,80,80,24,FF
2021-08-15T15:19:13.509Z,1629040753.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:19:13.509Z,1629040753.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:19:13.513Z,1629040753.513 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:19:13.914Z,1629040753.914 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:19:14.335Z,1629040754.335 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,314,000,00461,189,80,80,45,FF
2021-08-15T15:19:14.335Z,1629040754.335 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:19:14.410Z,1629040754.410 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:19:14.733Z,1629040754.733 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151915.48*5A

2021-08-15T15:19:14.768Z,1629040754.768 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.760000 m, bearing: 121.520076 deg, deltaT: 4.532333 s, approachRate: 0.013239 m/s, LOS rate: -0.271370 deg/s, posRepo size: 4
2021-08-15T15:19:17.167Z,1629040757.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:19:17.538Z,1629040757.538 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:19:17.538Z,1629040757.538 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:19:17.539Z,1629040757.539 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:19:17.539Z,1629040757.539 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:19:17.934Z,1629040757.934 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
314,000,00461,189,80,80,45,FF
2021-08-15T15:19:17.934Z,1629040757.934 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:19:17.934Z,1629040757.934 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:19:17.935Z,1629040757.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:19:18.365Z,1629040758.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:19:18.745Z,1629040758.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B4,000,00468,18A,80,80,7C,FF
2021-08-15T15:19:18.746Z,1629040758.746 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:19:18.807Z,1629040758.807 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:19:19.194Z,1629040759.194 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151919.90*53

2021-08-15T15:19:19.225Z,1629040759.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.180000 m, bearing: 125.948019 deg, deltaT: 4.396878 s, approachRate: 0.095522 m/s, LOS rate: 1.007065 deg/s, posRepo size: 4
2021-08-15T15:19:21.608Z,1629040761.608 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:19:21.992Z,1629040761.992 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:19:21.993Z,1629040761.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:19:21.993Z,1629040761.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:19:21.995Z,1629040761.995 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:19:22.086Z,1629040762.086 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T15:19:22.396Z,1629040762.396 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B4,000,00468,18A,80,80,7C,FF
2021-08-15T15:19:22.396Z,1629040762.396 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:19:22.397Z,1629040762.397 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:19:22.398Z,1629040762.398 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:19:22.789Z,1629040762.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:19:23.197Z,1629040763.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D37,000,00470,189,80,80,48,FF
2021-08-15T15:19:23.198Z,1629040763.198 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:19:23.222Z,1629040763.222 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:19:23.633Z,1629040763.633 [Micromodem](INFO): Nmea in: $SNTTA,0.045024,,,,151924.36*48

2021-08-15T15:19:23.670Z,1629040763.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.659998 m, bearing: 196.388880 deg, deltaT: 4.415668 s, approachRate: 0.108703 m/s, LOS rate: 15.952481 deg/s, posRepo size: 4
2021-08-15T15:19:26.105Z,1629040766.105 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:19:26.433Z,1629040766.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:19:26.433Z,1629040766.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:19:26.433Z,1629040766.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:19:26.434Z,1629040766.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:19:26.829Z,1629040766.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D37,000,00470,189,80,80,48,FF
2021-08-15T15:19:26.829Z,1629040766.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:19:26.829Z,1629040766.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:19:26.831Z,1629040766.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:19:27.232Z,1629040767.232 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:19:27.637Z,1629040767.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D02,000,0047F,189,80,80,58,FF
2021-08-15T15:19:27.637Z,1629040767.637 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:19:27.713Z,1629040767.713 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:19:28.117Z,1629040768.117 [Micromodem](INFO): Nmea in: $SNTTA,0.049185,,,,151928.79*49

2021-08-15T15:19:28.205Z,1629040768.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.559998 m, bearing: 198.833678 deg, deltaT: 4.491137 s, approachRate: 0.200395 m/s, LOS rate: 0.544361 deg/s, posRepo size: 4
2021-08-15T15:19:30.130Z,1629040770.130 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T15:19:30.485Z,1629040770.485 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:19:30.865Z,1629040770.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:19:30.865Z,1629040770.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:19:30.865Z,1629040770.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:19:30.866Z,1629040770.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:19:31.293Z,1629040771.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D02,000,0047F,189,80,80,58,FF
2021-08-15T15:19:31.293Z,1629040771.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:19:31.294Z,1629040771.294 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:19:31.297Z,1629040771.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:19:31.677Z,1629040771.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:19:32.101Z,1629040772.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D57,000,00485,189,80,80,70,FF
2021-08-15T15:19:32.102Z,1629040772.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:19:32.228Z,1629040772.228 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:19:32.510Z,1629040772.510 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151933.26*56

2021-08-15T15:19:32.543Z,1629040772.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.920000 m, bearing: 194.107310 deg, deltaT: 4.514853 s, approachRate: 0.079737 m/s, LOS rate: -1.046849 deg/s, posRepo size: 4
2021-08-15T15:19:33.321Z,1629040773.321 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-15T15:19:34.923Z,1629040774.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:19:35.342Z,1629040775.342 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:19:35.342Z,1629040775.342 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:19:35.342Z,1629040775.342 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:19:35.343Z,1629040775.343 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:19:35.713Z,1629040775.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D57,000,00485,189,80,80,70,FF
2021-08-15T15:19:35.713Z,1629040775.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:19:35.713Z,1629040775.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:19:35.715Z,1629040775.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:19:36.133Z,1629040776.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:19:36.522Z,1629040776.522 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D7C,000,0048E,189,80,80,90,FF
2021-08-15T15:19:36.522Z,1629040776.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:19:36.583Z,1629040776.583 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:19:36.966Z,1629040776.966 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151937.68*58

2021-08-15T15:19:36.989Z,1629040776.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.460003 m, bearing: 191.718451 deg, deltaT: 4.359446 s, approachRate: 0.123870 m/s, LOS rate: -0.547973 deg/s, posRepo size: 4
2021-08-15T15:19:39.389Z,1629040779.389 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:19:39.753Z,1629040779.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:19:39.753Z,1629040779.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:19:39.753Z,1629040779.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:19:39.754Z,1629040779.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:19:40.169Z,1629040780.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D7C,000,0048E,189,80,80,90,FF
2021-08-15T15:19:40.169Z,1629040780.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:19:40.169Z,1629040780.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:19:40.171Z,1629040780.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:19:40.228Z,1629040780.228 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T15:19:40.580Z,1629040780.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:19:40.965Z,1629040780.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC4,000,00499,189,80,80,34,FF
2021-08-15T15:19:40.965Z,1629040780.965 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:19:40.986Z,1629040780.986 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:19:41.409Z,1629040781.409 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151942.13*56

2021-08-15T15:19:41.435Z,1629040781.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.119999 m, bearing: 187.949498 deg, deltaT: 4.398261 s, approachRate: 0.150058 m/s, LOS rate: -0.856919 deg/s, posRepo size: 4
2021-08-15T15:19:42.301Z,1629040782.301 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-15T15:19:42.301Z,1629040782.301 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-15T15:19:42.301Z,1629040782.301 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-15T15:19:42.301Z,1629040782.301 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T15:19:42.301Z,1629040782.301 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-15T15:19:42.961Z,1629040782.961 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 101819611B0001005D00000400DA0000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE
2021-08-15T15:19:42.962Z,1629040782.962 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC79CDCDBFCB14B308112EFD9E74C428BFFDF1215B56351B0662
2021-08-15T15:19:42.962Z,1629040782.962 [Micromodem](INFO): Outgoing frame #3, 64 bytes: A111D68422D9F86389AA1A819E0A3B006701672B93D8727FBCFF5B707292721A77B287C0ECCAE26968418CA0C0EE44253C2313B7E1E00BA42BEC4707E94AC7E6
2021-08-15T15:19:42.963Z,1629040782.963 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-08-15T15:19:43.217Z,1629040783.217 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-08-15T15:19:43.617Z,1629040783.617 [Micromodem](INFO): Nmea in: $CADRQ,151944,1,10,0,64,1*7A

2021-08-15T15:19:43.618Z,1629040783.618 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,101819611B0001005D00000400DA0000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE*32

2021-08-15T15:19:43.766Z,1629040783.766 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:19:44.035Z,1629040784.035 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:19:44.052Z,1629040784.052 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:19:44.052Z,1629040784.052 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:19:44.053Z,1629040784.053 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:19:44.063Z,1629040784.063 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-15T15:19:44.429Z,1629040784.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC4,000,00499,189,80,80,34,FF
2021-08-15T15:19:44.429Z,1629040784.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:19:44.430Z,1629040784.430 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:19:44.433Z,1629040784.433 [Micromodem](INFO): Nmea in: $CADRQ,151945,1,10,0,64,2*78

2021-08-15T15:19:44.433Z,1629040784.433 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC79CDCDBFCB14B308112EFD9E74C428BFFDF1215B56351B0662*33

2021-08-15T15:19:44.970Z,1629040784.970 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-15T15:19:44.971Z,1629040784.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:19:45.379Z,1629040785.379 [Micromodem](INFO): Nmea in: $CADRQ,151946,1,10,0,64,3*7A

2021-08-15T15:19:45.379Z,1629040785.379 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,151946,1,10,0,64,3*7A

2021-08-15T15:19:45.779Z,1629040785.779 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF6,000,0049F,187,80,80,4A,FF
2021-08-15T15:19:45.779Z,1629040785.779 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:19:45.784Z,1629040785.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:19:45.863Z,1629040785.863 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:19:46.233Z,1629040786.233 [Micromodem](INFO): Nmea in: $SNTTA,,,,,151946.94*5D

2021-08-15T15:19:46.329Z,1629040786.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.480000 m, bearing: 185.581581 deg, deltaT: 4.876857 s, approachRate: 0.073818 m/s, LOS rate: -0.485542 deg/s, posRepo size: 4
2021-08-15T15:19:48.678Z,1629040788.678 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:19:49.005Z,1629040789.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:19:49.005Z,1629040789.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:19:49.005Z,1629040789.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:19:49.006Z,1629040789.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:19:49.513Z,1629040789.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF6,000,0049F,187,80,80,4A,FF
2021-08-15T15:19:49.513Z,1629040789.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:19:49.513Z,1629040789.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:19:49.517Z,1629040789.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:19:49.908Z,1629040789.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:19:50.337Z,1629040790.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1B,000,004AD,186,80,80,78,FF
2021-08-15T15:19:50.337Z,1629040790.337 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:19:50.361Z,1629040790.361 [Micromodem](INFO): Nmea in: $SNTTA,0.150000,0.149881,,,151951.48*53

2021-08-15T15:19:50.395Z,1629040790.395 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T15:19:50.422Z,1629040790.422 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:19:50.774Z,1629040790.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.320000 m, bearing: 184.080319 deg, deltaT: 4.559346 s, approachRate: 0.184237 m/s, LOS rate: -0.329271 deg/s, posRepo size: 4
2021-08-15T15:19:53.313Z,1629040793.313 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:19:53.645Z,1629040793.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:19:53.645Z,1629040793.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:19:53.645Z,1629040793.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:19:53.646Z,1629040793.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:19:54.092Z,1629040794.092 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1B,000,004AD,186,80,80,78,FF
2021-08-15T15:19:54.093Z,1629040794.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:19:54.093Z,1629040794.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:19:54.095Z,1629040794.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:19:54.474Z,1629040794.474 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:19:54.873Z,1629040794.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F11,000,004BB,187,80,80,88,FF
2021-08-15T15:19:54.874Z,1629040794.874 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:19:54.927Z,1629040794.927 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:19:55.294Z,1629040795.294 [Micromodem](INFO): Nmea in: $SNTTA,0.045426,,,,151956.06*48

2021-08-15T15:19:55.342Z,1629040795.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.159996 m, bearing: 172.030568 deg, deltaT: 4.509474 s, approachRate: 0.186274 m/s, LOS rate: -2.672097 deg/s, posRepo size: 4
2021-08-15T15:19:57.978Z,1629040797.978 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:19:58.123Z,1629040798.123 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:19:58.123Z,1629040798.123 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:19:58.123Z,1629040798.123 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:19:58.124Z,1629040798.124 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:19:58.535Z,1629040798.535 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F11,000,004BB,187,80,80,88,FF
2021-08-15T15:19:58.535Z,1629040798.535 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:19:58.536Z,1629040798.536 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:19:58.537Z,1629040798.537 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:19:58.936Z,1629040798.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:19:59.349Z,1629040799.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED1,000,004BE,186,80,80,46,FF
2021-08-15T15:19:59.349Z,1629040799.349 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:19:59.418Z,1629040799.418 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:19:59.773Z,1629040799.773 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152000.50*5D

2021-08-15T15:19:59.816Z,1629040799.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.340000 m, bearing: 175.356364 deg, deltaT: 4.486357 s, approachRate: 0.040123 m/s, LOS rate: 0.741313 deg/s, posRepo size: 4
2021-08-15T15:20:00.182Z,1629040800.182 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-15T15:20:02.487Z,1629040802.487 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:20:02.681Z,1629040802.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:20:02.681Z,1629040802.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:20:02.681Z,1629040802.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:20:02.682Z,1629040802.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:20:03.081Z,1629040803.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED1,000,004BE,186,80,80,46,FF
2021-08-15T15:20:03.081Z,1629040803.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:20:03.081Z,1629040803.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:20:03.083Z,1629040803.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:20:03.493Z,1629040803.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:20:03.886Z,1629040803.886 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFB,000,004CB,186,80,80,83,FF
2021-08-15T15:20:03.886Z,1629040803.886 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:20:03.976Z,1629040803.976 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:20:04.361Z,1629040804.361 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152005.05*58

2021-08-15T15:20:04.626Z,1629040804.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.119999 m, bearing: 173.085764 deg, deltaT: 4.558605 s, approachRate: 0.171105 m/s, LOS rate: -0.498091 deg/s, posRepo size: 4
2021-08-15T15:20:06.495Z,1629040806.495 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:20:06.841Z,1629040806.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:20:06.842Z,1629040806.842 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:20:06.842Z,1629040806.842 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:20:06.843Z,1629040806.843 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:20:07.272Z,1629040807.272 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFB,000,004CB,186,80,80,83,FF
2021-08-15T15:20:07.273Z,1629040807.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:20:07.273Z,1629040807.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:20:07.279Z,1629040807.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:20:07.656Z,1629040807.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:20:08.089Z,1629040808.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F19,000,004CE,186,80,80,A6,FF
2021-08-15T15:20:08.089Z,1629040808.089 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:20:08.174Z,1629040808.174 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:20:08.479Z,1629040808.479 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152009.25*56

2021-08-15T15:20:08.545Z,1629040808.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.299995 m, bearing: 171.331634 deg, deltaT: 4.197118 s, approachRate: 0.042886 m/s, LOS rate: -0.417937 deg/s, posRepo size: 4
2021-08-15T15:20:11.131Z,1629040811.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:20:11.328Z,1629040811.328 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:20:11.328Z,1629040811.328 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:20:11.329Z,1629040811.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:20:11.329Z,1629040811.329 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:20:11.698Z,1629040811.698 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F19,000,004CE,186,80,80,A6,FF
2021-08-15T15:20:11.698Z,1629040811.698 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:20:11.698Z,1629040811.698 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:20:11.700Z,1629040811.700 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:20:12.107Z,1629040812.107 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:20:12.496Z,1629040812.496 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F36,000,004E1,187,80,80,3E,FF
2021-08-15T15:20:12.497Z,1629040812.497 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:20:12.563Z,1629040812.563 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:20:12.932Z,1629040812.932 [Micromodem](INFO): Nmea in: $SNTTA,0.044707,,,,152013.72*41

2021-08-15T15:20:12.979Z,1629040812.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.439999 m, bearing: 169.874495 deg, deltaT: 4.393675 s, approachRate: 0.259465 m/s, LOS rate: -0.331645 deg/s, posRepo size: 4
2021-08-15T15:20:14.550Z,1629040814.550 [Micromodem](INFO): Nmea in: $CAERR,152016,DATA_TIMEOUT,3*4D

2021-08-15T15:20:14.937Z,1629040814.937 [Micromodem](INFO): Nmea in: $CATXP,128*49

2021-08-15T15:20:15.634Z,1629040815.634 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:20:15.861Z,1629040815.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:20:15.861Z,1629040815.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:20:15.861Z,1629040815.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:20:15.862Z,1629040815.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:20:16.236Z,1629040816.236 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F36,000,004E1,187,80,80,3E,FF
2021-08-15T15:20:16.236Z,1629040816.236 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:20:16.236Z,1629040816.236 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:20:16.238Z,1629040816.238 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:20:17.886Z,1629040817.886 [Micromodem](INFO): Nmea in: $CATXF,128*5F

2021-08-15T15:20:17.886Z,1629040817.886 [Micromodem](ERROR): Response from modem unexpected: $CATXF,128*5F

2021-08-15T15:20:18.314Z,1629040818.314 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,152016.451778,3,0,200,4000,14500,1,1,10,1,3,2,3,128,14500*60

2021-08-15T15:20:18.314Z,1629040818.314 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210815,152016.451778,3,0,200,4000,14500,1,1,10,1,3,2,3,128,14500*60

2021-08-15T15:20:18.407Z,1629040818.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:20:20.366Z,1629040820.366 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-15T15:20:21.139Z,1629040821.139 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:20:21.936Z,1629040821.936 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.073573
2021-08-15T15:20:23.737Z,1629040823.737 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:20:24.097Z,1629040824.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:20:24.097Z,1629040824.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:20:24.097Z,1629040824.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:20:24.098Z,1629040824.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:20:24.617Z,1629040824.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F36,000,004E1,187,80,80,3E,FF
2021-08-15T15:20:24.617Z,1629040824.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:20:24.617Z,1629040824.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:20:26.325Z,1629040826.325 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:20:27.450Z,1629040827.450 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:20:27.849Z,1629040827.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:20:28.258Z,1629040828.258 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEA,000,004F9,183,80,80,43,FF
2021-08-15T15:20:28.260Z,1629040828.260 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:20:28.407Z,1629040828.407 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:20:28.698Z,1629040828.698 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152029.41*56

2021-08-15T15:20:28.923Z,1629040828.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.879997 m, bearing: 160.806791 deg, deltaT: 15.844286 s, approachRate: 0.090884 m/s, LOS rate: -0.572301 deg/s, posRepo size: 4
2021-08-15T15:20:30.360Z,1629040830.360 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-08-15T15:20:30.360Z,1629040830.360 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-15T15:20:30.360Z,1629040830.360 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-15T15:20:30.596Z,1629040830.596 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-15T15:20:31.044Z,1629040831.044 [RDI_Pathfinder](INFO): Powering down
2021-08-15T15:20:31.070Z,1629040831.070 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:20:31.325Z,1629040831.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:20:31.325Z,1629040831.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:20:31.325Z,1629040831.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:20:31.326Z,1629040831.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:20:31.701Z,1629040831.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEA,000,004F9,183,80,80,43,FF
2021-08-15T15:20:31.701Z,1629040831.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:20:31.701Z,1629040831.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:20:31.703Z,1629040831.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:20:31.992Z,1629040831.992 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-15T15:20:31.992Z,1629040831.992 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-15T15:20:32.109Z,1629040832.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:20:32.510Z,1629040832.510 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDF,000,0050A,186,80,80,9D,FF
2021-08-15T15:20:32.511Z,1629040832.511 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:20:32.589Z,1629040832.589 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:20:32.954Z,1629040832.954 [Micromodem](INFO): Nmea in: $SNTTA,,0.025930,,,152033.67*4A

2021-08-15T15:20:32.981Z,1629040832.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.900002 m, bearing: 173.986420 deg, deltaT: 4.176821 s, approachRate: 0.244206 m/s, LOS rate: 3.155421 deg/s, posRepo size: 4
2021-08-15T15:20:35.245Z,1629040835.245 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:20:35.421Z,1629040835.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:20:35.421Z,1629040835.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:20:35.421Z,1629040835.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:20:35.422Z,1629040835.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:20:35.825Z,1629040835.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDF,000,0050A,186,80,80,9D,FF
2021-08-15T15:20:35.825Z,1629040835.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:20:35.825Z,1629040835.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:20:35.827Z,1629040835.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:20:36.229Z,1629040836.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:20:36.621Z,1629040836.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECC,000,00514,186,80,80,B0,FF
2021-08-15T15:20:36.622Z,1629040836.622 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:20:36.691Z,1629040836.691 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:20:37.062Z,1629040837.062 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152037.79*52

2021-08-15T15:20:37.349Z,1629040837.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.500000 m, bearing: 174.595973 deg, deltaT: 4.102185 s, approachRate: 0.146263 m/s, LOS rate: 0.148592 deg/s, posRepo size: 4
2021-08-15T15:20:37.586Z,1629040837.586 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T15:20:37.586Z,1629040837.586 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T15:20:37.586Z,1629040837.586 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T15:20:37.587Z,1629040837.587 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T15:20:37.587Z,1629040837.587 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T15:20:37.587Z,1629040837.587 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T15:20:37.977Z,1629040837.977 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T15:20:37.978Z,1629040837.978 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T15:20:37.978Z,1629040837.978 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T15:20:37.978Z,1629040837.978 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T15:20:39.598Z,1629040839.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:20:39.969Z,1629040839.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:20:39.969Z,1629040839.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:20:39.969Z,1629040839.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:20:39.970Z,1629040839.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:20:40.373Z,1629040840.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECC,000,00514,186,80,80,B0,FF
2021-08-15T15:20:40.373Z,1629040840.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:20:40.374Z,1629040840.374 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:20:40.375Z,1629040840.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:20:40.777Z,1629040840.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:20:41.174Z,1629040841.174 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F90,000,00515,187,80,80,55,FF
2021-08-15T15:20:41.174Z,1629040841.174 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:20:41.617Z,1629040841.617 [Micromodem](INFO): Nmea in: $SNTTA,0.055239,,,,152042.34*4F

2021-08-15T15:20:41.849Z,1629040841.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.559998 m, bearing: 164.472376 deg, deltaT: 4.610759 s, approachRate: 0.013013 m/s, LOS rate: -2.195646 deg/s, posRepo size: 4
2021-08-15T15:20:43.927Z,1629040843.927 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:20:44.105Z,1629040844.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:20:44.105Z,1629040844.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:20:44.105Z,1629040844.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:20:44.106Z,1629040844.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:20:44.518Z,1629040844.518 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F90,000,00515,187,80,80,55,FF
2021-08-15T15:20:44.518Z,1629040844.518 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:20:44.519Z,1629040844.519 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:20:44.521Z,1629040844.521 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:20:44.921Z,1629040844.921 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:20:45.333Z,1629040845.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F44,000,00522,186,80,80,6F,FF
2021-08-15T15:20:45.333Z,1629040845.333 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:20:45.753Z,1629040845.753 [Micromodem](INFO): Nmea in: $SNTTA,0.052503,,,,152046.49*48

2021-08-15T15:20:45.795Z,1629040845.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.340000 m, bearing: 168.683884 deg, deltaT: 4.098290 s, approachRate: 0.190324 m/s, LOS rate: 1.027626 deg/s, posRepo size: 4
2021-08-15T15:20:48.150Z,1629040848.150 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-15T15:20:48.537Z,1629040848.537 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:20:48.706Z,1629040848.706 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:20:48.706Z,1629040848.706 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:20:48.706Z,1629040848.706 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:20:48.707Z,1629040848.707 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:20:48.949Z,1629040848.949 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 101819611B0001005D00000400DA0000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE
2021-08-15T15:20:48.949Z,1629040848.949 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC79CDCDBFCB14B308112EFD9E74C428BFFDF1215B56351B0662
2021-08-15T15:20:48.950Z,1629040848.950 [Micromodem](INFO): Outgoing frame #3, 64 bytes: A111D68422D9F86389AA1A819E0A3B006701672B93D8727FBCFF5B707292721A77B287C0ECCAE26968418CA0C0EE44253C2313B7E1E00BA42BEC4707E94AC7E6
2021-08-15T15:20:48.950Z,1629040848.950 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-08-15T15:20:49.205Z,1629040849.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F44,000,00522,186,80,80,6F,FF
2021-08-15T15:20:49.205Z,1629040849.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:20:49.205Z,1629040849.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:20:49.207Z,1629040849.207 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-08-15T15:20:49.208Z,1629040849.208 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:20:49.615Z,1629040849.615 [Micromodem](INFO): Nmea in: $CADRQ,152050,1,10,0,64,1*75

2021-08-15T15:20:49.615Z,1629040849.615 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,152050,1,10,0,64,1*75

2021-08-15T15:20:50.005Z,1629040850.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,096,000,00531,186,80,80,73,FF
2021-08-15T15:20:50.006Z,1629040850.006 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:20:50.010Z,1629040850.010 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:20:50.473Z,1629040850.473 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152051.17*5A

2021-08-15T15:20:50.739Z,1629040850.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.240002 m, bearing: 151.869762 deg, deltaT: 4.707886 s, approachRate: 0.191169 m/s, LOS rate: -3.571480 deg/s, posRepo size: 4
2021-08-15T15:20:52.612Z,1629040852.612 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:20:52.953Z,1629040852.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:20:52.953Z,1629040852.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:20:52.953Z,1629040852.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:20:52.954Z,1629040852.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:20:53.349Z,1629040853.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
096,000,00531,186,80,80,73,FF
2021-08-15T15:20:53.349Z,1629040853.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:20:53.349Z,1629040853.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:20:53.351Z,1629040853.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:20:53.765Z,1629040853.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:20:54.160Z,1629040854.160 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14C,000,0053B,186,80,80,45,FF
2021-08-15T15:20:54.160Z,1629040854.160 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:20:54.593Z,1629040854.593 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152055.31*5A

2021-08-15T15:20:54.997Z,1629040854.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.840000 m, bearing: 143.344770 deg, deltaT: 4.174044 s, approachRate: 0.143745 m/s, LOS rate: -2.042382 deg/s, posRepo size: 4
2021-08-15T15:20:57.024Z,1629040857.024 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:20:57.239Z,1629040857.239 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:20:57.239Z,1629040857.239 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:20:57.240Z,1629040857.240 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:20:57.241Z,1629040857.241 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:20:57.633Z,1629040857.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14C,000,0053B,186,80,80,45,FF
2021-08-15T15:20:57.633Z,1629040857.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:20:57.633Z,1629040857.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:20:57.635Z,1629040857.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:20:58.046Z,1629040858.046 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:20:58.437Z,1629040858.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9F,000,0044F,187,80,80,6A,FF
2021-08-15T15:20:58.438Z,1629040858.438 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:20:58.889Z,1629040858.889 [Micromodem](INFO): Nmea in: $SNTTA,0.038790,,,,152059.60*49

2021-08-15T15:20:58.912Z,1629040858.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.679998 m, bearing: 165.196034 deg, deltaT: 4.285095 s, approachRate: -3.304478 m/s, LOS rate: 5.099365 deg/s, posRepo size: 4
2021-08-15T15:20:59.326Z,1629040859.326 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T15:20:59.326Z,1629040859.326 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T15:20:59.326Z,1629040859.326 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T15:20:59.328Z,1629040859.328 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T15:20:59.328Z,1629040859.328 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T15:20:59.328Z,1629040859.328 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T15:20:59.681Z,1629040859.681 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T15:20:59.681Z,1629040859.681 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T15:20:59.681Z,1629040859.681 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T15:20:59.681Z,1629040859.681 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T15:21:01.545Z,1629040861.545 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:21:01.805Z,1629040861.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:21:01.805Z,1629040861.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:21:01.805Z,1629040861.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:21:01.806Z,1629040861.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:21:02.201Z,1629040862.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9F,000,0044F,187,80,80,6A,FF
2021-08-15T15:21:02.201Z,1629040862.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:21:02.201Z,1629040862.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:21:02.224Z,1629040862.224 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:21:02.613Z,1629040862.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:21:03.007Z,1629040863.007 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4F,000,0055A,186,80,80,8A,FF
2021-08-15T15:21:03.007Z,1629040863.007 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:21:03.043Z,1629040863.043 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:21:03.449Z,1629040863.449 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152104.19*55

2021-08-15T15:21:03.705Z,1629040863.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.700001 m, bearing: 181.412488 deg, deltaT: 4.476114 s, approachRate: 3.578998 m/s, LOS rate: 3.622887 deg/s, posRepo size: 4
2021-08-15T15:21:03.906Z,1629040863.906 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T15:21:03.906Z,1629040863.906 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T15:21:03.906Z,1629040863.906 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T15:21:03.906Z,1629040863.906 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T15:21:03.907Z,1629040863.907 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T15:21:03.907Z,1629040863.907 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T15:21:04.370Z,1629040864.370 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T15:21:04.370Z,1629040864.370 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T15:21:04.370Z,1629040864.370 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T15:21:04.370Z,1629040864.370 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T15:21:05.562Z,1629040865.562 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:21:05.901Z,1629040865.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:21:05.901Z,1629040865.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:21:05.901Z,1629040865.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:21:05.902Z,1629040865.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:21:06.317Z,1629040866.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4F,000,0055A,186,80,80,8A,FF
2021-08-15T15:21:06.317Z,1629040866.317 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:21:06.317Z,1629040866.317 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:21:06.319Z,1629040866.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:21:06.724Z,1629040866.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:21:07.105Z,1629040867.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,16B,000,0055E,186,80,80,63,FF
2021-08-15T15:21:07.106Z,1629040867.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:21:07.569Z,1629040867.569 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152108.29*5A

2021-08-15T15:21:07.625Z,1629040867.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.940002 m, bearing: 141.262451 deg, deltaT: 4.083194 s, approachRate: 0.058778 m/s, LOS rate: -9.832998 deg/s, posRepo size: 4
2021-08-15T15:21:09.653Z,1629040869.653 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:21:10.025Z,1629040870.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:21:10.025Z,1629040870.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:21:10.025Z,1629040870.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:21:10.026Z,1629040870.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:21:10.609Z,1629040870.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
16B,000,0055E,186,80,80,63,FF
2021-08-15T15:21:10.609Z,1629040870.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:21:10.610Z,1629040870.610 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:21:10.611Z,1629040870.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:21:11.002Z,1629040871.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:21:11.413Z,1629040871.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,187,000,0056D,187,80,80,65,FF
2021-08-15T15:21:11.413Z,1629040871.413 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:21:11.841Z,1629040871.841 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152112.58*57

2021-08-15T15:21:11.877Z,1629040871.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.840000 m, bearing: 140.342984 deg, deltaT: 4.383949 s, approachRate: 0.205294 m/s, LOS rate: -0.209735 deg/s, posRepo size: 4
2021-08-15T15:21:14.588Z,1629040874.588 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:21:14.745Z,1629040874.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:21:14.745Z,1629040874.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:21:14.745Z,1629040874.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:21:14.746Z,1629040874.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:21:15.149Z,1629040875.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
187,000,0056D,187,80,80,65,FF
2021-08-15T15:21:15.149Z,1629040875.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:21:15.150Z,1629040875.150 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:21:15.151Z,1629040875.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:21:15.558Z,1629040875.558 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:21:15.958Z,1629040875.958 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D7,000,00572,186,80,80,86,FF
2021-08-15T15:21:15.958Z,1629040875.958 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:21:16.414Z,1629040876.414 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152117.12*5C

2021-08-15T15:21:16.713Z,1629040876.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.139999 m, bearing: 136.100685 deg, deltaT: 4.508413 s, approachRate: 0.066542 m/s, LOS rate: -0.940974 deg/s, posRepo size: 4
2021-08-15T15:21:18.653Z,1629040878.653 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:21:18.953Z,1629040878.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:21:18.953Z,1629040878.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:21:18.953Z,1629040878.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:21:18.954Z,1629040878.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:21:19.369Z,1629040879.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D7,000,00572,186,80,80,86,FF
2021-08-15T15:21:19.369Z,1629040879.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:21:19.370Z,1629040879.370 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:21:19.377Z,1629040879.377 [Micromodem](INFO): Nmea in: $CAERR,152120,DATA_TIMEOUT,1*4B

2021-08-15T15:21:19.381Z,1629040879.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:21:19.868Z,1629040879.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:21:20.285Z,1629040880.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF9,000,00586,189,80,80,77,FF
2021-08-15T15:21:20.286Z,1629040880.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:21:20.661Z,1629040880.661 [Micromodem](INFO): Nmea in: $SNTTA,0.071979,,,,152121.35*43

2021-08-15T15:21:20.718Z,1629040880.718 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.339996 m, bearing: 198.387120 deg, deltaT: 4.332273 s, approachRate: 0.276990 m/s, LOS rate: 14.377311 deg/s, posRepo size: 4
2021-08-15T15:21:23.387Z,1629040883.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:21:23.621Z,1629040883.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:21:23.621Z,1629040883.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:21:23.621Z,1629040883.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:21:23.622Z,1629040883.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:21:24.033Z,1629040884.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CF9,000,00586,189,80,80,77,FF
2021-08-15T15:21:24.034Z,1629040884.034 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:21:24.034Z,1629040884.034 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:21:24.035Z,1629040884.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:21:24.460Z,1629040884.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:21:24.837Z,1629040884.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D96,000,0058E,189,80,80,95,FF
2021-08-15T15:21:24.838Z,1629040884.838 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:21:25.273Z,1629040885.273 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152126.00*5D

2021-08-15T15:21:25.303Z,1629040885.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.820000 m, bearing: 190.969931 deg, deltaT: 4.548258 s, approachRate: 0.105536 m/s, LOS rate: -1.630776 deg/s, posRepo size: 4
2021-08-15T15:21:27.923Z,1629040887.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:21:28.069Z,1629040888.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:21:28.069Z,1629040888.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:21:28.069Z,1629040888.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:21:28.070Z,1629040888.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:21:28.482Z,1629040888.482 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D96,000,0058E,189,80,80,95,FF
2021-08-15T15:21:28.482Z,1629040888.482 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:21:28.482Z,1629040888.482 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:21:28.484Z,1629040888.484 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:21:28.889Z,1629040888.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:21:29.285Z,1629040889.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D3E,000,0059D,189,80,80,81,FF
2021-08-15T15:21:29.286Z,1629040889.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:21:29.729Z,1629040889.729 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152130.45*5B

2021-08-15T15:21:29.971Z,1629040889.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.720001 m, bearing: 196.221650 deg, deltaT: 4.423238 s, approachRate: 0.203471 m/s, LOS rate: 1.187302 deg/s, posRepo size: 4
2021-08-15T15:21:31.871Z,1629040891.871 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:21:32.271Z,1629040892.271 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:21:32.272Z,1629040892.272 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:21:32.273Z,1629040892.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:21:32.274Z,1629040892.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:21:32.637Z,1629040892.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D3E,000,0059D,189,80,80,81,FF
2021-08-15T15:21:32.637Z,1629040892.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:21:32.637Z,1629040892.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:21:32.639Z,1629040892.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:21:33.033Z,1629040893.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:21:33.433Z,1629040893.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D10,000,005A7,18A,80,80,7A,FF
2021-08-15T15:21:33.433Z,1629040893.434 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:21:33.873Z,1629040893.873 [Micromodem](INFO): Nmea in: $SNTTA,0.066179,,,,152134.61*48

2021-08-15T15:21:33.908Z,1629040893.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.320000 m, bearing: 198.901611 deg, deltaT: 4.197456 s, approachRate: 0.142943 m/s, LOS rate: 0.638473 deg/s, posRepo size: 4
2021-08-15T15:21:36.074Z,1629040896.074 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:21:36.426Z,1629040896.426 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:21:36.426Z,1629040896.426 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:21:36.426Z,1629040896.426 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:21:36.427Z,1629040896.427 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:21:36.996Z,1629040896.996 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D10,000,005A7,18A,80,80,7A,FF
2021-08-15T15:21:36.996Z,1629040896.996 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:21:36.997Z,1629040896.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:21:36.998Z,1629040896.998 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:21:37.424Z,1629040897.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:21:37.805Z,1629040897.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D3E,000,005B5,189,80,80,7F,FF
2021-08-15T15:21:37.805Z,1629040897.805 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:21:38.269Z,1629040898.269 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152138.96*5D

2021-08-15T15:21:38.329Z,1629040898.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.160004 m, bearing: 196.929599 deg, deltaT: 4.357764 s, approachRate: 0.192760 m/s, LOS rate: -0.452528 deg/s, posRepo size: 4
2021-08-15T15:21:40.880Z,1629040900.880 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:21:41.161Z,1629040901.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:21:41.162Z,1629040901.162 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:21:41.162Z,1629040901.162 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:21:41.163Z,1629040901.163 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:21:41.566Z,1629040901.566 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D3E,000,005B5,189,80,80,7F,FF
2021-08-15T15:21:41.566Z,1629040901.566 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:21:41.566Z,1629040901.566 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:21:41.567Z,1629040901.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:21:41.960Z,1629040901.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:21:42.369Z,1629040902.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBF,000,005C0,189,80,80,9D,FF
2021-08-15T15:21:42.370Z,1629040902.370 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:21:42.793Z,1629040902.793 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152143.54*5F

2021-08-15T15:21:43.034Z,1629040903.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.820004 m, bearing: 190.066474 deg, deltaT: 4.636313 s, approachRate: 0.142354 m/s, LOS rate: -1.480298 deg/s, posRepo size: 4
2021-08-15T15:21:45.239Z,1629040905.239 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:21:45.613Z,1629040905.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:21:45.614Z,1629040905.614 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:21:45.614Z,1629040905.614 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:21:45.615Z,1629040905.615 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:21:46.050Z,1629040906.050 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBF,000,005C0,189,80,80,9D,FF
2021-08-15T15:21:46.050Z,1629040906.050 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:21:46.050Z,1629040906.050 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:21:46.052Z,1629040906.052 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:21:46.425Z,1629040906.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:21:46.835Z,1629040906.835 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E28,000,005CB,187,80,80,A4,FF
2021-08-15T15:21:46.835Z,1629040906.835 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:21:47.257Z,1629040907.257 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152148.02*57

2021-08-15T15:21:47.571Z,1629040907.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.479996 m, bearing: 183.940929 deg, deltaT: 4.358460 s, approachRate: 0.151428 m/s, LOS rate: -1.405438 deg/s, posRepo size: 4
2021-08-15T15:21:49.623Z,1629040909.623 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:21:49.853Z,1629040909.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:21:49.853Z,1629040909.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:21:49.853Z,1629040909.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:21:49.854Z,1629040909.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:21:50.297Z,1629040910.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E28,000,005CB,187,80,80,A4,FF
2021-08-15T15:21:50.297Z,1629040910.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:21:50.297Z,1629040910.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:21:50.299Z,1629040910.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:21:50.689Z,1629040910.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:21:51.085Z,1629040911.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E51,000,005DC,186,80,80,9C,FF
2021-08-15T15:21:51.086Z,1629040911.086 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:21:51.514Z,1629040911.514 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152152.27*5B

2021-08-15T15:21:51.555Z,1629040911.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.499996 m, bearing: 181.541866 deg, deltaT: 4.314310 s, approachRate: 0.236423 m/s, LOS rate: -0.556071 deg/s, posRepo size: 4
2021-08-15T15:21:54.142Z,1629040914.142 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:21:54.358Z,1629040914.358 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:21:54.358Z,1629040914.358 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:21:54.358Z,1629040914.358 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:21:54.359Z,1629040914.359 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:21:54.363Z,1629040914.363 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-15T15:21:54.745Z,1629040914.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E51,000,005DC,186,80,80,9C,FF
2021-08-15T15:21:54.745Z,1629040914.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:21:54.745Z,1629040914.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:21:54.747Z,1629040914.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:21:55.169Z,1629040915.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:21:55.410Z,1629040915.410 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 101819611B0001005D00000400DA0000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE
2021-08-15T15:21:55.410Z,1629040915.410 [Micromodem](INFO): Outgoing frame #2, 64 bytes: 0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC79CDCDBFCB14B308112EFD9E74C428BFFDF1215B56351B0662
2021-08-15T15:21:55.411Z,1629040915.411 [Micromodem](INFO): Outgoing frame #3, 64 bytes: A111D68422D9F86389AA1A819E0A3B006701672B93D8727FBCFF5B707292721A77B287C0ECCAE26968418CA0C0EE44253C2313B7E1E00BA42BEC4707E94AC7E6
2021-08-15T15:21:55.411Z,1629040915.411 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,3*6B

2021-08-15T15:21:55.682Z,1629040915.682 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,3*69

2021-08-15T15:21:56.086Z,1629040916.086 [Micromodem](INFO): Nmea in: $CADRQ,152157,1,10,0,64,1*73

2021-08-15T15:21:56.087Z,1629040916.087 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,101819611B0001005D00000400DA0000000000000000151D80030C5669BF3148E2FA22188B6A3173E4F859EE658316AEE1AF5C0AC21AD9A441503471A19AA9BE*32

2021-08-15T15:21:56.779Z,1629040916.779 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152156.71*5C

2021-08-15T15:21:56.779Z,1629040916.779 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,,,,152156.71*5C

2021-08-15T15:21:56.797Z,1629040916.797 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:21:57.994Z,1629040917.994 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-15T15:21:58.393Z,1629040918.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,9C,FF
2021-08-15T15:21:58.393Z,1629040918.393 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,9C,FF
2021-08-15T15:21:58.394Z,1629040918.394 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T15:21:58.395Z,1629040918.395 [Micromodem](INFO): Nmea in: $CADRQ,152158,1,10,0,64,2*7F

2021-08-15T15:21:58.395Z,1629040918.395 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,0FECE608E243208CA00DEEACA89E27F0C6CEFB1758A58EF8A70F3D7B13E498A75804C216DA78CC79CDCDBFCB14B308112EFD9E74C428BFFDF1215B56351B0662*33

2021-08-15T15:21:58.810Z,1629040918.810 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-15T15:21:59.206Z,1629040919.206 [Micromodem](INFO): Nmea in: $CADRQ,152200,1,10,0,64,3*70

2021-08-15T15:21:59.207Z,1629040919.207 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,A111D68422D9F86389AA1A819E0A3B006701672B93D8727FBCFF5B707292721A77B287C0ECCAE26968418CA0C0EE44253C2313B7E1E00BA42BEC4707E94AC7E6*45

2021-08-15T15:21:59.315Z,1629040919.315 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:21:59.625Z,1629040919.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:21:59.625Z,1629040919.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:21:59.625Z,1629040919.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:21:59.626Z,1629040919.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:21:59.632Z,1629040919.632 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-15T15:22:00.021Z,1629040920.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,9C,FF
2021-08-15T15:22:00.021Z,1629040920.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:22:00.021Z,1629040920.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:22:00.023Z,1629040920.023 [Micromodem](INFO): Nmea in: $CATXP,192*48

2021-08-15T15:22:00.023Z,1629040920.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:22:02.142Z,1629040922.142 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:22:03.882Z,1629040923.882 [Micromodem](INFO): Nmea in: $CATXF,192*5E

2021-08-15T15:22:03.882Z,1629040923.882 [Micromodem](ERROR): Response from modem unexpected: $CATXF,192*5E

2021-08-15T15:22:04.311Z,1629040924.311 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,152201.223246,3,0,200,4000,14500,1,1,10,1,3,3,3,192,14500*6F

2021-08-15T15:22:04.311Z,1629040924.311 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210815,152201.223246,3,0,200,4000,14500,1,1,10,1,3,3,3,192,14500*6F

2021-08-15T15:22:04.717Z,1629040924.717 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:22:05.921Z,1629040925.921 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.294339
2021-08-15T15:22:07.115Z,1629040927.115 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-15T15:22:07.386Z,1629040927.386 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:22:07.573Z,1629040927.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:22:07.573Z,1629040927.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:22:07.573Z,1629040927.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:22:07.574Z,1629040927.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:22:07.581Z,1629040927.581 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-08-15T15:22:07.985Z,1629040927.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,9C,FF
2021-08-15T15:22:07.985Z,1629040927.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:22:07.985Z,1629040927.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:22:07.987Z,1629040927.987 [Micromodem](INFO): Nmea in: $CAACK,10,1,3,1*79

2021-08-15T15:22:07.988Z,1629040927.988 [Micromodem](INFO): Sent 184 bytes from file Logs/20210815T133512/Courier0027.lzma.parts
2021-08-15T15:22:07.989Z,1629040927.989 [Micromodem](INFO): Packets left to send: 1
2021-08-15T15:22:08.414Z,1629040928.414 [Micromodem](INFO): Nmea in: $CACST,6,0,20210815152207.896444,06,19141,42,0092,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,15.4,3.15,05,-0.15,-01,0.27,39,14500,4000*6A

2021-08-15T15:22:08.414Z,1629040928.414 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210815152207.896444,06,19141,42,0092,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,15.4,3.15,05,-0.15,-01,0.27,39,14500,4000*6A

2021-08-15T15:22:08.650Z,1629040928.650 [Micromodem](INFO): Using rate 1 for 12 bytes.
2021-08-15T15:22:08.651Z,1629040928.651 [Micromodem](INFO): Outgoing frame #1, 12 bytes: 101819611B000000BB430C00
2021-08-15T15:22:09.909Z,1629040929.909 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:22:11.101Z,1629040931.101 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:22:11.494Z,1629040931.494 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:22:11.508Z,1629040931.508 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-15T15:22:11.894Z,1629040931.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7D,000,0061C,186,80,80,85,FF
2021-08-15T15:22:11.894Z,1629040931.894 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:22:11.897Z,1629040931.897 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-15T15:22:12.329Z,1629040932.329 [Micromodem](INFO): Nmea in: $CADRQ,152213,1,10,0,64,1*70

2021-08-15T15:22:12.330Z,1629040932.330 [Micromodem](ERROR): Received CADRQ with bad size: 64 expected <= 32
2021-08-15T15:22:12.330Z,1629040932.330 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,101819611B000000BB430C00*49

2021-08-15T15:22:12.620Z,1629040932.620 [Micromodem](INFO): Using rate 0 for 12 bytes.
2021-08-15T15:22:12.621Z,1629040932.621 [Micromodem](INFO): Outgoing frame #1, 12 bytes: 101819611B000000BB430C00
2021-08-15T15:22:12.675Z,1629040932.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.340000 m, bearing: 178.661479 deg, deltaT: 20.730331 s, approachRate: 0.185236 m/s, LOS rate: -0.138946 deg/s, posRepo size: 4
2021-08-15T15:22:12.865Z,1629040932.865 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152213.07*5F

2021-08-15T15:22:12.865Z,1629040932.865 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,,,,152213.07*5F

2021-08-15T15:22:14.162Z,1629040934.162 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,12*48

2021-08-15T15:22:14.162Z,1629040934.162 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-15T15:22:14.554Z,1629040934.554 [Micromodem](INFO): Nmea in: $CATXP,12*71

2021-08-15T15:22:14.554Z,1629040934.554 [Micromodem](ERROR): Response from modem unexpected: $CATXP,12*71

2021-08-15T15:22:14.645Z,1629040934.645 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:22:14.945Z,1629040934.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:22:14.945Z,1629040934.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:22:14.945Z,1629040934.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:22:14.946Z,1629040934.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:22:14.958Z,1629040934.958 [Micromodem](INFO): Nmea in: $CATXF,12*67

2021-08-15T15:22:14.958Z,1629040934.958 [Micromodem](ERROR): Response from modem unexpected: $CATXF,12*67

2021-08-15T15:22:15.360Z,1629040935.360 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7D,000,0061C,186,80,80,85,FF
2021-08-15T15:22:15.361Z,1629040935.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:22:15.362Z,1629040935.362 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:22:15.371Z,1629040935.371 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,152214.267452,3,0,200,4000,14500,1,1,10,1,1,1,3,12,14500*51

2021-08-15T15:22:15.371Z,1629040935.371 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210815,152214.267452,3,0,200,4000,14500,1,1,10,1,1,1,3,12,14500*51

2021-08-15T15:22:16.289Z,1629040936.289 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-15T15:22:16.291Z,1629040936.291 [Micromodem](INFO): Sent 4 bytes from file Logs/20210815T133512/Courier0027.lzma.parts
2021-08-15T15:22:16.291Z,1629040936.291 [Micromodem](INFO): Packets left to send: 0
2021-08-15T15:22:16.626Z,1629040936.626 [Micromodem](INFO): Nmea in: $CACST,6,0,20210815152217.104064,06,32767,45,0141,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,15.2,3.38,09,-0.38,-01,0.11,38,14500,4000*62

2021-08-15T15:22:16.626Z,1629040936.626 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210815152217.104064,06,32767,45,0141,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,15.2,3.38,09,-0.38,-01,0.11,38,14500,4000*62

2021-08-15T15:22:16.965Z,1629040936.965 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-15T15:22:16.965Z,1629040936.965 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-15T15:22:16.965Z,1629040936.965 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-15T15:22:16.966Z,1629040936.966 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T15:22:16.966Z,1629040936.966 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-15T15:22:17.182Z,1629040937.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:22:20.530Z,1629040940.530 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:22:21.112Z,1629040941.112 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.165872
2021-08-15T15:22:21.810Z,1629040941.810 [CTD_Seabird](ERROR): Salinity reading out of range: 27.827566 psu
2021-08-15T15:22:22.816Z,1629040942.816 [CTD_Seabird](ERROR): Salinity reading out of range: 26.899939 psu
2021-08-15T15:22:23.170Z,1629040943.170 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:22:23.529Z,1629040943.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:22:23.529Z,1629040943.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:22:23.530Z,1629040943.530 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:22:23.531Z,1629040943.531 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:22:23.938Z,1629040943.938 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7D,000,0061C,186,80,80,85,FF
2021-08-15T15:22:23.938Z,1629040943.938 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:22:23.938Z,1629040943.938 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:22:25.554Z,1629040945.554 [Micromodem](ERROR): Nmea resend: $CCCYC,0,1,10,1,0,1*69

2021-08-15T15:22:25.950Z,1629040945.950 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-15T15:22:25.951Z,1629040945.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:22:25.955Z,1629040945.955 [Micromodem](INFO): Nmea in: $CADRQ,152227,1,10,0,64,1*77

2021-08-15T15:22:25.973Z,1629040945.973 [Micromodem](ERROR): Response from modem unexpected: $CADRQ,152227,1,10,0,64,1*77

2021-08-15T15:22:26.073Z,1629040946.073 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:22:26.364Z,1629040946.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:22:26.757Z,1629040946.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E86,000,00643,186,80,80,9A,FF
2021-08-15T15:22:26.757Z,1629040946.757 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:22:27.198Z,1629040947.198 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152227.92*54

2021-08-15T15:22:27.247Z,1629040947.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.680004 m, bearing: 178.581320 deg, deltaT: 14.860255 s, approachRate: 0.157467 m/s, LOS rate: -0.005394 deg/s, posRepo size: 4
2021-08-15T15:22:29.628Z,1629040949.628 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:22:29.993Z,1629040949.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:22:29.993Z,1629040949.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:22:29.993Z,1629040949.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:22:29.994Z,1629040949.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:22:30.398Z,1629040950.398 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E86,000,00643,186,80,80,9A,FF
2021-08-15T15:22:30.398Z,1629040950.398 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:22:30.398Z,1629040950.398 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:22:30.400Z,1629040950.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:22:30.804Z,1629040950.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:22:31.201Z,1629040951.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4E,000,00650,186,80,80,81,FF
2021-08-15T15:22:31.201Z,1629040951.201 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:22:31.645Z,1629040951.645 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152232.37*5F

2021-08-15T15:22:31.683Z,1629040951.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.460003 m, bearing: 181.524954 deg, deltaT: 4.443851 s, approachRate: 0.175523 m/s, LOS rate: 0.662406 deg/s, posRepo size: 4
2021-08-15T15:22:34.047Z,1629040954.047 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:22:34.441Z,1629040954.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:22:34.441Z,1629040954.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:22:34.441Z,1629040954.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:22:34.442Z,1629040954.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:22:34.842Z,1629040954.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4E,000,00650,186,80,80,81,FF
2021-08-15T15:22:34.842Z,1629040954.842 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:22:34.842Z,1629040954.842 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:22:34.843Z,1629040954.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:22:35.249Z,1629040955.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:22:36.083Z,1629040956.083 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152236.81*56

2021-08-15T15:22:36.596Z,1629040956.596 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:22:38.361Z,1629040958.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,186,80,80,81,FF
2021-08-15T15:22:38.361Z,1629040958.361 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,186,80,80,81,FF
2021-08-15T15:22:38.362Z,1629040958.362 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T15:22:39.191Z,1629040959.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:22:39.573Z,1629040959.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:22:39.573Z,1629040959.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:22:39.573Z,1629040959.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:22:39.574Z,1629040959.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:22:39.993Z,1629040959.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,186,80,80,81,FF
2021-08-15T15:22:39.993Z,1629040959.993 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:22:39.993Z,1629040959.993 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:22:39.995Z,1629040959.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:22:40.401Z,1629040960.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:22:40.789Z,1629040960.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F55,000,00673,187,80,80,7A,FF
2021-08-15T15:22:40.789Z,1629040960.789 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:22:41.221Z,1629040961.221 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152241.96*50

2021-08-15T15:22:41.271Z,1629040961.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.560005 m, bearing: 166.957130 deg, deltaT: 9.633805 s, approachRate: 0.217983 m/s, LOS rate: -1.512157 deg/s, posRepo size: 4
2021-08-15T15:22:43.659Z,1629040963.659 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:22:44.017Z,1629040964.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:22:44.017Z,1629040964.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:22:44.017Z,1629040964.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:22:44.018Z,1629040964.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:22:44.433Z,1629040964.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F55,000,00673,187,80,80,7A,FF
2021-08-15T15:22:44.433Z,1629040964.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:22:44.433Z,1629040964.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:22:44.435Z,1629040964.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:22:44.837Z,1629040964.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:22:45.235Z,1629040965.235 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08A,000,00680,186,80,80,89,FF
2021-08-15T15:22:45.240Z,1629040965.240 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:22:45.669Z,1629040965.669 [Micromodem](INFO): Nmea in: $SNTTA,0.052183,,,,152246.40*4F

2021-08-15T15:22:45.707Z,1629040965.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.340004 m, bearing: 151.027435 deg, deltaT: 4.473411 s, approachRate: 0.174363 m/s, LOS rate: -3.560973 deg/s, posRepo size: 4
2021-08-15T15:22:48.099Z,1629040968.099 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:22:48.474Z,1629040968.474 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:22:48.474Z,1629040968.474 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:22:48.474Z,1629040968.474 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:22:48.475Z,1629040968.475 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:22:48.871Z,1629040968.871 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08A,000,00680,186,80,80,89,FF
2021-08-15T15:22:48.871Z,1629040968.871 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:22:48.871Z,1629040968.871 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:22:48.873Z,1629040968.873 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:22:49.302Z,1629040969.302 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:22:49.673Z,1629040969.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26F,000,0068A,189,80,80,73,FF
2021-08-15T15:22:49.674Z,1629040969.674 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:22:50.121Z,1629040970.121 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152250.84*53

2021-08-15T15:22:50.214Z,1629040970.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.940002 m, bearing: 127.386279 deg, deltaT: 4.365080 s, approachRate: 0.137454 m/s, LOS rate: -5.415973 deg/s, posRepo size: 4
2021-08-15T15:22:50.905Z,1629040970.905 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-15T15:22:52.610Z,1629040972.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:22:52.909Z,1629040972.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:22:52.910Z,1629040972.910 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:22:52.910Z,1629040972.910 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:22:52.911Z,1629040972.911 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:22:53.341Z,1629040973.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26F,000,0068A,189,80,80,73,FF
2021-08-15T15:22:53.341Z,1629040973.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:22:53.341Z,1629040973.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:22:53.343Z,1629040973.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:22:53.724Z,1629040973.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:22:54.126Z,1629040974.126 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,087,000,00699,186,80,80,89,FF
2021-08-15T15:22:54.127Z,1629040974.127 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:22:54.556Z,1629040974.556 [Micromodem](INFO): Nmea in: $SNTTA,0.051508,,,,152255.31*4F

2021-08-15T15:22:54.586Z,1629040974.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.840004 m, bearing: 152.178008 deg, deltaT: 4.562319 s, approachRate: 0.197268 m/s, LOS rate: 5.434019 deg/s, posRepo size: 4
2021-08-15T15:22:55.769Z,1629040975.769 [Micromodem](INFO): Nmea in: $CAERR,152257,DATA_TIMEOUT,1*48

2021-08-15T15:22:56.984Z,1629040976.984 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:22:57.357Z,1629040977.357 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:22:57.358Z,1629040977.358 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:22:57.359Z,1629040977.359 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:22:57.376Z,1629040977.376 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:22:57.759Z,1629040977.759 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
087,000,00699,186,80,80,89,FF
2021-08-15T15:22:57.759Z,1629040977.759 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:22:57.759Z,1629040977.759 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:22:57.761Z,1629040977.761 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:22:58.176Z,1629040978.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:22:58.565Z,1629040978.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,282,000,006A8,18A,80,80,6F,FF
2021-08-15T15:22:58.566Z,1629040978.566 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:22:59.010Z,1629040979.010 [Micromodem](INFO): Nmea in: $SNTTA,0.050994,,,,152259.73*4D

2021-08-15T15:22:59.044Z,1629040979.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.739998 m, bearing: 127.444240 deg, deltaT: 4.366812 s, approachRate: 0.206099 m/s, LOS rate: -5.664033 deg/s, posRepo size: 4
2021-08-15T15:23:00.621Z,1629040980.621 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T15:23:01.463Z,1629040981.463 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:23:01.801Z,1629040981.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:23:01.801Z,1629040981.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:23:01.801Z,1629040981.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:23:01.802Z,1629040981.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:23:02.211Z,1629040982.211 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
282,000,006A8,18A,80,80,6F,FF
2021-08-15T15:23:02.212Z,1629040982.212 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:23:02.213Z,1629040982.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:23:02.221Z,1629040982.221 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:23:02.613Z,1629040982.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:23:03.013Z,1629040983.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26D,000,006B0,189,80,80,57,FF
2021-08-15T15:23:03.014Z,1629040983.014 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:23:03.437Z,1629040983.437 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152304.19*57

2021-08-15T15:23:03.483Z,1629040983.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.220001 m, bearing: 129.415405 deg, deltaT: 4.449649 s, approachRate: 0.107874 m/s, LOS rate: 0.442993 deg/s, posRepo size: 4
2021-08-15T15:23:05.851Z,1629040985.851 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:23:06.295Z,1629040986.295 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:23:06.295Z,1629040986.295 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:23:06.295Z,1629040986.295 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:23:06.301Z,1629040986.301 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:23:06.649Z,1629040986.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26D,000,006B0,189,80,80,57,FF
2021-08-15T15:23:06.649Z,1629040986.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:23:06.649Z,1629040986.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:23:06.650Z,1629040986.650 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:23:07.052Z,1629040987.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:23:07.449Z,1629040987.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,320,000,006BE,189,80,80,80,FF
2021-08-15T15:23:07.449Z,1629040987.449 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:23:07.894Z,1629040987.894 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152308.62*57

2021-08-15T15:23:07.924Z,1629040987.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.060005 m, bearing: 120.389051 deg, deltaT: 4.476485 s, approachRate: 0.187648 m/s, LOS rate: -2.016393 deg/s, posRepo size: 4
2021-08-15T15:23:10.385Z,1629040990.385 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:23:10.681Z,1629040990.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:23:10.681Z,1629040990.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:23:10.681Z,1629040990.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:23:10.682Z,1629040990.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:23:11.129Z,1629040991.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
320,000,006BE,189,80,80,80,FF
2021-08-15T15:23:11.129Z,1629040991.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:23:11.129Z,1629040991.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:23:11.131Z,1629040991.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:23:11.510Z,1629040991.510 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:23:11.897Z,1629040991.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C5,000,006C8,186,80,80,75,FF
2021-08-15T15:23:11.898Z,1629040991.898 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:23:12.357Z,1629040992.357 [Micromodem](INFO): Nmea in: $SNTTA,0.436247,,,,152313.10*46

2021-08-15T15:23:12.420Z,1629040992.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.660004 m, bearing: 137.118452 deg, deltaT: 4.404707 s, approachRate: 0.136218 m/s, LOS rate: 3.798074 deg/s, posRepo size: 4
2021-08-15T15:23:14.751Z,1629040994.751 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:23:15.137Z,1629040995.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:23:15.137Z,1629040995.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:23:15.137Z,1629040995.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:23:15.138Z,1629040995.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:23:15.545Z,1629040995.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C5,000,006C8,186,80,80,75,FF
2021-08-15T15:23:15.545Z,1629040995.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:23:15.545Z,1629040995.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:23:15.547Z,1629040995.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:23:15.945Z,1629040995.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:23:16.345Z,1629040996.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,262,000,006D4,189,80,80,6B,FF
2021-08-15T15:23:16.346Z,1629040996.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:23:16.789Z,1629040996.789 [Micromodem](INFO): Nmea in: $SNTTA,0.044376,,,,152317.51*45

2021-08-15T15:23:16.805Z,1629040996.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.380005 m, bearing: 129.972421 deg, deltaT: 4.492166 s, approachRate: 0.160279 m/s, LOS rate: -1.590776 deg/s, posRepo size: 4
2021-08-15T15:23:19.202Z,1629040999.202 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:23:19.573Z,1629040999.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:23:19.573Z,1629040999.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:23:19.573Z,1629040999.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:23:19.574Z,1629040999.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:23:19.977Z,1629040999.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
262,000,006D4,189,80,80,6B,FF
2021-08-15T15:23:19.977Z,1629040999.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:23:19.977Z,1629040999.977 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:23:19.979Z,1629040999.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:23:20.393Z,1629041000.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:23:20.409Z,1629041000.409 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T15:23:20.789Z,1629041000.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AB,000,006E0,189,80,80,74,FF
2021-08-15T15:23:20.790Z,1629041000.790 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:23:21.233Z,1629041001.233 [Micromodem](INFO): Nmea in: $SNTTA,0.055001,,,,152321.95*4B

2021-08-15T15:23:21.259Z,1629041001.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.099998 m, bearing: 126.633975 deg, deltaT: 4.419437 s, approachRate: 0.162915 m/s, LOS rate: -0.755401 deg/s, posRepo size: 4
2021-08-15T15:23:23.647Z,1629041003.647 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:23:24.017Z,1629041004.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:23:24.017Z,1629041004.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:23:24.017Z,1629041004.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:23:24.018Z,1629041004.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:23:24.421Z,1629041004.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AB,000,006E0,189,80,80,74,FF
2021-08-15T15:23:24.421Z,1629041004.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:23:24.421Z,1629041004.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:23:24.423Z,1629041004.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:23:24.833Z,1629041004.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:23:25.249Z,1629041005.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,148,000,006E5,186,80,80,6A,FF
2021-08-15T15:23:25.250Z,1629041005.250 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:23:25.665Z,1629041005.665 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152326.39*55

2021-08-15T15:23:25.707Z,1629041005.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.400009 m, bearing: 144.678870 deg, deltaT: 4.461736 s, approachRate: 0.067241 m/s, LOS rate: 4.044366 deg/s, posRepo size: 4
2021-08-15T15:23:28.085Z,1629041008.085 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:23:28.461Z,1629041008.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:23:28.461Z,1629041008.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:23:28.461Z,1629041008.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:23:28.462Z,1629041008.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:23:28.869Z,1629041008.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
148,000,006E5,186,80,80,6A,FF
2021-08-15T15:23:28.869Z,1629041008.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:23:28.870Z,1629041008.870 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:23:28.871Z,1629041008.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:23:29.298Z,1629041009.298 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:23:29.677Z,1629041009.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2B,000,006F3,186,80,80,75,FF
2021-08-15T15:23:29.678Z,1629041009.678 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:23:30.113Z,1629041010.113 [Micromodem](INFO): Nmea in: $SNTTA,0.051176,,,,152330.84*4E

2021-08-15T15:23:30.157Z,1629041010.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.240005 m, bearing: 185.130802 deg, deltaT: 4.370784 s, approachRate: 0.192184 m/s, LOS rate: 9.255075 deg/s, posRepo size: 4
2021-08-15T15:23:30.509Z,1629041010.509 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T15:23:32.569Z,1629041012.569 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:23:32.913Z,1629041012.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:23:32.914Z,1629041012.914 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:23:32.915Z,1629041012.915 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:23:32.917Z,1629041012.917 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:23:33.337Z,1629041013.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2B,000,006F3,186,80,80,75,FF
2021-08-15T15:23:33.337Z,1629041013.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:23:33.338Z,1629041013.338 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:23:33.339Z,1629041013.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:23:33.720Z,1629041013.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:23:34.133Z,1629041014.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,200,000,006FD,187,80,80,6C,FF
2021-08-15T15:23:34.134Z,1629041014.134 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:23:34.553Z,1629041014.553 [Micromodem](INFO): Nmea in: $SNTTA,0.061283,,,,152335.31*4F

2021-08-15T15:23:34.619Z,1629041014.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.840004 m, bearing: 135.419729 deg, deltaT: 4.489296 s, approachRate: 0.133651 m/s, LOS rate: -11.073244 deg/s, posRepo size: 4
2021-08-15T15:23:36.971Z,1629041016.971 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:23:37.369Z,1629041017.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:23:37.369Z,1629041017.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:23:37.369Z,1629041017.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:23:37.370Z,1629041017.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:23:37.761Z,1629041017.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
200,000,006FD,187,80,80,6C,FF
2021-08-15T15:23:37.761Z,1629041017.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:23:37.761Z,1629041017.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:23:37.763Z,1629041017.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:23:38.205Z,1629041018.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:23:38.577Z,1629041018.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3B,000,00709,186,80,80,4E,FF
2021-08-15T15:23:38.578Z,1629041018.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:23:39.013Z,1629041019.013 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152339.73*55

2021-08-15T15:23:39.035Z,1629041019.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.559998 m, bearing: 170.446360 deg, deltaT: 4.468336 s, approachRate: 0.161132 m/s, LOS rate: 7.838854 deg/s, posRepo size: 4
2021-08-15T15:23:40.301Z,1629041020.301 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-15T15:23:41.433Z,1629041021.433 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:23:41.797Z,1629041021.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:23:41.797Z,1629041021.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:23:41.797Z,1629041021.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:23:41.798Z,1629041021.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:23:42.292Z,1629041022.292 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3B,000,00709,186,80,80,4E,FF
2021-08-15T15:23:42.293Z,1629041022.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:23:42.293Z,1629041022.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:23:42.299Z,1629041022.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:23:42.741Z,1629041022.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:23:43.145Z,1629041023.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D39,000,00715,18A,80,80,3B,FF
2021-08-15T15:23:43.146Z,1629041023.146 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:23:43.590Z,1629041023.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.280006 m, bearing: 195.555856 deg, deltaT: 4.519826 s, approachRate: 0.159300 m/s, LOS rate: 5.555412 deg/s, posRepo size: 4
2021-08-15T15:23:46.077Z,1629041026.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:23:46.377Z,1629041026.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:23:46.377Z,1629041026.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:23:46.378Z,1629041026.378 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:23:46.379Z,1629041026.379 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:23:46.777Z,1629041026.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D39,000,00715,18A,80,80,3B,FF
2021-08-15T15:23:46.777Z,1629041026.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:23:46.777Z,1629041026.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:23:46.779Z,1629041026.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:23:47.189Z,1629041027.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:23:47.593Z,1629041027.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CB,000,0071E,186,80,80,67,FF
2021-08-15T15:23:47.594Z,1629041027.594 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:23:48.021Z,1629041028.021 [Micromodem](INFO): Nmea in: $SNTTA,0.052263,,,,152348.75*4B

2021-08-15T15:23:48.057Z,1629041028.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.820000 m, bearing: 136.681702 deg, deltaT: 4.490939 s, approachRate: 0.120241 m/s, LOS rate: -13.109542 deg/s, posRepo size: 4
2021-08-15T15:23:50.470Z,1629041030.470 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:23:50.817Z,1629041030.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:23:50.817Z,1629041030.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:23:50.817Z,1629041030.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:23:50.818Z,1629041030.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:23:51.221Z,1629041031.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CB,000,0071E,186,80,80,67,FF
2021-08-15T15:23:51.221Z,1629041031.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:23:51.221Z,1629041031.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:23:51.223Z,1629041031.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:23:51.637Z,1629041031.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:23:52.038Z,1629041032.038 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,13A,000,00729,186,80,80,78,FF
2021-08-15T15:23:52.038Z,1629041032.038 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:23:52.469Z,1629041032.469 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152353.19*55

2021-08-15T15:23:52.576Z,1629041032.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.480003 m, bearing: 144.630430 deg, deltaT: 4.391707 s, approachRate: 0.150284 m/s, LOS rate: 1.809941 deg/s, posRepo size: 4
2021-08-15T15:23:54.891Z,1629041034.891 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:23:55.301Z,1629041035.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:23:55.301Z,1629041035.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:23:55.301Z,1629041035.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:23:55.302Z,1629041035.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:23:55.669Z,1629041035.670 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
13A,000,00729,186,80,80,78,FF
2021-08-15T15:23:55.670Z,1629041035.670 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:23:55.670Z,1629041035.670 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:23:55.672Z,1629041035.672 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:23:56.069Z,1629041036.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:23:56.473Z,1629041036.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D1,000,00736,186,80,80,6F,FF
2021-08-15T15:23:56.474Z,1629041036.474 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:23:56.925Z,1629041036.925 [Micromodem](INFO): Nmea in: $SNTTA,0.053245,,,,152357.64*40

2021-08-15T15:23:56.941Z,1629041036.941 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.260002 m, bearing: 149.747499 deg, deltaT: 4.529507 s, approachRate: 0.172204 m/s, LOS rate: 1.129719 deg/s, posRepo size: 4
2021-08-15T15:23:59.397Z,1629041039.397 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:23:59.717Z,1629041039.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:23:59.717Z,1629041039.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:23:59.717Z,1629041039.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:23:59.718Z,1629041039.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:24:00.109Z,1629041040.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D1,000,00736,186,80,80,6F,FF
2021-08-15T15:24:00.109Z,1629041040.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:24:00.109Z,1629041040.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:24:00.111Z,1629041040.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:24:00.533Z,1629041040.533 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:24:00.921Z,1629041040.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22F,000,00747,188,80,80,51,FF
2021-08-15T15:24:00.922Z,1629041040.922 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:24:01.369Z,1629041041.369 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152402.08*56

2021-08-15T15:24:01.400Z,1629041041.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.279999 m, bearing: 131.358403 deg, deltaT: 4.390266 s, approachRate: 0.232331 m/s, LOS rate: -4.188606 deg/s, posRepo size: 4
2021-08-15T15:24:03.771Z,1629041043.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:24:04.157Z,1629041044.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:24:04.157Z,1629041044.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:24:04.157Z,1629041044.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:24:04.158Z,1629041044.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:24:04.561Z,1629041044.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22F,000,00747,188,80,80,51,FF
2021-08-15T15:24:04.561Z,1629041044.561 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:24:04.561Z,1629041044.561 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:24:04.563Z,1629041044.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:24:04.981Z,1629041044.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:24:05.365Z,1629041045.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,352,000,00751,189,80,80,6D,FF
2021-08-15T15:24:05.366Z,1629041045.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:24:05.813Z,1629041045.813 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152406.53*5C

2021-08-15T15:24:05.836Z,1629041045.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.879997 m, bearing: 117.166622 deg, deltaT: 4.442347 s, approachRate: 0.135063 m/s, LOS rate: -3.194658 deg/s, posRepo size: 4
2021-08-15T15:24:08.365Z,1629041048.365 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:24:08.593Z,1629041048.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:24:08.593Z,1629041048.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:24:08.593Z,1629041048.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:24:08.594Z,1629041048.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:24:09.021Z,1629041049.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
352,000,00751,189,80,80,6D,FF
2021-08-15T15:24:09.021Z,1629041049.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:24:09.021Z,1629041049.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:24:09.023Z,1629041049.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:24:09.405Z,1629041049.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:24:09.821Z,1629041049.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECA,000,00763,186,80,80,7F,FF
2021-08-15T15:24:09.822Z,1629041049.822 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:24:10.305Z,1629041050.305 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152410.99*5D

2021-08-15T15:24:10.366Z,1629041050.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.959999 m, bearing: 175.859353 deg, deltaT: 4.425582 s, approachRate: 0.244036 m/s, LOS rate: 13.262149 deg/s, posRepo size: 4
2021-08-15T15:24:12.378Z,1629041052.378 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:24:12.633Z,1629041052.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:24:12.633Z,1629041052.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:24:12.633Z,1629041052.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:24:12.634Z,1629041052.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:24:13.051Z,1629041053.051 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECA,000,00763,186,80,80,7F,FF
2021-08-15T15:24:13.052Z,1629041053.052 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:24:13.052Z,1629041053.052 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:24:13.055Z,1629041053.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:24:13.452Z,1629041053.452 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:24:13.853Z,1629041053.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E49,000,00767,185,80,80,59,FF
2021-08-15T15:24:13.854Z,1629041053.854 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:24:14.329Z,1629041054.329 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152415.02*5A

2021-08-15T15:24:14.395Z,1629041054.395 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.200005 m, bearing: 182.713489 deg, deltaT: 4.065727 s, approachRate: 0.059031 m/s, LOS rate: 1.685833 deg/s, posRepo size: 4
2021-08-15T15:24:16.695Z,1629041056.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:24:17.077Z,1629041057.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:24:17.077Z,1629041057.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:24:17.077Z,1629041057.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:24:17.078Z,1629041057.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:24:17.491Z,1629041057.491 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E49,000,00767,185,80,80,59,FF
2021-08-15T15:24:17.491Z,1629041057.491 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:24:17.492Z,1629041057.492 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:24:17.495Z,1629041057.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:24:17.896Z,1629041057.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:24:18.305Z,1629041058.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,275,000,00778,18A,80,80,6C,FF
2021-08-15T15:24:18.305Z,1629041058.305 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:24:18.729Z,1629041058.729 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152419.46*56

2021-08-15T15:24:18.791Z,1629041058.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.220001 m, bearing: 129.588619 deg, deltaT: 4.499704 s, approachRate: 0.226681 m/s, LOS rate: -11.806303 deg/s, posRepo size: 4
2021-08-15T15:24:20.392Z,1629041060.392 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-15T15:24:21.135Z,1629041061.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:24:21.521Z,1629041061.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:24:21.522Z,1629041061.522 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:24:21.522Z,1629041061.522 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:24:21.523Z,1629041061.523 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:24:21.925Z,1629041061.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
275,000,00778,18A,80,80,6C,FF
2021-08-15T15:24:21.925Z,1629041061.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:24:21.925Z,1629041061.925 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:24:21.927Z,1629041061.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:24:22.348Z,1629041062.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:24:22.738Z,1629041062.738 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,30A,000,0077E,189,80,80,56,FF
2021-08-15T15:24:22.738Z,1629041062.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:24:23.177Z,1629041063.177 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152423.90*54

2021-08-15T15:24:23.220Z,1629041063.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.580002 m, bearing: 120.604612 deg, deltaT: 4.347087 s, approachRate: 0.082814 m/s, LOS rate: -2.066673 deg/s, posRepo size: 4
2021-08-15T15:24:25.595Z,1629041065.595 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:24:25.965Z,1629041065.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:24:25.965Z,1629041065.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:24:25.965Z,1629041065.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:24:25.966Z,1629041065.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:24:26.385Z,1629041066.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
30A,000,0077E,189,80,80,56,FF
2021-08-15T15:24:26.385Z,1629041066.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:24:26.385Z,1629041066.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:24:26.387Z,1629041066.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:24:26.784Z,1629041066.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:24:27.182Z,1629041067.182 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECC,000,00792,185,80,80,7A,FF
2021-08-15T15:24:27.183Z,1629041067.183 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:24:27.617Z,1629041067.617 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152428.36*53

2021-08-15T15:24:27.667Z,1629041067.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.779999 m, bearing: 172.080961 deg, deltaT: 4.445108 s, approachRate: 0.269959 m/s, LOS rate: 11.580450 deg/s, posRepo size: 4
2021-08-15T15:24:30.023Z,1629041070.023 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:24:30.420Z,1629041070.420 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:24:30.421Z,1629041070.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:24:30.421Z,1629041070.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:24:30.421Z,1629041070.421 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:24:30.810Z,1629041070.810 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECC,000,00792,185,80,80,7A,FF
2021-08-15T15:24:30.810Z,1629041070.810 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:24:30.810Z,1629041070.810 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:24:30.813Z,1629041070.813 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:24:31.231Z,1629041071.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:24:31.617Z,1629041071.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1E,000,0079C,187,80,80,7A,FF
2021-08-15T15:24:31.618Z,1629041071.618 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:24:32.069Z,1629041072.069 [Micromodem](INFO): Nmea in: $SNTTA,0.059426,,,,152432.78*40

2021-08-15T15:24:32.092Z,1629041072.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.379997 m, bearing: 168.548496 deg, deltaT: 4.476618 s, approachRate: 0.134029 m/s, LOS rate: -0.789092 deg/s, posRepo size: 4
2021-08-15T15:24:34.536Z,1629041074.536 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:24:34.853Z,1629041074.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:24:34.853Z,1629041074.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:24:34.853Z,1629041074.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:24:34.854Z,1629041074.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:24:35.283Z,1629041075.283 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1E,000,0079C,187,80,80,7A,FF
2021-08-15T15:24:35.283Z,1629041075.283 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:24:35.288Z,1629041075.288 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:24:35.298Z,1629041075.298 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:24:35.661Z,1629041075.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:24:36.073Z,1629041076.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,31B,000,007A4,189,80,80,23,FF
2021-08-15T15:24:36.074Z,1629041076.074 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:24:36.487Z,1629041076.487 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152437.27*5D

2021-08-15T15:24:36.561Z,1629041076.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.860001 m, bearing: 118.718578 deg, deltaT: 4.454057 s, approachRate: 0.107768 m/s, LOS rate: -11.187535 deg/s, posRepo size: 4
2021-08-15T15:24:38.915Z,1629041078.915 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:24:39.313Z,1629041079.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:24:39.313Z,1629041079.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:24:39.313Z,1629041079.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:24:39.314Z,1629041079.314 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:24:39.701Z,1629041079.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
31B,000,007A4,189,80,80,23,FF
2021-08-15T15:24:39.701Z,1629041079.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:24:39.701Z,1629041079.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:24:39.703Z,1629041079.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:24:40.125Z,1629041080.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:24:40.541Z,1629041080.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8E,000,007B3,186,80,80,53,FF
2021-08-15T15:24:40.542Z,1629041080.542 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:24:40.976Z,1629041080.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.760002 m, bearing: 177.945484 deg, deltaT: 4.480449 s, approachRate: 0.200873 m/s, LOS rate: 13.218967 deg/s, posRepo size: 4
2021-08-15T15:24:43.417Z,1629041083.417 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:24:43.769Z,1629041083.769 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:24:43.769Z,1629041083.769 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:24:43.769Z,1629041083.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:24:43.770Z,1629041083.770 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:24:44.181Z,1629041084.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8E,000,007B3,186,80,80,53,FF
2021-08-15T15:24:44.181Z,1629041084.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:24:44.182Z,1629041084.182 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:24:44.189Z,1629041084.189 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:24:44.581Z,1629041084.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:24:44.983Z,1629041084.983 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,305,000,007BA,18A,80,80,34,FF
2021-08-15T15:24:44.983Z,1629041084.983 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:24:45.405Z,1629041085.405 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152446.16*59

2021-08-15T15:24:45.458Z,1629041085.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.180008 m, bearing: 120.609844 deg, deltaT: 4.413361 s, approachRate: 0.095167 m/s, LOS rate: -12.991378 deg/s, posRepo size: 4
2021-08-15T15:24:47.847Z,1629041087.847 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:24:48.250Z,1629041088.250 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:24:48.250Z,1629041088.250 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:24:48.250Z,1629041088.250 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:24:48.251Z,1629041088.251 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:24:48.613Z,1629041088.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
305,000,007BA,18A,80,80,34,FF
2021-08-15T15:24:48.613Z,1629041088.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:24:48.613Z,1629041088.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:24:48.615Z,1629041088.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:24:49.029Z,1629041089.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:24:49.421Z,1629041089.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CF,000,007C9,189,80,80,21,FF
2021-08-15T15:24:49.422Z,1629041089.422 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:24:49.869Z,1629041089.869 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152450.59*55

2021-08-15T15:24:49.891Z,1629041089.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.080002 m, bearing: 123.600237 deg, deltaT: 4.505318 s, approachRate: 0.199763 m/s, LOS rate: 0.663747 deg/s, posRepo size: 4
2021-08-15T15:24:52.367Z,1629041092.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:24:52.649Z,1629041092.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:24:52.649Z,1629041092.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:24:52.649Z,1629041092.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:24:52.650Z,1629041092.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:24:53.054Z,1629041093.054 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CF,000,007C9,189,80,80,21,FF
2021-08-15T15:24:53.054Z,1629041093.054 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:24:53.054Z,1629041093.054 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:24:53.056Z,1629041093.056 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:24:53.465Z,1629041093.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:24:53.865Z,1629041093.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,326,000,007D4,18A,80,80,34,FF
2021-08-15T15:24:53.866Z,1629041093.866 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:24:54.325Z,1629041094.325 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152455.03*5F

2021-08-15T15:24:54.379Z,1629041094.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.739998 m, bearing: 119.727875 deg, deltaT: 4.383401 s, approachRate: 0.150567 m/s, LOS rate: -0.883415 deg/s, posRepo size: 4
2021-08-15T15:24:55.523Z,1629041095.523 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T15:24:56.719Z,1629041096.719 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:24:57.097Z,1629041097.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:24:57.097Z,1629041097.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:24:57.097Z,1629041097.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:24:57.098Z,1629041097.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:24:57.506Z,1629041097.506 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
326,000,007D4,18A,80,80,34,FF
2021-08-15T15:24:57.506Z,1629041097.506 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:24:57.507Z,1629041097.507 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:24:57.509Z,1629041097.509 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:24:57.924Z,1629041097.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:24:58.341Z,1629041098.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB3,000,007E4,186,80,80,7B,FF
2021-08-15T15:24:58.341Z,1629041098.341 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:24:58.754Z,1629041098.754 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152459.48*5C

2021-08-15T15:24:58.777Z,1629041098.777 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.699997 m, bearing: 176.718850 deg, deltaT: 4.506459 s, approachRate: 0.213027 m/s, LOS rate: 12.646509 deg/s, posRepo size: 4
2021-08-15T15:25:01.172Z,1629041101.172 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:25:01.561Z,1629041101.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:25:01.561Z,1629041101.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:25:01.561Z,1629041101.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:25:01.562Z,1629041101.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:25:01.953Z,1629041101.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB3,000,007E4,186,80,80,7B,FF
2021-08-15T15:25:01.953Z,1629041101.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:25:01.953Z,1629041101.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:25:01.955Z,1629041101.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:25:02.353Z,1629041102.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:25:02.765Z,1629041102.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED4,000,007F2,187,80,80,90,FF
2021-08-15T15:25:02.765Z,1629041102.765 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:25:03.193Z,1629041103.193 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152503.92*55

2021-08-15T15:25:03.230Z,1629041103.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.540001 m, bearing: 175.009637 deg, deltaT: 4.362796 s, approachRate: 0.192538 m/s, LOS rate: -0.391770 deg/s, posRepo size: 4
2021-08-15T15:25:05.609Z,1629041105.609 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T15:25:05.625Z,1629041105.625 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:25:06.010Z,1629041106.010 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:25:06.010Z,1629041106.010 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:25:06.010Z,1629041106.010 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:25:06.011Z,1629041106.011 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:25:06.385Z,1629041106.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED4,000,007F2,187,80,80,90,FF
2021-08-15T15:25:06.385Z,1629041106.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:25:06.386Z,1629041106.386 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:25:06.387Z,1629041106.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:25:06.889Z,1629041106.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:25:07.303Z,1629041107.303 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F21,000,007FD,186,80,80,69,FF
2021-08-15T15:25:07.304Z,1629041107.304 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:25:07.699Z,1629041107.699 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152508.36*50

2021-08-15T15:25:07.716Z,1629041107.716 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.199997 m, bearing: 170.543171 deg, deltaT: 4.587578 s, approachRate: 0.143866 m/s, LOS rate: -0.973600 deg/s, posRepo size: 4
2021-08-15T15:25:10.135Z,1629041110.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:25:10.527Z,1629041110.527 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:25:10.527Z,1629041110.527 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:25:10.528Z,1629041110.528 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:25:10.529Z,1629041110.529 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:25:10.592Z,1629041110.592 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-15T15:25:10.925Z,1629041110.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F21,000,007FD,186,80,80,69,FF
2021-08-15T15:25:10.925Z,1629041110.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:25:10.925Z,1629041110.925 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:25:10.927Z,1629041110.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:25:11.345Z,1629041111.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:25:11.742Z,1629041111.742 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6E,000,0080B,186,80,80,5D,FF
2021-08-15T15:25:11.742Z,1629041111.742 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:25:12.176Z,1629041112.176 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152512.90*57

2021-08-15T15:25:12.269Z,1629041112.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.040001 m, bearing: 179.266771 deg, deltaT: 4.393739 s, approachRate: 0.191182 m/s, LOS rate: 1.985461 deg/s, posRepo size: 4
2021-08-15T15:25:14.291Z,1629041114.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:25:14.569Z,1629041114.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:25:14.569Z,1629041114.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:25:14.569Z,1629041114.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:25:14.570Z,1629041114.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:25:14.981Z,1629041114.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6E,000,0080B,186,80,80,5D,FF
2021-08-15T15:25:14.981Z,1629041114.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:25:14.981Z,1629041114.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:25:14.983Z,1629041114.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:25:15.372Z,1629041115.372 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:25:15.389Z,1629041115.389 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T15:25:15.783Z,1629041115.783 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC4,000,0081D,186,80,80,85,FF
2021-08-15T15:25:15.784Z,1629041115.784 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:25:16.235Z,1629041116.235 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152516.95*56

2021-08-15T15:25:16.328Z,1629041116.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.120003 m, bearing: 174.913126 deg, deltaT: 4.037410 s, approachRate: 0.267499 m/s, LOS rate: -1.078326 deg/s, posRepo size: 4
2021-08-15T15:25:18.366Z,1629041118.366 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:25:18.609Z,1629041118.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:25:18.609Z,1629041118.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:25:18.609Z,1629041118.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:25:18.610Z,1629041118.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:25:19.019Z,1629041119.019 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC4,000,0081D,186,80,80,85,FF
2021-08-15T15:25:19.019Z,1629041119.019 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:25:19.019Z,1629041119.019 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:25:19.022Z,1629041119.022 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:25:19.409Z,1629041119.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:25:19.818Z,1629041119.818 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0A,000,0082E,186,80,80,56,FF
2021-08-15T15:25:19.818Z,1629041119.818 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:25:20.318Z,1629041120.318 [Micromodem](INFO): Nmea in: $SNTTA,0.068855,,,,152520.99*47

2021-08-15T15:25:20.354Z,1629041120.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.140007 m, bearing: 171.196069 deg, deltaT: 4.042334 s, approachRate: 0.252331 m/s, LOS rate: -0.919532 deg/s, posRepo size: 4
2021-08-15T15:25:22.393Z,1629041122.393 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:25:22.637Z,1629041122.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:25:22.637Z,1629041122.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:25:22.637Z,1629041122.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:25:22.638Z,1629041122.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:25:23.046Z,1629041123.046 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0A,000,0082E,186,80,80,56,FF
2021-08-15T15:25:23.046Z,1629041123.046 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:25:23.046Z,1629041123.046 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:25:23.050Z,1629041123.050 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:25:23.448Z,1629041123.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:25:23.854Z,1629041123.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED2,000,0083B,186,80,80,5D,FF
2021-08-15T15:25:23.855Z,1629041123.855 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:25:24.306Z,1629041124.306 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152525.02*58

2021-08-15T15:25:24.387Z,1629041124.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.919998 m, bearing: 173.984439 deg, deltaT: 4.071037 s, approachRate: 0.191595 m/s, LOS rate: 0.684929 deg/s, posRepo size: 4
2021-08-15T15:25:25.491Z,1629041125.491 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-08-15T15:25:26.711Z,1629041126.711 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:25:27.085Z,1629041127.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:25:27.085Z,1629041127.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:25:27.085Z,1629041127.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:25:27.086Z,1629041127.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:25:27.485Z,1629041127.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED2,000,0083B,186,80,80,5D,FF
2021-08-15T15:25:27.485Z,1629041127.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:25:27.486Z,1629041127.486 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:25:27.488Z,1629041127.488 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:25:27.900Z,1629041127.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:25:28.305Z,1629041128.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E61,000,0084D,186,80,80,5A,FF
2021-08-15T15:25:28.305Z,1629041128.305 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:25:28.758Z,1629041128.758 [Micromodem](INFO): Nmea in: $SNTTA,0.065050,,,,152529.46*4C

2021-08-15T15:25:28.794Z,1629041128.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.000000 m, bearing: 179.399317 deg, deltaT: 4.485620 s, approachRate: 0.240770 m/s, LOS rate: 1.207164 deg/s, posRepo size: 4
2021-08-15T15:25:31.140Z,1629041131.140 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:25:31.532Z,1629041131.532 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:25:31.532Z,1629041131.532 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:25:31.533Z,1629041131.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:25:31.534Z,1629041131.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:25:31.929Z,1629041131.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E61,000,0084D,186,80,80,5A,FF
2021-08-15T15:25:31.929Z,1629041131.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:25:31.930Z,1629041131.930 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:25:31.931Z,1629041131.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:25:32.425Z,1629041132.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:25:32.822Z,1629041132.822 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECA,000,00858,186,80,80,73,FF
2021-08-15T15:25:32.823Z,1629041132.823 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:25:33.229Z,1629041133.229 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152533.90*54

2021-08-15T15:25:33.306Z,1629041133.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.660004 m, bearing: 174.033685 deg, deltaT: 4.481322 s, approachRate: 0.147279 m/s, LOS rate: -1.197333 deg/s, posRepo size: 4
2021-08-15T15:25:35.677Z,1629041135.677 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:25:36.054Z,1629041136.054 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:25:36.054Z,1629041136.054 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:25:36.055Z,1629041136.055 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:25:36.056Z,1629041136.056 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:25:36.455Z,1629041136.455 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECA,000,00858,186,80,80,73,FF
2021-08-15T15:25:36.455Z,1629041136.455 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:25:36.455Z,1629041136.455 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:25:36.457Z,1629041136.457 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:25:36.872Z,1629041136.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:25:37.706Z,1629041137.706 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152538.43*51

2021-08-15T15:25:38.577Z,1629041138.577 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:25:40.091Z,1629041140.091 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,186,80,80,73,FF
2021-08-15T15:25:40.091Z,1629041140.091 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,186,80,80,73,FF
2021-08-15T15:25:40.091Z,1629041140.091 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T15:25:40.552Z,1629041140.552 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T15:25:41.367Z,1629041141.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:25:41.709Z,1629041141.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:25:41.709Z,1629041141.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:25:41.709Z,1629041141.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:25:41.710Z,1629041141.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:25:42.111Z,1629041142.111 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,186,80,80,73,FF
2021-08-15T15:25:42.111Z,1629041142.111 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:25:42.111Z,1629041142.111 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:25:42.113Z,1629041142.113 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:25:42.532Z,1629041142.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:25:42.919Z,1629041142.919 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E96,000,0087A,187,80,80,49,FF
2021-08-15T15:25:42.919Z,1629041142.919 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:25:43.365Z,1629041143.365 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152544.08*55

2021-08-15T15:25:43.434Z,1629041143.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.700005 m, bearing: 176.701638 deg, deltaT: 10.094222 s, approachRate: 0.202096 m/s, LOS rate: 0.264305 deg/s, posRepo size: 4
2021-08-15T15:25:45.770Z,1629041145.770 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:25:46.163Z,1629041146.163 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:25:46.163Z,1629041146.163 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:25:46.163Z,1629041146.163 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:25:46.164Z,1629041146.164 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:25:46.565Z,1629041146.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E96,000,0087A,187,80,80,49,FF
2021-08-15T15:25:46.565Z,1629041146.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:25:46.566Z,1629041146.566 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:25:46.567Z,1629041146.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:25:46.965Z,1629041146.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:25:47.371Z,1629041147.371 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFB,000,00885,186,80,80,A5,FF
2021-08-15T15:25:47.371Z,1629041147.371 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:25:47.821Z,1629041147.821 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152548.54*50

2021-08-15T15:25:47.863Z,1629041147.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.360008 m, bearing: 171.849363 deg, deltaT: 4.422942 s, approachRate: 0.149223 m/s, LOS rate: -1.097070 deg/s, posRepo size: 4
2021-08-15T15:25:49.927Z,1629041149.927 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:25:50.293Z,1629041150.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:25:50.293Z,1629041150.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:25:50.293Z,1629041150.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:25:50.294Z,1629041150.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:25:50.673Z,1629041150.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFB,000,00885,186,80,80,A5,FF
2021-08-15T15:25:50.673Z,1629041150.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:25:50.673Z,1629041150.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:25:50.675Z,1629041150.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:25:51.072Z,1629041151.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:25:51.481Z,1629041151.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F07,000,00898,186,80,80,77,FF
2021-08-15T15:25:51.482Z,1629041151.482 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:25:51.930Z,1629041151.930 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152552.64*58

2021-08-15T15:25:51.953Z,1629041151.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.500000 m, bearing: 170.830804 deg, deltaT: 4.187485 s, approachRate: 0.272238 m/s, LOS rate: -0.243239 deg/s, posRepo size: 4
2021-08-15T15:25:54.404Z,1629041154.404 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:25:54.713Z,1629041154.713 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:25:54.714Z,1629041154.714 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:25:54.714Z,1629041154.714 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:25:54.715Z,1629041154.715 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:25:55.121Z,1629041155.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F07,000,00898,186,80,80,77,FF
2021-08-15T15:25:55.121Z,1629041155.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:25:55.121Z,1629041155.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:25:55.123Z,1629041155.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:25:55.588Z,1629041155.588 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:25:55.981Z,1629041155.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F24,000,008A6,187,80,80,B8,FF
2021-08-15T15:25:55.981Z,1629041155.981 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:25:56.407Z,1629041156.407 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152557.09*56

2021-08-15T15:25:56.484Z,1629041156.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.340004 m, bearing: 169.315636 deg, deltaT: 4.411998 s, approachRate: 0.190391 m/s, LOS rate: -0.343420 deg/s, posRepo size: 4
2021-08-15T15:25:58.826Z,1629041158.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:25:59.213Z,1629041159.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:25:59.214Z,1629041159.214 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:25:59.214Z,1629041159.214 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:25:59.215Z,1629041159.215 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:25:59.614Z,1629041159.614 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F24,000,008A6,187,80,80,B8,FF
2021-08-15T15:25:59.614Z,1629041159.614 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:25:59.614Z,1629041159.614 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:25:59.616Z,1629041159.616 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:26:00.021Z,1629041160.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:26:00.426Z,1629041160.426 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6F,000,008BB,186,80,80,7F,FF
2021-08-15T15:26:00.426Z,1629041160.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:26:00.873Z,1629041160.873 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152601.58*52

2021-08-15T15:26:00.919Z,1629041160.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.600006 m, bearing: 165.487670 deg, deltaT: 4.519801 s, approachRate: 0.278774 m/s, LOS rate: -0.846932 deg/s, posRepo size: 4
2021-08-15T15:26:03.350Z,1629041163.350 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:26:03.685Z,1629041163.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:26:03.685Z,1629041163.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:26:03.685Z,1629041163.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:26:03.686Z,1629041163.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:26:04.093Z,1629041164.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6F,000,008BB,186,80,80,7F,FF
2021-08-15T15:26:04.093Z,1629041164.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:26:04.093Z,1629041164.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:26:04.095Z,1629041164.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:26:04.517Z,1629041164.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:26:04.897Z,1629041164.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F21,000,008C9,187,80,80,A4,FF
2021-08-15T15:26:04.897Z,1629041164.897 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:26:05.357Z,1629041165.357 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152606.07*5F

2021-08-15T15:26:05.436Z,1629041165.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.440002 m, bearing: 169.469561 deg, deltaT: 4.408882 s, approachRate: 0.190524 m/s, LOS rate: 0.903152 deg/s, posRepo size: 4
2021-08-15T15:26:07.763Z,1629041167.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:26:08.129Z,1629041168.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:26:08.129Z,1629041168.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:26:08.129Z,1629041168.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:26:08.130Z,1629041168.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:26:08.545Z,1629041168.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F21,000,008C9,187,80,80,A4,FF
2021-08-15T15:26:08.545Z,1629041168.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:26:08.545Z,1629041168.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:26:08.547Z,1629041168.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:26:09.005Z,1629041169.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:26:09.405Z,1629041169.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F22,000,008D9,186,80,80,A6,FF
2021-08-15T15:26:09.405Z,1629041169.405 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:26:09.765Z,1629041169.765 [CTD_Seabird](ERROR): Failed to parse device response: ,24.0623,4.78207,4798.31
2021-08-15T15:26:09.837Z,1629041169.837 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152610.52*58

2021-08-15T15:26:09.859Z,1629041169.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.400002 m, bearing: 169.641955 deg, deltaT: 4.599711 s, approachRate: 0.208709 m/s, LOS rate: 0.037479 deg/s, posRepo size: 4
2021-08-15T15:26:12.346Z,1629041172.346 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:26:12.629Z,1629041172.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:26:12.629Z,1629041172.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:26:12.629Z,1629041172.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:26:12.630Z,1629041172.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:26:13.041Z,1629041173.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F22,000,008D9,186,80,80,A6,FF
2021-08-15T15:26:13.041Z,1629041173.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:26:13.041Z,1629041173.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:26:13.043Z,1629041173.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:26:13.441Z,1629041173.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:26:13.839Z,1629041173.839 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB6,000,008EA,185,80,80,2A,FF
2021-08-15T15:26:13.839Z,1629041173.839 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:26:14.322Z,1629041174.322 [Micromodem](INFO): Nmea in: $SNTTA,0.072132,,,,152615.01*40

2021-08-15T15:26:14.413Z,1629041174.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.419998 m, bearing: 161.854624 deg, deltaT: 4.330479 s, approachRate: 0.235539 m/s, LOS rate: -1.798261 deg/s, posRepo size: 4
2021-08-15T15:26:16.365Z,1629041176.365 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:26:16.689Z,1629041176.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:26:16.689Z,1629041176.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:26:16.690Z,1629041176.690 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:26:16.690Z,1629041176.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:26:17.085Z,1629041177.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB6,000,008EA,185,80,80,2A,FF
2021-08-15T15:26:17.085Z,1629041177.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:26:17.085Z,1629041177.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:26:17.087Z,1629041177.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:26:17.495Z,1629041177.495 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:26:17.897Z,1629041177.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E65,000,008FD,186,80,80,61,FF
2021-08-15T15:26:17.898Z,1629041177.898 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:26:18.346Z,1629041178.346 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152619.06*50

2021-08-15T15:26:18.425Z,1629041178.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.560005 m, bearing: 178.160895 deg, deltaT: 4.082675 s, approachRate: 0.279230 m/s, LOS rate: 3.994016 deg/s, posRepo size: 4
2021-08-15T15:26:20.746Z,1629041180.746 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:26:21.129Z,1629041181.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:26:21.129Z,1629041181.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:26:21.130Z,1629041181.130 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:26:21.131Z,1629041181.131 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:26:21.542Z,1629041181.542 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E65,000,008FD,186,80,80,61,FF
2021-08-15T15:26:21.542Z,1629041181.542 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:26:21.542Z,1629041181.542 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:26:21.544Z,1629041181.544 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:26:21.936Z,1629041181.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:26:22.354Z,1629041182.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5D,000,0090C,186,80,80,8C,FF
2021-08-15T15:26:22.354Z,1629041182.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:26:22.777Z,1629041182.777 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152623.51*5B

2021-08-15T15:26:22.807Z,1629041182.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.459999 m, bearing: 165.886867 deg, deltaT: 4.496126 s, approachRate: 0.200171 m/s, LOS rate: -2.729912 deg/s, posRepo size: 4
2021-08-15T15:26:25.179Z,1629041185.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:26:25.569Z,1629041185.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:26:25.569Z,1629041185.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:26:25.570Z,1629041185.570 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:26:25.571Z,1629041185.571 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:26:25.977Z,1629041185.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5D,000,0090C,186,80,80,8C,FF
2021-08-15T15:26:25.978Z,1629041185.978 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:26:25.978Z,1629041185.978 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:26:25.984Z,1629041185.984 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:26:26.381Z,1629041186.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:26:26.789Z,1629041186.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0D,000,0091C,186,80,80,9E,FF
2021-08-15T15:26:26.790Z,1629041186.790 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:26:27.217Z,1629041187.217 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152627.95*57

2021-08-15T15:26:27.257Z,1629041187.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.420006 m, bearing: 170.866908 deg, deltaT: 4.371026 s, approachRate: 0.219630 m/s, LOS rate: 1.139330 deg/s, posRepo size: 4
2021-08-15T15:26:29.650Z,1629041189.650 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:26:30.013Z,1629041190.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:26:30.013Z,1629041190.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:26:30.013Z,1629041190.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:26:30.014Z,1629041190.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:26:30.425Z,1629041190.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0D,000,0091C,186,80,80,9E,FF
2021-08-15T15:26:30.425Z,1629041190.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:26:30.425Z,1629041190.425 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:26:30.427Z,1629041190.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:26:30.836Z,1629041190.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:26:31.229Z,1629041191.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F29,000,0092C,187,80,80,8E,FF
2021-08-15T15:26:31.229Z,1629041191.229 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:26:31.673Z,1629041191.673 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152632.40*5B

2021-08-15T15:26:31.699Z,1629041191.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.380005 m, bearing: 169.935790 deg, deltaT: 4.497128 s, approachRate: 0.213469 m/s, LOS rate: -0.207047 deg/s, posRepo size: 4
2021-08-15T15:26:34.079Z,1629041194.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:26:34.457Z,1629041194.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:26:34.457Z,1629041194.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:26:34.457Z,1629041194.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:26:34.458Z,1629041194.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:26:34.861Z,1629041194.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F29,000,0092C,187,80,80,8E,FF
2021-08-15T15:26:34.861Z,1629041194.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:26:34.861Z,1629041194.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:26:34.863Z,1629041194.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:26:35.297Z,1629041195.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:26:35.669Z,1629041195.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F14,000,0093E,185,80,80,81,FF
2021-08-15T15:26:35.669Z,1629041195.669 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:26:36.117Z,1629041196.117 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152636.83*50

2021-08-15T15:26:36.139Z,1629041196.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.460007 m, bearing: 170.043843 deg, deltaT: 4.407386 s, approachRate: 0.245044 m/s, LOS rate: 0.024516 deg/s, posRepo size: 4
2021-08-15T15:26:38.581Z,1629041198.581 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:26:38.905Z,1629041198.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:26:38.905Z,1629041198.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:26:38.905Z,1629041198.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:26:38.906Z,1629041198.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:26:39.341Z,1629041199.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F14,000,0093E,185,80,80,81,FF
2021-08-15T15:26:39.341Z,1629041199.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:26:39.341Z,1629041199.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:26:39.343Z,1629041199.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:26:39.717Z,1629041199.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:26:40.117Z,1629041200.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F38,000,0094B,186,80,80,9C,FF
2021-08-15T15:26:40.117Z,1629041200.117 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:26:40.543Z,1629041200.543 [Micromodem](INFO): Nmea in: $SNTTA,0.076473,,,,152641.31*46

2021-08-15T15:26:40.630Z,1629041200.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.240005 m, bearing: 168.272857 deg, deltaT: 4.476887 s, approachRate: 0.174228 m/s, LOS rate: -0.395584 deg/s, posRepo size: 4
2021-08-15T15:26:42.977Z,1629041202.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:26:43.345Z,1629041203.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:26:43.345Z,1629041203.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:26:43.345Z,1629041203.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:26:43.346Z,1629041203.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:26:43.753Z,1629041203.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F38,000,0094B,186,80,80,9C,FF
2021-08-15T15:26:43.753Z,1629041203.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:26:43.753Z,1629041203.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:26:43.755Z,1629041203.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:26:44.165Z,1629041204.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:26:44.561Z,1629041204.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F47,000,0095B,187,80,80,9F,FF
2021-08-15T15:26:44.562Z,1629041204.562 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:26:45.013Z,1629041205.013 [Micromodem](INFO): Nmea in: $SNTTA,0.072588,,,,152645.72*44

2021-08-15T15:26:45.036Z,1629041205.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.199997 m, bearing: 166.927788 deg, deltaT: 4.465668 s, approachRate: 0.214972 m/s, LOS rate: -0.301202 deg/s, posRepo size: 4
2021-08-15T15:26:47.423Z,1629041207.423 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:26:47.793Z,1629041207.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:26:47.793Z,1629041207.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:26:47.793Z,1629041207.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:26:47.794Z,1629041207.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:26:48.209Z,1629041208.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F47,000,0095B,187,80,80,9F,FF
2021-08-15T15:26:48.209Z,1629041208.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:26:48.210Z,1629041208.210 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:26:48.219Z,1629041208.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:26:48.626Z,1629041208.626 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:26:49.013Z,1629041209.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6B,000,0096F,186,80,80,8F,FF
2021-08-15T15:26:49.013Z,1629041209.013 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:26:49.445Z,1629041209.445 [Micromodem](INFO): Nmea in: $SNTTA,0.077862,,,,152650.19*41

2021-08-15T15:26:49.485Z,1629041209.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.400009 m, bearing: 164.197748 deg, deltaT: 4.376389 s, approachRate: 0.274201 m/s, LOS rate: -0.623811 deg/s, posRepo size: 4
2021-08-15T15:26:51.885Z,1629041211.885 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:26:52.285Z,1629041212.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:26:52.285Z,1629041212.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:26:52.285Z,1629041212.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:26:52.287Z,1629041212.287 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:26:52.649Z,1629041212.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6B,000,0096F,186,80,80,8F,FF
2021-08-15T15:26:52.649Z,1629041212.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:26:52.649Z,1629041212.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:26:52.651Z,1629041212.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:26:53.061Z,1629041213.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:26:53.461Z,1629041213.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F76,000,0097A,186,80,80,B0,FF
2021-08-15T15:26:53.461Z,1629041213.461 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:26:53.877Z,1629041213.877 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152654.62*5B

2021-08-15T15:26:53.914Z,1629041213.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.059998 m, bearing: 164.253318 deg, deltaT: 4.508286 s, approachRate: 0.146395 m/s, LOS rate: 0.012326 deg/s, posRepo size: 4
2021-08-15T15:26:56.386Z,1629041216.386 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:26:56.690Z,1629041216.690 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:26:56.690Z,1629041216.690 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:26:56.691Z,1629041216.691 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:26:56.692Z,1629041216.692 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:26:57.085Z,1629041217.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F76,000,0097A,186,80,80,B0,FF
2021-08-15T15:26:57.085Z,1629041217.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:26:57.085Z,1629041217.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:26:57.087Z,1629041217.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:26:57.492Z,1629041217.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:26:57.893Z,1629041217.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F67,000,0098F,187,80,80,B1,FF
2021-08-15T15:26:57.893Z,1629041217.893 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:26:58.357Z,1629041218.357 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152659.06*54

2021-08-15T15:26:58.420Z,1629041218.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.320000 m, bearing: 165.540467 deg, deltaT: 4.371557 s, approachRate: 0.288227 m/s, LOS rate: 0.294437 deg/s, posRepo size: 4
2021-08-15T15:27:00.452Z,1629041220.452 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:27:00.717Z,1629041220.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:27:00.717Z,1629041220.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:27:00.718Z,1629041220.718 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:27:00.719Z,1629041220.719 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:27:01.117Z,1629041221.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F67,000,0098F,187,80,80,B1,FF
2021-08-15T15:27:01.117Z,1629041221.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:27:01.118Z,1629041221.118 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:27:01.119Z,1629041221.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:27:01.547Z,1629041221.547 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:27:01.929Z,1629041221.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2B,000,0099D,186,80,80,9E,FF
2021-08-15T15:27:01.930Z,1629041221.930 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:27:02.373Z,1629041222.373 [Micromodem](INFO): Nmea in: $SNTTA,0.076603,,,,152703.09*4F

2021-08-15T15:27:02.446Z,1629041222.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.160004 m, bearing: 169.151219 deg, deltaT: 4.060771 s, approachRate: 0.206858 m/s, LOS rate: 0.889179 deg/s, posRepo size: 4
2021-08-15T15:27:04.791Z,1629041224.791 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:27:05.161Z,1629041225.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:27:05.161Z,1629041225.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:27:05.161Z,1629041225.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:27:05.162Z,1629041225.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:27:05.569Z,1629041225.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2B,000,0099D,186,80,80,9E,FF
2021-08-15T15:27:05.569Z,1629041225.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:27:05.570Z,1629041225.570 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:27:05.571Z,1629041225.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:27:05.981Z,1629041225.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:27:06.377Z,1629041226.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE7,000,009AF,188,80,80,47,FF
2021-08-15T15:27:06.378Z,1629041226.378 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:27:06.809Z,1629041226.809 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152707.54*59

2021-08-15T15:27:06.843Z,1629041226.843 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.240005 m, bearing: 186.238235 deg, deltaT: 4.533283 s, approachRate: 0.238238 m/s, LOS rate: 3.769236 deg/s, posRepo size: 4
2021-08-15T15:27:09.219Z,1629041229.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:27:09.605Z,1629041229.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:27:09.605Z,1629041229.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:27:09.605Z,1629041229.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:27:09.606Z,1629041229.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:27:10.021Z,1629041230.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE7,000,009AF,188,80,80,47,FF
2021-08-15T15:27:10.021Z,1629041230.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:27:10.021Z,1629041230.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:27:10.023Z,1629041230.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:27:10.437Z,1629041230.437 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:27:10.830Z,1629041230.830 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3D,000,009BD,186,80,80,9D,FF
2021-08-15T15:27:10.830Z,1629041230.830 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:27:11.265Z,1629041231.265 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152711.99*5F

2021-08-15T15:27:11.328Z,1629041231.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.080002 m, bearing: 167.724325 deg, deltaT: 4.343247 s, approachRate: 0.193403 m/s, LOS rate: -4.262689 deg/s, posRepo size: 4
2021-08-15T15:27:13.678Z,1629041233.678 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:27:14.049Z,1629041234.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:27:14.049Z,1629041234.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:27:14.049Z,1629041234.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:27:14.050Z,1629041234.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:27:14.461Z,1629041234.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3D,000,009BD,186,80,80,9D,FF
2021-08-15T15:27:14.461Z,1629041234.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:27:14.461Z,1629041234.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:27:14.463Z,1629041234.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:27:14.873Z,1629041234.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:27:15.268Z,1629041235.268 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBD,000,009CD,186,80,80,63,FF
2021-08-15T15:27:15.270Z,1629041235.270 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:27:15.701Z,1629041235.701 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152716.43*5F

2021-08-15T15:27:15.738Z,1629041235.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.040001 m, bearing: 173.846974 deg, deltaT: 4.522418 s, approachRate: 0.212276 m/s, LOS rate: 1.353844 deg/s, posRepo size: 4
2021-08-15T15:27:18.123Z,1629041238.123 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:27:18.490Z,1629041238.490 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:27:18.490Z,1629041238.490 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:27:18.490Z,1629041238.490 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:27:18.491Z,1629041238.491 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:27:18.902Z,1629041238.902 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBD,000,009CD,186,80,80,63,FF
2021-08-15T15:27:18.902Z,1629041238.902 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:27:18.902Z,1629041238.902 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:27:18.904Z,1629041238.904 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:27:19.332Z,1629041239.332 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:27:19.709Z,1629041239.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F66,000,009D9,186,80,80,A8,FF
2021-08-15T15:27:19.710Z,1629041239.710 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:27:20.141Z,1629041240.141 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152720.87*52

2021-08-15T15:27:20.220Z,1629041240.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.760002 m, bearing: 165.221497 deg, deltaT: 4.357219 s, approachRate: 0.165243 m/s, LOS rate: -1.979583 deg/s, posRepo size: 4
2021-08-15T15:27:22.617Z,1629041242.617 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:27:22.941Z,1629041242.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:27:22.941Z,1629041242.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:27:22.941Z,1629041242.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:27:22.942Z,1629041242.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:27:23.341Z,1629041243.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F66,000,009D9,186,80,80,A8,FF
2021-08-15T15:27:23.341Z,1629041243.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:27:23.341Z,1629041243.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:27:23.343Z,1629041243.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:27:23.749Z,1629041243.749 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:27:24.153Z,1629041244.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F50,000,009E8,186,80,80,A6,FF
2021-08-15T15:27:24.154Z,1629041244.154 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:27:24.589Z,1629041244.589 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152725.31*5A

2021-08-15T15:27:24.668Z,1629041244.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.659996 m, bearing: 166.223240 deg, deltaT: 4.508746 s, approachRate: 0.199611 m/s, LOS rate: 0.222178 deg/s, posRepo size: 4
2021-08-15T15:27:24.668Z,1629041244.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 114.66 m. Resuming terminal guidance.
2021-08-15T15:27:24.668Z,1629041244.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-15T15:27:27.015Z,1629041247.015 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:27:27.381Z,1629041247.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:27:27.381Z,1629041247.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:27:27.381Z,1629041247.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:27:27.382Z,1629041247.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:27:27.785Z,1629041247.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F50,000,009E8,186,80,80,A6,FF
2021-08-15T15:27:27.785Z,1629041247.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:27:27.785Z,1629041247.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:27:27.787Z,1629041247.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:27:28.237Z,1629041248.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:27:28.295Z,1629041248.295 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-15T15:27:28.601Z,1629041248.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0E,000,009FC,187,80,80,4F,FF
2021-08-15T15:27:28.602Z,1629041248.602 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:27:29.041Z,1629041249.041 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152729.76*55

2021-08-15T15:27:29.063Z,1629041249.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.860008 m, bearing: 183.166809 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-15T15:27:29.064Z,1629041249.064 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 183.166809deg and heading rate command to 0 deg/s.
2021-08-15T15:27:31.466Z,1629041251.466 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:27:31.828Z,1629041251.828 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:27:31.828Z,1629041251.828 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:27:31.828Z,1629041251.828 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:27:31.829Z,1629041251.829 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:27:32.293Z,1629041252.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0E,000,009FC,187,80,80,4F,FF
2021-08-15T15:27:32.293Z,1629041252.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:27:32.293Z,1629041252.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:27:32.294Z,1629041252.294 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:27:32.652Z,1629041252.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:27:33.050Z,1629041253.050 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E44,000,00A12,186,80,80,4F,FF
2021-08-15T15:27:33.050Z,1629041253.050 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:27:33.466Z,1629041253.466 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152734.26*5C

2021-08-15T15:27:33.539Z,1629041253.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.180000 m, bearing: 184.753557 deg, deltaT: 4.445946 s, approachRate: 0.296898 m/s, LOS rate: 0.356898 deg/s, posRepo size: 2
2021-08-15T15:27:33.545Z,1629041253.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.180000 m,
      bearing: 184.753557 deg,
      approachRate: 0.296898 m/s,
      LOS rate: 0.356898 deg/s,
      cmd update: 1.427591 deg/s,
      cmd heading: 183.166809 deg,
      new cmd heading: 183.166809 deg.

2021-08-15T15:27:35.906Z,1629041255.906 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:27:36.292Z,1629041256.292 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:27:36.292Z,1629041256.292 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:27:36.293Z,1629041256.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:27:36.294Z,1629041256.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:27:36.673Z,1629041256.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E44,000,00A12,186,80,80,4F,FF
2021-08-15T15:27:36.673Z,1629041256.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:27:36.674Z,1629041256.674 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:27:36.675Z,1629041256.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:27:37.081Z,1629041257.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:27:37.486Z,1629041257.486 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E04,000,00A2A,187,80,80,C3,FF
2021-08-15T15:27:37.487Z,1629041257.487 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:27:37.930Z,1629041257.930 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152738.64*56

2021-08-15T15:27:37.952Z,1629041257.952 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.620003 m, bearing: 207.682871 deg, deltaT: 4.462583 s, approachRate: 0.322684 m/s, LOS rate: 5.138126 deg/s, posRepo size: 3
2021-08-15T15:27:37.954Z,1629041257.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.620003 m,
      bearing: 207.682871 deg,
      approachRate: 0.322684 m/s,
      LOS rate: 5.138126 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 189.537714 deg,
      new cmd heading: 190.102335 deg.

2021-08-15T15:27:40.423Z,1629041260.423 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:27:40.721Z,1629041260.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:27:40.721Z,1629041260.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:27:40.721Z,1629041260.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:27:40.722Z,1629041260.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:27:41.121Z,1629041261.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E04,000,00A2A,187,80,80,C3,FF
2021-08-15T15:27:41.121Z,1629041261.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:27:41.121Z,1629041261.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:27:41.123Z,1629041261.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:27:41.536Z,1629041261.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:27:41.933Z,1629041261.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB5,000,00A31,189,80,80,9D,FF
2021-08-15T15:27:41.934Z,1629041261.934 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:27:42.377Z,1629041262.377 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152743.10*59

2021-08-15T15:27:42.436Z,1629041262.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.040001 m, bearing: 231.022324 deg, deltaT: 4.395288 s, approachRate: 0.095556 m/s, LOS rate: 5.310108 deg/s, posRepo size: 4
2021-08-15T15:27:42.438Z,1629041262.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.040001 m,
      bearing: 231.022324 deg,
      approachRate: 0.095556 m/s,
      LOS rate: 5.310108 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 242.330227 deg,
      new cmd heading: 248.098255 deg.

2021-08-15T15:27:44.464Z,1629041264.464 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:27:44.773Z,1629041264.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:27:44.773Z,1629041264.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:27:44.773Z,1629041264.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:27:44.774Z,1629041264.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:27:45.165Z,1629041265.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB5,000,00A31,189,80,80,9D,FF
2021-08-15T15:27:45.165Z,1629041265.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:27:45.165Z,1629041265.165 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:27:45.167Z,1629041265.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:27:45.605Z,1629041265.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:27:45.983Z,1629041265.983 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DAC,000,00A31,189,80,80,B3,FF
2021-08-15T15:27:45.984Z,1629041265.984 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:27:46.454Z,1629041266.454 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.040001 m, bearing: 249.584483 deg, deltaT: 4.069491 s, approachRate: 0.000000 m/s, LOS rate: 4.561298 deg/s, posRepo size: 4
2021-08-15T15:27:46.457Z,1629041266.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.040001 m,
      bearing: 249.584483 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 4.561298 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 290.870996 deg,
      new cmd heading: 296.317544 deg.

2021-08-15T15:27:48.850Z,1629041268.850 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:27:49.202Z,1629041269.202 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:27:49.203Z,1629041269.203 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:27:49.203Z,1629041269.203 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:27:49.204Z,1629041269.204 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:27:49.625Z,1629041269.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DAC,000,00A31,189,80,80,B3,FF
2021-08-15T15:27:49.625Z,1629041269.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:27:49.625Z,1629041269.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:27:49.627Z,1629041269.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:27:49.736Z,1629041269.736 [Radio_Surface](INFO): Powering up
2021-08-15T15:27:50.016Z,1629041270.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:27:50.842Z,1629041270.842 [Micromodem](INFO): Nmea in: $SNTTA,,0.244765,,,152751.60*45

2021-08-15T15:27:51.633Z,1629041271.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,03DA2,189,80,80,94,FF
2021-08-15T15:27:51.634Z,1629041271.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:27:52.072Z,1629041272.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 909.180054 m, bearing: 302.188059 deg, deltaT: 5.625781 s, approachRate: 140.449844 m/s, LOS rate: 9.350449 deg/s, posRepo size: 4
2021-08-15T15:27:52.074Z,1629041272.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 909.180054 m,
      bearing: 302.188059 deg,
      approachRate: 140.449844 m/s,
      LOS rate: 9.350449 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 358.672882 deg,
      new cmd heading: 3.726094 deg.

2021-08-15T15:27:54.550Z,1629041274.550 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:27:54.857Z,1629041274.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:27:54.857Z,1629041274.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:27:54.857Z,1629041274.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:27:54.858Z,1629041274.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:27:55.309Z,1629041275.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,03DA2,189,80,80,94,FF
2021-08-15T15:27:55.309Z,1629041275.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:27:55.309Z,1629041275.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:27:55.311Z,1629041275.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:27:55.673Z,1629041275.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:27:55.936Z,1629041275.936 [DataOverHttps](INFO): Radio surface powered ON.
2021-08-15T15:27:56.087Z,1629041276.087 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BA8,000,009FE,189,80,80,A7,FF
2021-08-15T15:27:56.087Z,1629041276.087 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:27:56.499Z,1629041276.499 [Micromodem](INFO): Nmea in: $SNTTA,0.079814,0.343250,,,152757.28*57

2021-08-15T15:27:56.580Z,1629041276.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.980003 m, bearing: 318.706763 deg, deltaT: 4.487305 s, approachRate: -176.765350 m/s, LOS rate: 3.681208 deg/s, posRepo size: 4
2021-08-15T15:27:56.582Z,1629041276.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.980003 m,
      bearing: 318.706763 deg,
      approachRate: -176.765350 m/s,
      LOS rate: 3.681208 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 52.472340 deg,
      new cmd heading: 57.825552 deg.

2021-08-15T15:27:58.959Z,1629041278.959 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:27:59.309Z,1629041279.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:27:59.309Z,1629041279.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:27:59.310Z,1629041279.310 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:27:59.311Z,1629041279.311 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:27:59.709Z,1629041279.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BA8,000,009FE,189,80,80,A7,FF
2021-08-15T15:27:59.709Z,1629041279.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:27:59.709Z,1629041279.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:27:59.711Z,1629041279.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:28:00.119Z,1629041280.119 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:28:00.533Z,1629041280.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D7C,000,009CE,189,80,80,78,FF
2021-08-15T15:28:00.534Z,1629041280.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:28:00.966Z,1629041280.966 [Micromodem](INFO): Nmea in: $SNTTA,0.181467,,,,152801.68*4C

2021-08-15T15:28:01.012Z,1629041281.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.100006 m, bearing: 313.139940 deg, deltaT: 4.483697 s, approachRate: -0.642326 m/s, LOS rate: -1.241570 deg/s, posRepo size: 4
2021-08-15T15:28:01.014Z,1629041281.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.100006 m,
      bearing: 313.139940 deg,
      approachRate: -0.642326 m/s,
      LOS rate: -1.241570 deg/s,
      cmd update: -4.966279 deg/s,
      cmd heading: 106.277173 deg,
      new cmd heading: 111.007538 deg.

2021-08-15T15:28:03.421Z,1629041283.421 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:28:03.749Z,1629041283.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:28:03.749Z,1629041283.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:28:03.749Z,1629041283.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:28:03.750Z,1629041283.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:28:04.153Z,1629041284.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D7C,000,009CE,189,80,80,78,FF
2021-08-15T15:28:04.153Z,1629041284.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:28:04.153Z,1629041284.153 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:28:04.155Z,1629041284.155 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:28:04.573Z,1629041284.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:28:04.961Z,1629041284.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F54,000,0099B,186,80,80,98,FF
2021-08-15T15:28:04.962Z,1629041284.962 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:28:05.458Z,1629041285.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.040009 m, bearing: 312.803348 deg, deltaT: 4.368768 s, approachRate: -0.700426 m/s, LOS rate: -0.077045 deg/s, posRepo size: 4
2021-08-15T15:28:05.460Z,1629041285.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.040009 m,
      bearing: 312.803348 deg,
      approachRate: -0.700426 m/s,
      LOS rate: -0.077045 deg/s,
      cmd update: -0.308180 deg/s,
      cmd heading: 84.585623 deg,
      new cmd heading: 82.240630 deg.

2021-08-15T15:28:07.853Z,1629041287.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:28:08.215Z,1629041288.215 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:28:08.216Z,1629041288.216 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:28:08.217Z,1629041288.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:28:08.218Z,1629041288.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:28:08.609Z,1629041288.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F54,000,0099B,186,80,80,98,FF
2021-08-15T15:28:08.609Z,1629041288.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:28:08.609Z,1629041288.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:28:08.611Z,1629041288.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:28:09.008Z,1629041289.008 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:28:09.405Z,1629041289.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10F,000,00964,186,80,80,9F,FF
2021-08-15T15:28:09.405Z,1629041289.405 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:28:09.849Z,1629041289.849 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152810.58*5C

2021-08-15T15:28:09.896Z,1629041289.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.740005 m, bearing: 315.587743 deg, deltaT: 4.511851 s, approachRate: -0.731408 m/s, LOS rate: 0.617129 deg/s, posRepo size: 4
2021-08-15T15:28:09.899Z,1629041289.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.740005 m,
      bearing: 315.587743 deg,
      approachRate: -0.731408 m/s,
      LOS rate: 0.617129 deg/s,
      cmd update: 2.468517 deg/s,
      cmd heading: 83.198178 deg,
      new cmd heading: 83.072707 deg.

2021-08-15T15:28:12.373Z,1629041292.373 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:28:12.637Z,1629041292.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:28:12.637Z,1629041292.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:28:12.637Z,1629041292.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:28:12.638Z,1629041292.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:28:13.041Z,1629041293.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10F,000,00964,186,80,80,9F,FF
2021-08-15T15:28:13.041Z,1629041293.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:28:13.041Z,1629041293.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:28:13.043Z,1629041293.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:28:13.457Z,1629041293.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:28:13.845Z,1629041293.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,380,000,00936,189,80,80,B2,FF
2021-08-15T15:28:13.846Z,1629041293.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:28:14.313Z,1629041294.313 [Micromodem](INFO): Nmea in: $SNTTA,0.084138,,,,152815.02*4E

2021-08-15T15:28:14.420Z,1629041294.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.980003 m, bearing: 312.669367 deg, deltaT: 4.388436 s, approachRate: -0.628926 m/s, LOS rate: -0.665015 deg/s, posRepo size: 4
2021-08-15T15:28:14.422Z,1629041294.422 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.980003 m,
      bearing: 312.669367 deg,
      approachRate: -0.628926 m/s,
      LOS rate: -0.665015 deg/s,
      cmd update: -2.660060 deg/s,
      cmd heading: 94.057314 deg,
      new cmd heading: 95.363436 deg.

2021-08-15T15:28:16.703Z,1629041296.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:28:17.081Z,1629041297.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:28:17.081Z,1629041297.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:28:17.081Z,1629041297.081 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:28:17.082Z,1629041297.082 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:28:17.486Z,1629041297.486 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
380,000,00936,189,80,80,B2,FF
2021-08-15T15:28:17.486Z,1629041297.486 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:28:17.486Z,1629041297.486 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:28:17.489Z,1629041297.489 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:28:17.916Z,1629041297.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:28:18.325Z,1629041298.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00910,189,80,80,B1,FF
2021-08-15T15:28:18.326Z,1629041298.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:28:18.738Z,1629041298.738 [Micromodem](INFO): Nmea in: $SNTTA,0.080302,,,,152819.46*4D

2021-08-15T15:28:18.756Z,1629041298.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.699997 m, bearing: 312.888343 deg, deltaT: 4.507246 s, approachRate: -0.505854 m/s, LOS rate: 0.048583 deg/s, posRepo size: 4
2021-08-15T15:28:18.758Z,1629041298.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.699997 m,
      bearing: 312.888343 deg,
      approachRate: -0.505854 m/s,
      LOS rate: 0.048583 deg/s,
      cmd update: 0.194332 deg/s,
      cmd heading: 82.067192 deg,
      new cmd heading: 81.105210 deg.

2021-08-15T15:28:20.346Z,1629041300.346 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T15:28:21.138Z,1629041301.138 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:28:21.533Z,1629041301.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:28:21.533Z,1629041301.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:28:21.533Z,1629041301.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:28:21.534Z,1629041301.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:28:21.934Z,1629041301.934 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00910,189,80,80,B1,FF
2021-08-15T15:28:21.934Z,1629041301.934 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:28:21.934Z,1629041301.934 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:28:21.936Z,1629041301.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:28:22.336Z,1629041302.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:28:22.737Z,1629041302.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,008F6,189,80,80,AC,FF
2021-08-15T15:28:22.737Z,1629041302.737 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:28:23.177Z,1629041303.177 [Micromodem](INFO): Nmea in: $SNTTA,0.069167,,,,152823.91*48

2021-08-15T15:28:23.211Z,1629041303.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.140007 m, bearing: 332.336405 deg, deltaT: 4.356319 s, approachRate: -0.358098 m/s, LOS rate: 4.464334 deg/s, posRepo size: 4
2021-08-15T15:28:23.213Z,1629041303.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.140007 m,
      bearing: 332.336405 deg,
      approachRate: -0.358098 m/s,
      LOS rate: 4.464334 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 82.914546 deg,
      new cmd heading: 83.003271 deg.

2021-08-15T15:28:25.583Z,1629041305.583 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:28:25.977Z,1629041305.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:28:25.977Z,1629041305.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:28:25.978Z,1629041305.978 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:28:25.979Z,1629041305.979 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:28:26.056Z,1629041306.056 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T15:28:26.381Z,1629041306.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,008F6,189,80,80,AC,FF
2021-08-15T15:28:26.381Z,1629041306.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:28:26.381Z,1629041306.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:28:26.383Z,1629041306.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:28:26.786Z,1629041306.786 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:28:27.181Z,1629041307.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,008E6,189,80,80,B8,FF
2021-08-15T15:28:27.181Z,1629041307.181 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:28:27.629Z,1629041307.629 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152828.35*5C

2021-08-15T15:28:27.655Z,1629041307.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.180000 m, bearing: 344.249239 deg, deltaT: 4.489422 s, approachRate: -0.213837 m/s, LOS rate: 2.653534 deg/s, posRepo size: 4
2021-08-15T15:28:27.657Z,1629041307.657 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.180000 m,
      bearing: 344.249239 deg,
      approachRate: -0.213837 m/s,
      LOS rate: 2.653534 deg/s,
      cmd update: 10.614135 deg/s,
      cmd heading: 136.665487 deg,
      new cmd heading: 141.718471 deg.

2021-08-15T15:28:30.053Z,1629041310.053 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:28:30.410Z,1629041310.410 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:28:30.411Z,1629041310.411 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:28:30.411Z,1629041310.411 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:28:30.412Z,1629041310.412 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:28:30.841Z,1629041310.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,008E6,189,80,80,B8,FF
2021-08-15T15:28:30.841Z,1629041310.841 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:28:30.842Z,1629041310.842 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:28:30.852Z,1629041310.852 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:28:31.244Z,1629041311.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:28:31.629Z,1629041311.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14D,000,008E1,185,80,80,8B,FF
2021-08-15T15:28:31.630Z,1629041311.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:28:32.053Z,1629041312.053 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152832.82*5B

2021-08-15T15:28:32.085Z,1629041312.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.880005 m, bearing: 46.094498 deg, deltaT: 4.422433 s, approachRate: -0.067835 m/s, LOS rate: 13.984440 deg/s, posRepo size: 4
2021-08-15T15:28:32.085Z,1629041312.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.984440 deg/s. Setting heading cmd to target bearing of 46.094498deg and heading rate command to 0 deg/s.
2021-08-15T15:28:34.533Z,1629041314.533 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:28:34.857Z,1629041314.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:28:34.857Z,1629041314.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:28:34.857Z,1629041314.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:28:34.858Z,1629041314.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:28:35.261Z,1629041315.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14D,000,008E1,185,80,80,8B,FF
2021-08-15T15:28:35.261Z,1629041315.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:28:35.261Z,1629041315.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:28:35.263Z,1629041315.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:28:35.668Z,1629041315.668 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:28:36.073Z,1629041316.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C6,000,008EC,188,80,80,A5,FF
2021-08-15T15:28:36.074Z,1629041316.074 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:28:36.526Z,1629041316.526 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152837.23*55

2021-08-15T15:28:36.601Z,1629041316.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.540009 m, bearing: 38.705681 deg, deltaT: 4.490644 s, approachRate: 0.146973 m/s, LOS rate: -1.645380 deg/s, posRepo size: 4
2021-08-15T15:28:36.603Z,1629041316.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.540009 m,
      bearing: 38.705681 deg,
      approachRate: 0.146973 m/s,
      LOS rate: -1.645380 deg/s,
      cmd update: -6.581521 deg/s,
      cmd heading: 46.094498 deg,
      new cmd heading: 46.094498 deg.

2021-08-15T15:28:38.914Z,1629041318.914 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:28:39.317Z,1629041319.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:28:39.317Z,1629041319.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:28:39.317Z,1629041319.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:28:39.318Z,1629041319.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:28:39.705Z,1629041319.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C6,000,008EC,188,80,80,A5,FF
2021-08-15T15:28:39.705Z,1629041319.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:28:39.705Z,1629041319.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:28:39.707Z,1629041319.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:28:40.113Z,1629041320.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:28:40.518Z,1629041320.518 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B2,000,00901,189,80,80,A2,FF
2021-08-15T15:28:40.519Z,1629041320.519 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:28:40.961Z,1629041320.961 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152841.68*5B

2021-08-15T15:28:41.012Z,1629041321.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.800011 m, bearing: 54.414737 deg, deltaT: 4.446525 s, approachRate: 0.283368 m/s, LOS rate: 3.532884 deg/s, posRepo size: 4
2021-08-15T15:28:41.014Z,1629041321.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.800011 m,
      bearing: 54.414737 deg,
      approachRate: 0.283368 m/s,
      LOS rate: 3.532884 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 16.737822 deg,
      new cmd heading: 14.051015 deg.

2021-08-15T15:28:43.371Z,1629041323.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:28:43.752Z,1629041323.752 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:28:43.753Z,1629041323.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:28:43.753Z,1629041323.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:28:43.755Z,1629041323.755 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:28:44.153Z,1629041324.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B2,000,00901,189,80,80,A2,FF
2021-08-15T15:28:44.153Z,1629041324.153 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:28:44.153Z,1629041324.153 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:28:44.156Z,1629041324.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:28:44.564Z,1629041324.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:28:44.957Z,1629041324.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBC,000,0091E,189,80,80,B8,FF
2021-08-15T15:28:44.958Z,1629041324.958 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:28:45.410Z,1629041325.410 [Micromodem](INFO): Nmea in: $SNTTA,0.086260,,,,152846.13*44

2021-08-15T15:28:45.503Z,1629041325.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.540001 m, bearing: 129.408247 deg, deltaT: 4.405598 s, approachRate: 0.394950 m/s, LOS rate: 17.022322 deg/s, posRepo size: 4
2021-08-15T15:28:45.513Z,1629041325.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.022322 deg/s. Setting heading cmd to target bearing of 129.408247deg and heading rate command to 0 deg/s.
2021-08-15T15:28:47.821Z,1629041327.821 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:28:48.229Z,1629041328.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:28:48.229Z,1629041328.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:28:48.230Z,1629041328.230 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:28:48.231Z,1629041328.231 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:28:48.593Z,1629041328.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBC,000,0091E,189,80,80,B8,FF
2021-08-15T15:28:48.593Z,1629041328.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:28:48.593Z,1629041328.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:28:48.595Z,1629041328.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:28:48.996Z,1629041328.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:28:49.393Z,1629041329.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC8,000,00941,189,80,80,94,FF
2021-08-15T15:28:49.394Z,1629041329.394 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:28:49.846Z,1629041329.846 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152850.57*57

2021-08-15T15:28:49.861Z,1629041329.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.640007 m, bearing: 124.569072 deg, deltaT: 4.440166 s, approachRate: 0.472957 m/s, LOS rate: -1.089864 deg/s, posRepo size: 4
2021-08-15T15:28:49.863Z,1629041329.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.640007 m,
      bearing: 124.569072 deg,
      approachRate: 0.472957 m/s,
      LOS rate: -1.089864 deg/s,
      cmd update: -4.359454 deg/s,
      cmd heading: 129.408247 deg,
      new cmd heading: 129.408247 deg.

2021-08-15T15:28:52.307Z,1629041332.307 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:28:52.633Z,1629041332.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:28:52.634Z,1629041332.634 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:28:52.634Z,1629041332.634 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:28:52.635Z,1629041332.635 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:28:53.033Z,1629041333.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC8,000,00941,189,80,80,94,FF
2021-08-15T15:28:53.033Z,1629041333.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:28:53.033Z,1629041333.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:28:53.035Z,1629041333.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:28:53.441Z,1629041333.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:28:53.853Z,1629041333.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20B,000,00956,186,80,80,95,FF
2021-08-15T15:28:53.854Z,1629041333.854 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:28:54.305Z,1629041334.305 [Micromodem](INFO): Nmea in: $SNTTA,0.103175,,,,152855.01*4E

2021-08-15T15:28:54.384Z,1629041334.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.900002 m, bearing: 64.068636 deg, deltaT: 4.474142 s, approachRate: 0.281617 m/s, LOS rate: -13.522243 deg/s, posRepo size: 4
2021-08-15T15:28:54.385Z,1629041334.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.522243 deg/s. Setting heading cmd to target bearing of 64.068636deg and heading rate command to 0 deg/s.
2021-08-15T15:28:56.703Z,1629041336.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:28:57.077Z,1629041337.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:28:57.077Z,1629041337.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:28:57.077Z,1629041337.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:28:57.078Z,1629041337.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:28:57.483Z,1629041337.483 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20B,000,00956,186,80,80,95,FF
2021-08-15T15:28:57.483Z,1629041337.483 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:28:57.483Z,1629041337.483 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:28:57.486Z,1629041337.486 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:28:57.897Z,1629041337.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:28:58.313Z,1629041338.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A4,000,00973,186,80,80,8F,FF
2021-08-15T15:28:58.314Z,1629041338.314 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:28:58.726Z,1629041338.726 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152859.46*5E

2021-08-15T15:28:58.742Z,1629041338.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.639999 m, bearing: 71.475109 deg, deltaT: 4.467598 s, approachRate: 0.389471 m/s, LOS rate: 1.657820 deg/s, posRepo size: 4
2021-08-15T15:28:58.744Z,1629041338.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.639999 m,
      bearing: 71.475109 deg,
      approachRate: 0.389471 m/s,
      LOS rate: 1.657820 deg/s,
      cmd update: 6.631280 deg/s,
      cmd heading: 64.068636 deg,
      new cmd heading: 64.068636 deg.

2021-08-15T15:29:00.729Z,1629041340.729 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T15:29:01.139Z,1629041341.139 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:29:01.198Z,1629041341.198 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T15:29:01.533Z,1629041341.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:29:01.533Z,1629041341.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:29:01.533Z,1629041341.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:29:01.534Z,1629041341.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:29:01.933Z,1629041341.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A4,000,00973,186,80,80,8F,FF
2021-08-15T15:29:01.933Z,1629041341.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:29:01.933Z,1629041341.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:29:01.935Z,1629041341.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:29:02.338Z,1629041342.338 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:29:02.741Z,1629041342.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C1,000,0098B,189,80,80,AB,FF
2021-08-15T15:29:02.741Z,1629041342.741 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:29:03.166Z,1629041343.166 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152903.91*5A

2021-08-15T15:29:03.192Z,1629041343.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.079994 m, bearing: 49.901823 deg, deltaT: 4.432673 s, approachRate: 0.324859 m/s, LOS rate: -4.866879 deg/s, posRepo size: 4
2021-08-15T15:29:03.194Z,1629041343.194 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.079994 m,
      bearing: 49.901823 deg,
      approachRate: 0.324859 m/s,
      LOS rate: -4.866879 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 93.528129 deg,
      new cmd heading: 95.969660 deg.

2021-08-15T15:29:05.591Z,1629041345.591 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:29:05.980Z,1629041345.980 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:29:05.980Z,1629041345.980 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:29:05.980Z,1629041345.980 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:29:05.981Z,1629041345.981 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:29:06.380Z,1629041346.380 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C1,000,0098B,189,80,80,AB,FF
2021-08-15T15:29:06.380Z,1629041346.380 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:29:06.381Z,1629041346.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:29:06.382Z,1629041346.382 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:29:06.829Z,1629041346.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:29:07.209Z,1629041347.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BE,000,00999,188,80,80,B6,FF
2021-08-15T15:29:07.210Z,1629041347.210 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:29:07.650Z,1629041347.650 [Micromodem](INFO): Nmea in: $SNTTA,0.087047,,,,152908.36*4E

2021-08-15T15:29:07.676Z,1629041347.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.919998 m, bearing: 38.562924 deg, deltaT: 4.473693 s, approachRate: 0.187765 m/s, LOS rate: -2.534573 deg/s, posRepo size: 4
2021-08-15T15:29:07.678Z,1629041347.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.919998 m,
      bearing: 38.562924 deg,
      approachRate: 0.187765 m/s,
      LOS rate: -2.534573 deg/s,
      cmd update: -10.138291 deg/s,
      cmd heading: 39.891127 deg,
      new cmd heading: 35.302231 deg.

2021-08-15T15:29:10.065Z,1629041350.065 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:29:10.441Z,1629041350.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:29:10.441Z,1629041350.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:29:10.441Z,1629041350.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:29:10.442Z,1629041350.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:29:10.933Z,1629041350.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BE,000,00999,188,80,80,B6,FF
2021-08-15T15:29:10.933Z,1629041350.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:29:10.933Z,1629041350.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:29:10.935Z,1629041350.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:29:11.301Z,1629041351.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:29:11.709Z,1629041351.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,295,000,009AE,189,80,80,97,FF
2021-08-15T15:29:11.710Z,1629041351.710 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:29:12.141Z,1629041352.141 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152912.91*5A

2021-08-15T15:29:12.239Z,1629041352.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.180000 m, bearing: 31.451153 deg, deltaT: 4.434136 s, approachRate: 0.284160 m/s, LOS rate: -1.603868 deg/s, posRepo size: 4
2021-08-15T15:29:12.253Z,1629041352.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.180000 m,
      bearing: 31.451153 deg,
      approachRate: 0.284160 m/s,
      LOS rate: -1.603868 deg/s,
      cmd update: -6.415474 deg/s,
      cmd heading: 354.897555 deg,
      new cmd heading: 349.747882 deg.

2021-08-15T15:29:14.265Z,1629041354.265 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:29:14.549Z,1629041354.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:29:14.549Z,1629041354.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:29:14.549Z,1629041354.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:29:14.550Z,1629041354.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:29:14.954Z,1629041354.954 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
295,000,009AE,189,80,80,97,FF
2021-08-15T15:29:14.954Z,1629041354.954 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:29:14.954Z,1629041354.954 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:29:14.956Z,1629041354.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:29:15.353Z,1629041355.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:29:15.757Z,1629041355.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,001,000,009B5,182,80,80,86,FF
2021-08-15T15:29:15.758Z,1629041355.758 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:29:16.219Z,1629041356.219 [Micromodem](INFO): Nmea in: $SNTTA,0.086597,,,,152916.93*47

2021-08-15T15:29:16.315Z,1629041356.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.599998 m, bearing: 45.201748 deg, deltaT: 4.043002 s, approachRate: 0.103883 m/s, LOS rate: 3.401085 deg/s, posRepo size: 4
2021-08-15T15:29:16.317Z,1629041356.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.599998 m,
      bearing: 45.201748 deg,
      approachRate: 0.103883 m/s,
      LOS rate: 3.401085 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 328.958917 deg,
      new cmd heading: 325.491379 deg.

2021-08-15T15:29:18.636Z,1629041358.636 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:29:19.005Z,1629041359.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:29:19.005Z,1629041359.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:29:19.006Z,1629041359.006 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:29:19.007Z,1629041359.007 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:29:19.401Z,1629041359.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
001,000,009B5,182,80,80,86,FF
2021-08-15T15:29:19.401Z,1629041359.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:29:19.401Z,1629041359.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:29:19.403Z,1629041359.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:29:19.821Z,1629041359.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:29:20.265Z,1629041360.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D61,000,009B1,18A,80,80,B4,FF
2021-08-15T15:29:20.265Z,1629041360.265 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:29:20.661Z,1629041360.661 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152921.38*59

2021-08-15T15:29:20.684Z,1629041360.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.360001 m, bearing: 53.217559 deg, deltaT: 4.542322 s, approachRate: -0.052836 m/s, LOS rate: 1.764695 deg/s, posRepo size: 4
2021-08-15T15:29:20.686Z,1629041360.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.360001 m,
      bearing: 53.217559 deg,
      approachRate: -0.052836 m/s,
      LOS rate: 1.764695 deg/s,
      cmd update: 7.058778 deg/s,
      cmd heading: 23.461947 deg,
      new cmd heading: 27.871107 deg.

2021-08-15T15:29:23.082Z,1629041363.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:29:23.449Z,1629041363.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:29:23.449Z,1629041363.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:29:23.449Z,1629041363.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:29:23.450Z,1629041363.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:29:23.865Z,1629041363.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D61,000,009B1,18A,80,80,B4,FF
2021-08-15T15:29:23.865Z,1629041363.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:29:23.865Z,1629041363.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:29:23.867Z,1629041363.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:29:24.305Z,1629041364.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:29:24.677Z,1629041364.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D38,000,0099A,189,80,80,B2,FF
2021-08-15T15:29:24.678Z,1629041364.678 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:29:25.105Z,1629041365.105 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152925.84*5A

2021-08-15T15:29:25.138Z,1629041365.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.980003 m, bearing: 38.277166 deg, deltaT: 4.428195 s, approachRate: -0.311639 m/s, LOS rate: -3.373924 deg/s, posRepo size: 4
2021-08-15T15:29:25.140Z,1629041365.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.980003 m,
      bearing: 38.277166 deg,
      approachRate: -0.311639 m/s,
      LOS rate: -3.373924 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 54.691167 deg,
      new cmd heading: 57.481227 deg.

2021-08-15T15:29:27.558Z,1629041367.558 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:29:27.906Z,1629041367.906 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:29:27.906Z,1629041367.906 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:29:27.906Z,1629041367.906 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:29:27.907Z,1629041367.907 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:29:28.297Z,1629041368.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D38,000,0099A,189,80,80,B2,FF
2021-08-15T15:29:28.297Z,1629041368.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:29:28.297Z,1629041368.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:29:28.299Z,1629041368.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:29:28.789Z,1629041368.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:29:29.183Z,1629041369.183 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D57,000,00988,189,80,80,94,FF
2021-08-15T15:29:29.183Z,1629041369.183 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:29:29.593Z,1629041369.593 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152930.27*57

2021-08-15T15:29:29.635Z,1629041369.635 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.900002 m, bearing: 41.989630 deg, deltaT: 4.454917 s, approachRate: -0.242429 m/s, LOS rate: 0.833341 deg/s, posRepo size: 4
2021-08-15T15:29:29.641Z,1629041369.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.900002 m,
      bearing: 41.989630 deg,
      approachRate: -0.242429 m/s,
      LOS rate: 0.833341 deg/s,
      cmd update: 3.333363 deg/s,
      cmd heading: 1.179302 deg,
      new cmd heading: 355.958473 deg.

2021-08-15T15:29:32.038Z,1629041372.038 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:29:32.409Z,1629041372.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:29:32.409Z,1629041372.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:29:32.409Z,1629041372.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:29:32.410Z,1629041372.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:29:32.825Z,1629041372.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D57,000,00988,189,80,80,94,FF
2021-08-15T15:29:32.825Z,1629041372.825 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:29:32.825Z,1629041372.825 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:29:32.827Z,1629041372.827 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:29:33.224Z,1629041373.224 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:29:33.633Z,1629041373.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00981,189,80,80,9A,FF
2021-08-15T15:29:33.634Z,1629041373.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:29:34.065Z,1629041374.065 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152934.80*5E

2021-08-15T15:29:34.104Z,1629041374.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.479996 m, bearing: 320.954414 deg, deltaT: 4.496892 s, approachRate: -0.093399 m/s, LOS rate: -18.020271 deg/s, posRepo size: 4
2021-08-15T15:29:34.105Z,1629041374.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.020271 deg/s. Setting heading cmd to target bearing of 320.954414deg and heading rate command to 0 deg/s.
2021-08-15T15:29:36.356Z,1629041376.356 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T15:29:36.570Z,1629041376.570 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:29:36.877Z,1629041376.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:29:36.877Z,1629041376.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:29:36.877Z,1629041376.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:29:36.878Z,1629041376.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:29:37.257Z,1629041377.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00981,189,80,80,9A,FF
2021-08-15T15:29:37.257Z,1629041377.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:29:37.257Z,1629041377.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:29:37.259Z,1629041377.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:29:37.688Z,1629041377.688 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:29:38.504Z,1629041378.504 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152939.23*5A

2021-08-15T15:29:39.343Z,1629041379.343 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:29:40.906Z,1629041380.906 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,189,80,80,9A,FF
2021-08-15T15:29:40.906Z,1629041380.906 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,189,80,80,9A,FF
2021-08-15T15:29:40.906Z,1629041380.906 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T15:29:42.126Z,1629041382.126 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:29:42.525Z,1629041382.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:29:42.525Z,1629041382.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:29:42.526Z,1629041382.526 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:29:42.527Z,1629041382.527 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:29:42.917Z,1629041382.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,189,80,80,9A,FF
2021-08-15T15:29:42.917Z,1629041382.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:29:42.917Z,1629041382.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:29:42.919Z,1629041382.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:29:43.348Z,1629041383.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:29:43.725Z,1629041383.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D39,000,0096E,189,80,80,A0,FF
2021-08-15T15:29:43.725Z,1629041383.725 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:29:44.194Z,1629041384.194 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152944.89*50

2021-08-15T15:29:44.260Z,1629041384.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.340004 m, bearing: 35.593690 deg, deltaT: 10.045962 s, approachRate: -0.113478 m/s, LOS rate: 7.429780 deg/s, posRepo size: 4
2021-08-15T15:29:44.262Z,1629041384.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 107.340004 m,
      bearing: 35.593690 deg,
      approachRate: -0.113478 m/s,
      LOS rate: 7.429780 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 320.954414 deg,
      new cmd heading: 320.954414 deg.

2021-08-15T15:29:46.615Z,1629041386.615 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:29:46.949Z,1629041386.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:29:46.949Z,1629041386.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:29:46.949Z,1629041386.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:29:46.950Z,1629041386.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:29:47.355Z,1629041387.355 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D39,000,0096E,189,80,80,A0,FF
2021-08-15T15:29:47.355Z,1629041387.355 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:29:47.355Z,1629041387.355 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:29:47.379Z,1629041387.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:29:47.766Z,1629041387.766 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:29:48.193Z,1629041388.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00958,18A,80,80,A5,FF
2021-08-15T15:29:48.195Z,1629041388.195 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:29:48.586Z,1629041388.586 [Micromodem](INFO): Nmea in: $SNTTA,0.070343,,,,152949.35*47

2021-08-15T15:29:48.621Z,1629041388.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.019997 m, bearing: 283.850859 deg, deltaT: 4.608825 s, approachRate: -0.286409 m/s, LOS rate: -24.245408 deg/s, posRepo size: 4
2021-08-15T15:29:48.621Z,1629041388.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -24.245408 deg/s. Setting heading cmd to target bearing of 283.850859deg and heading rate command to 0 deg/s.
2021-08-15T15:29:51.026Z,1629041391.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:29:51.414Z,1629041391.414 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:29:51.414Z,1629041391.414 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:29:51.415Z,1629041391.415 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:29:51.415Z,1629041391.415 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:29:51.798Z,1629041391.798 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00958,18A,80,80,A5,FF
2021-08-15T15:29:51.798Z,1629041391.798 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:29:51.798Z,1629041391.798 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:29:51.800Z,1629041391.800 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:29:52.276Z,1629041392.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:29:52.609Z,1629041392.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00943,189,80,80,B7,FF
2021-08-15T15:29:52.610Z,1629041392.610 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:29:53.061Z,1629041393.061 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152953.78*58

2021-08-15T15:29:53.109Z,1629041393.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.760002 m, bearing: 283.131804 deg, deltaT: 4.316219 s, approachRate: -0.291921 m/s, LOS rate: -0.166594 deg/s, posRepo size: 4
2021-08-15T15:29:53.111Z,1629041393.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.760002 m,
      bearing: 283.131804 deg,
      approachRate: -0.291921 m/s,
      LOS rate: -0.166594 deg/s,
      cmd update: -0.666375 deg/s,
      cmd heading: 283.850859 deg,
      new cmd heading: 283.850859 deg.

2021-08-15T15:29:55.458Z,1629041395.458 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:29:55.841Z,1629041395.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:29:55.841Z,1629041395.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:29:55.841Z,1629041395.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:29:55.842Z,1629041395.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:29:56.269Z,1629041396.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00943,189,80,80,B7,FF
2021-08-15T15:29:56.269Z,1629041396.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:29:56.269Z,1629041396.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:29:56.271Z,1629041396.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:29:56.727Z,1629041396.727 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:29:57.106Z,1629041397.106 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00939,189,80,80,AE,FF
2021-08-15T15:29:57.106Z,1629041397.106 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:29:57.543Z,1629041397.543 [Micromodem](INFO): Nmea in: $SNTTA,,,,,152958.25*5B

2021-08-15T15:29:57.570Z,1629041397.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.159996 m, bearing: 299.724957 deg, deltaT: 4.520109 s, approachRate: -0.132742 m/s, LOS rate: 3.670963 deg/s, posRepo size: 4
2021-08-15T15:29:57.572Z,1629041397.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.159996 m,
      bearing: 299.724957 deg,
      approachRate: -0.132742 m/s,
      LOS rate: 3.670963 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 280.838625 deg,
      new cmd heading: 280.581267 deg.

2021-08-15T15:29:59.943Z,1629041399.943 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:30:00.329Z,1629041400.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:30:00.329Z,1629041400.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:30:00.329Z,1629041400.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:30:00.330Z,1629041400.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:30:00.733Z,1629041400.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00939,189,80,80,AE,FF
2021-08-15T15:30:00.733Z,1629041400.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:30:00.734Z,1629041400.734 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:30:00.735Z,1629041400.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:30:01.141Z,1629041401.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:30:01.980Z,1629041401.980 [Micromodem](INFO): Nmea in: $SNTTA,0.089604,,,,153002.71*40

2021-08-15T15:30:02.453Z,1629041402.453 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:30:04.381Z,1629041404.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,189,80,80,AE,FF
2021-08-15T15:30:04.381Z,1629041404.381 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,189,80,80,AE,FF
2021-08-15T15:30:04.381Z,1629041404.381 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T15:30:05.231Z,1629041405.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:30:05.581Z,1629041405.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:30:05.581Z,1629041405.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:30:05.581Z,1629041405.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:30:05.582Z,1629041405.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:30:05.991Z,1629041405.991 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,189,80,80,AE,FF
2021-08-15T15:30:05.991Z,1629041405.991 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:30:05.991Z,1629041405.991 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:30:05.993Z,1629041405.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:30:06.400Z,1629041406.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:30:06.813Z,1629041406.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D3E,000,0092B,188,80,80,C4,FF
2021-08-15T15:30:06.813Z,1629041406.813 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:30:07.258Z,1629041407.258 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153007.97*50

2021-08-15T15:30:07.311Z,1629041407.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.320000 m, bearing: 35.621609 deg, deltaT: 9.701947 s, approachRate: -0.086580 m/s, LOS rate: 9.884267 deg/s, posRepo size: 4
2021-08-15T15:30:07.313Z,1629041407.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.320000 m,
      bearing: 35.621609 deg,
      approachRate: -0.086580 m/s,
      LOS rate: 9.884267 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 37.177067 deg,
      new cmd heading: 42.363323 deg.

2021-08-15T15:30:09.654Z,1629041409.654 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:30:10.040Z,1629041410.040 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:30:10.040Z,1629041410.040 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:30:10.040Z,1629041410.040 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:30:10.041Z,1629041410.041 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:30:10.437Z,1629041410.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D3E,000,0092B,188,80,80,C4,FF
2021-08-15T15:30:10.437Z,1629041410.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:30:10.437Z,1629041410.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:30:10.439Z,1629041410.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:30:10.839Z,1629041410.839 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:30:11.241Z,1629041411.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D36,000,0091A,18A,80,80,AA,FF
2021-08-15T15:30:11.242Z,1629041411.242 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:30:11.524Z,1629041411.524 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T15:30:11.681Z,1629041411.681 [Micromodem](INFO): Nmea in: $SNTTA,0.099927,,,,153012.41*4D

2021-08-15T15:30:11.734Z,1629041411.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.300003 m, bearing: 21.440929 deg, deltaT: 4.368424 s, approachRate: -0.233493 m/s, LOS rate: -3.246178 deg/s, posRepo size: 4
2021-08-15T15:30:11.738Z,1629041411.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.300003 m,
      bearing: 21.440929 deg,
      approachRate: -0.233493 m/s,
      LOS rate: -3.246178 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 89.728897 deg,
      new cmd heading: 95.433865 deg.

2021-08-15T15:30:14.146Z,1629041414.146 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:30:14.481Z,1629041414.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:30:14.481Z,1629041414.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:30:14.481Z,1629041414.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:30:14.482Z,1629041414.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:30:14.915Z,1629041414.915 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D36,000,0091A,18A,80,80,AA,FF
2021-08-15T15:30:14.915Z,1629041414.915 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:30:14.915Z,1629041414.915 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:30:14.917Z,1629041414.917 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:30:15.316Z,1629041415.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:30:15.701Z,1629041415.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00913,189,80,80,A9,FF
2021-08-15T15:30:15.702Z,1629041415.702 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:30:16.143Z,1629041416.143 [Micromodem](INFO): Nmea in: $SNTTA,0.081536,,,,153016.89*48

2021-08-15T15:30:16.253Z,1629041416.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.879997 m, bearing: 299.750993 deg, deltaT: 4.484636 s, approachRate: -0.093654 m/s, LOS rate: -18.215508 deg/s, posRepo size: 4
2021-08-15T15:30:16.261Z,1629041416.261 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.215508 deg/s. Setting heading cmd to target bearing of 299.750993deg and heading rate command to 0 deg/s.
2021-08-15T15:30:18.609Z,1629041418.609 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:30:18.925Z,1629041418.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:30:18.925Z,1629041418.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:30:18.925Z,1629041418.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:30:18.926Z,1629041418.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:30:19.329Z,1629041419.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00913,189,80,80,A9,FF
2021-08-15T15:30:19.329Z,1629041419.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:30:19.329Z,1629041419.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:30:19.331Z,1629041419.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:30:19.737Z,1629041419.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:30:20.141Z,1629041420.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17E,000,00913,186,80,80,9F,FF
2021-08-15T15:30:20.142Z,1629041420.142 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:30:20.604Z,1629041420.604 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153021.30*59

2021-08-15T15:30:20.689Z,1629041420.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.879997 m, bearing: 5.080115 deg, deltaT: 4.487180 s, approachRate: 0.000000 m/s, LOS rate: 14.559057 deg/s, posRepo size: 4
2021-08-15T15:30:20.690Z,1629041420.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.559057 deg/s. Setting heading cmd to target bearing of 5.080115deg and heading rate command to 0 deg/s.
2021-08-15T15:30:23.014Z,1629041423.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:30:23.365Z,1629041423.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:30:23.365Z,1629041423.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:30:23.365Z,1629041423.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:30:23.366Z,1629041423.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:30:23.778Z,1629041423.778 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
17E,000,00913,186,80,80,9F,FF
2021-08-15T15:30:23.778Z,1629041423.778 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:30:23.778Z,1629041423.778 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:30:23.780Z,1629041423.780 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:30:24.216Z,1629041424.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:30:24.590Z,1629041424.590 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,316,000,00921,188,80,80,B2,FF
2021-08-15T15:30:24.591Z,1629041424.591 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:30:25.025Z,1629041425.025 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153025.76*5F

2021-08-15T15:30:25.051Z,1629041425.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.720001 m, bearing: 3.569108 deg, deltaT: 4.377703 s, approachRate: 0.191882 m/s, LOS rate: -0.345160 deg/s, posRepo size: 4
2021-08-15T15:30:25.053Z,1629041425.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.720001 m,
      bearing: 3.569108 deg,
      approachRate: 0.191882 m/s,
      LOS rate: -0.345160 deg/s,
      cmd update: -1.380639 deg/s,
      cmd heading: 5.080115 deg,
      new cmd heading: 5.080115 deg.

2021-08-15T15:30:27.437Z,1629041427.437 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:30:27.821Z,1629041427.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:30:27.821Z,1629041427.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:30:27.822Z,1629041427.822 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:30:27.823Z,1629041427.823 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:30:28.272Z,1629041428.272 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
316,000,00921,188,80,80,B2,FF
2021-08-15T15:30:28.272Z,1629041428.272 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:30:28.272Z,1629041428.272 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:30:28.274Z,1629041428.274 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:30:28.694Z,1629041428.694 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:30:29.108Z,1629041429.108 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,30A,000,00935,189,80,80,86,FF
2021-08-15T15:30:29.109Z,1629041429.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:30:29.537Z,1629041429.537 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153030.25*5D

2021-08-15T15:30:29.589Z,1629041429.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.919998 m, bearing: 1.775228 deg, deltaT: 4.517670 s, approachRate: 0.265623 m/s, LOS rate: -0.397081 deg/s, posRepo size: 4
2021-08-15T15:30:29.597Z,1629041429.597 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.919998 m,
      bearing: 1.775228 deg,
      approachRate: 0.265623 m/s,
      LOS rate: -0.397081 deg/s,
      cmd update: -1.588323 deg/s,
      cmd heading: 358.843529 deg,
      new cmd heading: 358.210950 deg.

2021-08-15T15:30:31.963Z,1629041431.963 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:30:32.341Z,1629041432.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:30:32.341Z,1629041432.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:30:32.342Z,1629041432.342 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:30:32.343Z,1629041432.343 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:30:32.733Z,1629041432.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
30A,000,00935,189,80,80,86,FF
2021-08-15T15:30:32.733Z,1629041432.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:30:32.733Z,1629041432.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:30:32.735Z,1629041432.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:30:33.154Z,1629041433.154 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:30:33.561Z,1629041433.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AF,000,00946,189,80,80,A9,FF
2021-08-15T15:30:33.561Z,1629041433.561 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:30:33.997Z,1629041433.997 [Micromodem](INFO): Nmea in: $SNTTA,0.080470,,,,153034.71*4D

2021-08-15T15:30:34.018Z,1629041434.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.939995 m, bearing: 357.105622 deg, deltaT: 4.464032 s, approachRate: 0.228492 m/s, LOS rate: -1.046050 deg/s, posRepo size: 4
2021-08-15T15:30:34.020Z,1629041434.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.939995 m,
      bearing: 357.105622 deg,
      approachRate: 0.228492 m/s,
      LOS rate: -1.046050 deg/s,
      cmd update: -4.184199 deg/s,
      cmd heading: 351.753737 deg,
      new cmd heading: 351.071533 deg.

2021-08-15T15:30:36.436Z,1629041436.436 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:30:36.777Z,1629041436.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:30:36.777Z,1629041436.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:30:36.777Z,1629041436.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:30:36.778Z,1629041436.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:30:37.176Z,1629041437.176 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AF,000,00946,189,80,80,A9,FF
2021-08-15T15:30:37.177Z,1629041437.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:30:37.177Z,1629041437.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:30:37.178Z,1629041437.178 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:30:37.589Z,1629041437.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:30:37.984Z,1629041437.984 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D6,000,00951,186,80,80,93,FF
2021-08-15T15:30:37.985Z,1629041437.985 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:30:38.437Z,1629041438.437 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153039.15*57

2021-08-15T15:30:38.534Z,1629041438.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.599998 m, bearing: 5.287097 deg, deltaT: 4.419427 s, approachRate: 0.149341 m/s, LOS rate: 1.851250 deg/s, posRepo size: 4
2021-08-15T15:30:38.542Z,1629041438.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.599998 m,
      bearing: 5.287097 deg,
      approachRate: 0.149341 m/s,
      LOS rate: 1.851250 deg/s,
      cmd update: 7.405000 deg/s,
      cmd heading: 333.259436 deg,
      new cmd heading: 331.084030 deg.

2021-08-15T15:30:40.886Z,1629041440.886 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:30:41.216Z,1629041441.216 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:30:41.216Z,1629041441.216 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:30:41.217Z,1629041441.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:30:41.218Z,1629041441.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:30:41.618Z,1629041441.618 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D6,000,00951,186,80,80,93,FF
2021-08-15T15:30:41.618Z,1629041441.618 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:30:41.618Z,1629041441.618 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:30:41.619Z,1629041441.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:30:42.032Z,1629041442.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:30:42.437Z,1629041442.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,071,000,00959,186,80,80,89,FF
2021-08-15T15:30:42.437Z,1629041442.437 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:30:42.881Z,1629041442.881 [Micromodem](INFO): Nmea in: $SNTTA,0.075552,,,,153043.59*4C

2021-08-15T15:30:42.903Z,1629041442.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.080002 m, bearing: 1.429485 deg, deltaT: 4.521579 s, approachRate: 0.106158 m/s, LOS rate: -0.853156 deg/s, posRepo size: 4
2021-08-15T15:30:42.906Z,1629041442.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.080002 m,
      bearing: 1.429485 deg,
      approachRate: 0.106158 m/s,
      LOS rate: -0.853156 deg/s,
      cmd update: -3.412623 deg/s,
      cmd heading: 6.743432 deg,
      new cmd heading: 9.505637 deg.

2021-08-15T15:30:45.316Z,1629041445.316 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:30:45.674Z,1629041445.674 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:30:45.674Z,1629041445.674 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:30:45.674Z,1629041445.674 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:30:45.675Z,1629041445.675 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:30:46.061Z,1629041446.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
071,000,00959,186,80,80,89,FF
2021-08-15T15:30:46.062Z,1629041446.062 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:30:46.062Z,1629041446.062 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:30:46.063Z,1629041446.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:30:46.482Z,1629041446.482 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:30:46.676Z,1629041446.676 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T15:30:46.877Z,1629041446.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0095D,189,80,80,B4,FF
2021-08-15T15:30:46.877Z,1629041446.877 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:30:47.325Z,1629041447.325 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153048.04*51

2021-08-15T15:30:47.377Z,1629041447.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.320007 m, bearing: 295.829754 deg, deltaT: 4.387804 s, approachRate: 0.054698 m/s, LOS rate: -14.950468 deg/s, posRepo size: 4
2021-08-15T15:30:47.378Z,1629041447.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.950468 deg/s. Setting heading cmd to target bearing of 295.829754deg and heading rate command to 0 deg/s.
2021-08-15T15:30:49.733Z,1629041449.733 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:30:50.117Z,1629041450.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:30:50.117Z,1629041450.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:30:50.117Z,1629041450.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:30:50.118Z,1629041450.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:30:50.511Z,1629041450.511 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0095D,189,80,80,B4,FF
2021-08-15T15:30:50.511Z,1629041450.511 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:30:50.511Z,1629041450.511 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:30:50.514Z,1629041450.514 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:30:50.937Z,1629041450.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:30:51.341Z,1629041451.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0095E,18A,80,80,BA,FF
2021-08-15T15:30:51.342Z,1629041451.342 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:30:51.765Z,1629041451.765 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153052.49*53

2021-08-15T15:30:51.784Z,1629041451.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.379997 m, bearing: 294.896204 deg, deltaT: 4.479289 s, approachRate: 0.013393 m/s, LOS rate: -0.208415 deg/s, posRepo size: 4
2021-08-15T15:30:51.786Z,1629041451.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.379997 m,
      bearing: 294.896204 deg,
      approachRate: 0.013393 m/s,
      LOS rate: -0.208415 deg/s,
      cmd update: -0.833659 deg/s,
      cmd heading: 295.829754 deg,
      new cmd heading: 295.829754 deg.

2021-08-15T15:30:54.236Z,1629041454.236 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:30:54.569Z,1629041454.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:30:54.569Z,1629041454.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:30:54.569Z,1629041454.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:30:54.570Z,1629041454.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:30:54.623Z,1629041454.623 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-15T15:30:54.973Z,1629041454.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0095E,18A,80,80,BA,FF
2021-08-15T15:30:54.974Z,1629041454.974 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:30:54.974Z,1629041454.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:30:54.975Z,1629041454.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:30:55.366Z,1629041455.366 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:30:55.764Z,1629041455.764 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D52,000,0095D,189,80,80,B1,FF
2021-08-15T15:30:55.765Z,1629041455.765 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:30:56.192Z,1629041456.192 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153056.95*56

2021-08-15T15:30:56.256Z,1629041456.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.320007 m, bearing: 16.714784 deg, deltaT: 4.419839 s, approachRate: -0.013573 m/s, LOS rate: 18.511665 deg/s, posRepo size: 4
2021-08-15T15:30:56.257Z,1629041456.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 18.511665 deg/s. Setting heading cmd to target bearing of 16.714784deg and heading rate command to 0 deg/s.
2021-08-15T15:30:58.622Z,1629041458.622 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:30:59.005Z,1629041459.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:30:59.005Z,1629041459.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:30:59.005Z,1629041459.005 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:30:59.006Z,1629041459.006 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:30:59.398Z,1629041459.398 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D52,000,0095D,189,80,80,B1,FF
2021-08-15T15:30:59.398Z,1629041459.398 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:30:59.398Z,1629041459.398 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:30:59.399Z,1629041459.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:30:59.807Z,1629041459.807 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:31:00.241Z,1629041460.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0094D,18A,80,80,BE,FF
2021-08-15T15:31:00.241Z,1629041460.241 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:31:00.665Z,1629041460.665 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153101.37*5D

2021-08-15T15:31:00.701Z,1629041460.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.360001 m, bearing: 254.451703 deg, deltaT: 4.539829 s, approachRate: -0.211463 m/s, LOS rate: -26.931209 deg/s, posRepo size: 4
2021-08-15T15:31:00.702Z,1629041460.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -26.931209 deg/s. Setting heading cmd to target bearing of 254.451703deg and heading rate command to 0 deg/s.
2021-08-15T15:31:03.074Z,1629041463.074 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:31:03.437Z,1629041463.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:31:03.438Z,1629041463.438 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:31:03.438Z,1629041463.438 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:31:03.439Z,1629041463.439 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:31:03.833Z,1629041463.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0094D,18A,80,80,BE,FF
2021-08-15T15:31:03.833Z,1629041463.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:31:03.834Z,1629041463.834 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:31:03.835Z,1629041463.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:31:04.301Z,1629041464.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:31:04.652Z,1629041464.652 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0093D,189,80,80,84,FF
2021-08-15T15:31:04.653Z,1629041464.653 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:31:05.097Z,1629041465.097 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153105.81*54

2021-08-15T15:31:05.139Z,1629041465.139 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.400002 m, bearing: 251.781045 deg, deltaT: 4.312547 s, approachRate: -0.222606 m/s, LOS rate: -0.619276 deg/s, posRepo size: 4
2021-08-15T15:31:05.142Z,1629041465.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 104.400002 m,
      bearing: 251.781045 deg,
      approachRate: -0.222606 m/s,
      LOS rate: -0.619276 deg/s,
      cmd update: -2.477106 deg/s,
      cmd heading: 254.451703 deg,
      new cmd heading: 254.451703 deg.

2021-08-15T15:31:07.538Z,1629041467.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:31:07.893Z,1629041467.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:31:07.893Z,1629041467.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:31:07.893Z,1629041467.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:31:07.894Z,1629041467.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:31:08.286Z,1629041468.286 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0093D,189,80,80,84,FF
2021-08-15T15:31:08.286Z,1629041468.286 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:31:08.286Z,1629041468.286 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:31:08.287Z,1629041468.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:31:08.704Z,1629041468.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:31:09.101Z,1629041469.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D86,000,0092D,189,80,80,B0,FF
2021-08-15T15:31:09.102Z,1629041469.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:31:09.537Z,1629041469.537 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153110.28*53

2021-08-15T15:31:09.589Z,1629041469.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.440002 m, bearing: 13.545942 deg, deltaT: 4.459563 s, approachRate: -0.215268 m/s, LOS rate: 27.304219 deg/s, posRepo size: 4
2021-08-15T15:31:09.590Z,1629041469.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 27.304219 deg/s. Setting heading cmd to target bearing of 13.545942deg and heading rate command to 0 deg/s.
2021-08-15T15:31:11.946Z,1629041471.946 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:31:12.341Z,1629041472.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:31:12.341Z,1629041472.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:31:12.341Z,1629041472.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:31:12.342Z,1629041472.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:31:12.749Z,1629041472.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D86,000,0092D,189,80,80,B0,FF
2021-08-15T15:31:12.749Z,1629041472.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:31:12.749Z,1629041472.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:31:12.751Z,1629041472.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:31:13.145Z,1629041473.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:31:13.570Z,1629041473.570 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,48D,000,00923,189,80,80,7B,FF
2021-08-15T15:31:13.570Z,1629041473.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:31:13.977Z,1629041473.977 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153114.73*59

2021-08-15T15:31:13.993Z,1629041473.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.840004 m, bearing: 252.948652 deg, deltaT: 4.468792 s, approachRate: -0.134264 m/s, LOS rate: -26.986550 deg/s, posRepo size: 4
2021-08-15T15:31:13.994Z,1629041473.994 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -26.986550 deg/s. Setting heading cmd to target bearing of 252.948652deg and heading rate command to 0 deg/s.
2021-08-15T15:31:16.446Z,1629041476.446 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:31:16.798Z,1629041476.798 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:31:16.798Z,1629041476.798 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:31:16.798Z,1629041476.798 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:31:16.799Z,1629041476.799 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:31:17.175Z,1629041477.175 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
48D,000,00923,189,80,80,7B,FF
2021-08-15T15:31:17.175Z,1629041477.175 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:31:17.175Z,1629041477.175 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:31:17.177Z,1629041477.177 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:31:17.609Z,1629041477.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:31:17.994Z,1629041477.994 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,368,000,0090E,189,80,80,9C,FF
2021-08-15T15:31:17.994Z,1629041477.994 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:31:18.443Z,1629041478.443 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153119.15*54

2021-08-15T15:31:18.521Z,1629041478.521 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.580002 m, bearing: 253.869717 deg, deltaT: 4.432401 s, approachRate: -0.284271 m/s, LOS rate: 0.207803 deg/s, posRepo size: 4
2021-08-15T15:31:18.523Z,1629041478.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 101.580002 m,
      bearing: 253.869717 deg,
      approachRate: -0.284271 m/s,
      LOS rate: 0.207803 deg/s,
      cmd update: 0.831211 deg/s,
      cmd heading: 252.948652 deg,
      new cmd heading: 252.948652 deg.

2021-08-15T15:31:20.911Z,1629041480.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:31:21.215Z,1629041481.215 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:31:21.215Z,1629041481.215 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:31:21.215Z,1629041481.215 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:31:21.217Z,1629041481.217 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:31:21.643Z,1629041481.643 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
368,000,0090E,189,80,80,9C,FF
2021-08-15T15:31:21.643Z,1629041481.643 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:31:21.643Z,1629041481.643 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:31:21.645Z,1629041481.645 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:31:21.818Z,1629041481.818 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T15:31:22.037Z,1629041482.037 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:31:22.447Z,1629041482.447 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,229,000,008F3,188,80,80,BE,FF
2021-08-15T15:31:22.447Z,1629041482.447 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:31:22.869Z,1629041482.869 [Micromodem](INFO): Nmea in: $SNTTA,0.068792,,,,153123.62*41

2021-08-15T15:31:22.901Z,1629041482.901 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.960007 m, bearing: 255.827713 deg, deltaT: 4.518647 s, approachRate: -0.358513 m/s, LOS rate: 0.433315 deg/s, posRepo size: 4
2021-08-15T15:31:22.903Z,1629041482.903 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 99.960007 m,
      bearing: 255.827713 deg,
      approachRate: -0.358513 m/s,
      LOS rate: 0.433315 deg/s,
      cmd update: 1.733259 deg/s,
      cmd heading: 256.704326 deg,
      new cmd heading: 256.996676 deg.

2021-08-15T15:31:25.322Z,1629041485.322 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:31:25.655Z,1629041485.655 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:31:25.666Z,1629041485.666 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:31:25.666Z,1629041485.666 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:31:25.667Z,1629041485.667 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:31:26.061Z,1629041486.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
229,000,008F3,188,80,80,BE,FF
2021-08-15T15:31:26.062Z,1629041486.062 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:31:26.062Z,1629041486.062 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:31:26.063Z,1629041486.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:31:26.495Z,1629041486.495 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:31:26.879Z,1629041486.879 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,138,000,008D1,185,80,80,A1,FF
2021-08-15T15:31:26.880Z,1629041486.880 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:31:27.338Z,1629041487.338 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153128.04*56

2021-08-15T15:31:27.396Z,1629041487.396 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.919998 m, bearing: 253.261639 deg, deltaT: 4.372468 s, approachRate: -0.466558 m/s, LOS rate: -0.586871 deg/s, posRepo size: 4
2021-08-15T15:31:27.398Z,1629041487.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.919998 m,
      bearing: 253.261639 deg,
      approachRate: -0.466558 m/s,
      LOS rate: -0.586871 deg/s,
      cmd update: -2.347484 deg/s,
      cmd heading: 264.276228 deg,
      new cmd heading: 265.098616 deg.

2021-08-15T15:31:29.718Z,1629041489.718 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:31:30.105Z,1629041490.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:31:30.105Z,1629041490.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:31:30.106Z,1629041490.106 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:31:30.107Z,1629041490.107 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:31:30.506Z,1629041490.506 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
138,000,008D1,185,80,80,A1,FF
2021-08-15T15:31:30.506Z,1629041490.506 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:31:30.506Z,1629041490.506 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:31:30.553Z,1629041490.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:31:30.913Z,1629041490.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:31:31.117Z,1629041491.117 [CTD_Seabird](ERROR): Failed to parse device response: 8.29,24.3939,4.805515
2021-08-15T15:31:31.345Z,1629041491.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18A,000,008AC,186,80,80,A9,FF
2021-08-15T15:31:31.346Z,1629041491.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:31:31.799Z,1629041491.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.699997 m, bearing: 244.391709 deg, deltaT: 4.511388 s, approachRate: -0.492088 m/s, LOS rate: -1.966120 deg/s, posRepo size: 4
2021-08-15T15:31:31.805Z,1629041491.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.699997 m,
      bearing: 244.391709 deg,
      approachRate: -0.492088 m/s,
      LOS rate: -1.966120 deg/s,
      cmd update: -7.864480 deg/s,
      cmd heading: 253.697148 deg,
      new cmd heading: 252.817055 deg.

2021-08-15T15:31:32.149Z,1629041492.149 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153132.56*5A

2021-08-15T15:31:34.232Z,1629041494.232 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:31:34.555Z,1629041494.555 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:31:34.555Z,1629041494.555 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:31:34.555Z,1629041494.555 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:31:34.556Z,1629041494.556 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:31:34.955Z,1629041494.955 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18A,000,008AC,186,80,80,A9,FF
2021-08-15T15:31:34.955Z,1629041494.955 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:31:34.955Z,1629041494.955 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:31:34.958Z,1629041494.958 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:31:35.369Z,1629041495.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:31:35.757Z,1629041495.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FB,000,00881,186,80,80,8D,FF
2021-08-15T15:31:35.757Z,1629041495.757 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:31:36.239Z,1629041496.239 [Micromodem](INFO): Nmea in: $SNTTA,0.067550,,,,153136.93*48

2021-08-15T15:31:36.342Z,1629041496.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.120003 m, bearing: 245.412167 deg, deltaT: 4.375718 s, approachRate: -0.589616 m/s, LOS rate: 0.233209 deg/s, posRepo size: 4
2021-08-15T15:31:36.361Z,1629041496.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.120003 m,
      bearing: 245.412167 deg,
      approachRate: -0.589616 m/s,
      LOS rate: 0.233209 deg/s,
      cmd update: 0.932837 deg/s,
      cmd heading: 219.283522 deg,
      new cmd heading: 215.019236 deg.

2021-08-15T15:31:38.427Z,1629041498.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:31:38.753Z,1629041498.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:31:38.753Z,1629041498.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:31:38.753Z,1629041498.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:31:38.754Z,1629041498.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:31:39.145Z,1629041499.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FB,000,00881,186,80,80,8D,FF
2021-08-15T15:31:39.145Z,1629041499.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:31:39.145Z,1629041499.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:31:39.147Z,1629041499.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:31:39.593Z,1629041499.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:31:39.973Z,1629041499.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F57,000,00858,187,80,80,A0,FF
2021-08-15T15:31:39.974Z,1629041499.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:31:40.410Z,1629041500.410 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153141.12*5E

2021-08-15T15:31:40.480Z,1629041500.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.660004 m, bearing: 245.388480 deg, deltaT: 4.210900 s, approachRate: -0.584198 m/s, LOS rate: -0.005625 deg/s, posRepo size: 4
2021-08-15T15:31:40.483Z,1629041500.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.660004 m,
      bearing: 245.388480 deg,
      approachRate: -0.584198 m/s,
      LOS rate: -0.005625 deg/s,
      cmd update: -0.022501 deg/s,
      cmd heading: 223.215538 deg,
      new cmd heading: 223.645265 deg.

2021-08-15T15:31:42.832Z,1629041502.832 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:31:43.189Z,1629041503.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:31:43.189Z,1629041503.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:31:43.189Z,1629041503.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:31:43.190Z,1629041503.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:31:43.611Z,1629041503.611 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F57,000,00858,187,80,80,A0,FF
2021-08-15T15:31:43.611Z,1629041503.611 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:31:43.611Z,1629041503.611 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:31:43.615Z,1629041503.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:31:44.030Z,1629041504.030 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:31:44.443Z,1629041504.443 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E81,000,00833,186,80,80,92,FF
2021-08-15T15:31:44.444Z,1629041504.444 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:31:44.873Z,1629041504.873 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153145.59*55

2021-08-15T15:31:44.896Z,1629041504.896 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.439995 m, bearing: 245.598795 deg, deltaT: 4.507583 s, approachRate: -0.492505 m/s, LOS rate: 0.046658 deg/s, posRepo size: 4
2021-08-15T15:31:44.918Z,1629041504.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.439995 m,
      bearing: 245.598795 deg,
      approachRate: -0.492505 m/s,
      LOS rate: 0.046658 deg/s,
      cmd update: 0.186632 deg/s,
      cmd heading: 223.114114 deg,
      new cmd heading: 223.105724 deg.

2021-08-15T15:31:47.350Z,1629041507.350 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:31:47.697Z,1629041507.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:31:47.697Z,1629041507.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:31:47.697Z,1629041507.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:31:47.698Z,1629041507.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:31:48.081Z,1629041508.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E81,000,00833,186,80,80,92,FF
2021-08-15T15:31:48.081Z,1629041508.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:31:48.081Z,1629041508.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:31:48.083Z,1629041508.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:31:48.561Z,1629041508.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:31:48.945Z,1629041508.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E97,000,00809,186,80,80,A1,FF
2021-08-15T15:31:48.946Z,1629041508.946 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:31:49.365Z,1629041509.365 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153150.06*5B

2021-08-15T15:31:49.408Z,1629041509.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.920006 m, bearing: 244.364388 deg, deltaT: 4.496753 s, approachRate: -0.560402 m/s, LOS rate: -0.274511 deg/s, posRepo size: 4
2021-08-15T15:31:49.410Z,1629041509.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.920006 m,
      bearing: 244.364388 deg,
      approachRate: -0.560402 m/s,
      LOS rate: -0.274511 deg/s,
      cmd update: -1.098042 deg/s,
      cmd heading: 223.954190 deg,
      new cmd heading: 224.025813 deg.

2021-08-15T15:31:51.870Z,1629041511.870 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:31:52.292Z,1629041512.292 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:31:52.293Z,1629041512.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:31:52.293Z,1629041512.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:31:52.295Z,1629041512.295 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:31:52.653Z,1629041512.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E97,000,00809,186,80,80,A1,FF
2021-08-15T15:31:52.653Z,1629041512.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:31:52.653Z,1629041512.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:31:52.655Z,1629041512.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:31:53.061Z,1629041513.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:31:53.457Z,1629041513.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E49,000,007DD,186,80,80,B3,FF
2021-08-15T15:31:53.457Z,1629041513.457 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:31:53.901Z,1629041513.901 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153154.63*5C

2021-08-15T15:31:53.924Z,1629041513.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.279999 m, bearing: 247.324893 deg, deltaT: 4.507775 s, approachRate: -0.585656 m/s, LOS rate: 0.656755 deg/s, posRepo size: 4
2021-08-15T15:31:53.926Z,1629041513.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.279999 m,
      bearing: 247.324893 deg,
      approachRate: -0.585656 m/s,
      LOS rate: 0.656755 deg/s,
      cmd update: 2.627021 deg/s,
      cmd heading: 219.004322 deg,
      new cmd heading: 218.574071 deg.

2021-08-15T15:31:56.392Z,1629041516.392 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:31:56.707Z,1629041516.707 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:31:56.708Z,1629041516.708 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:31:56.708Z,1629041516.708 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:31:56.709Z,1629041516.709 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:31:56.956Z,1629041516.956 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T15:31:57.107Z,1629041517.107 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E49,000,007DD,186,80,80,B3,FF
2021-08-15T15:31:57.108Z,1629041517.108 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:31:57.108Z,1629041517.108 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:31:57.110Z,1629041517.110 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:31:57.529Z,1629041517.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:31:57.910Z,1629041517.910 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D85,000,007B6,189,80,80,99,FF
2021-08-15T15:31:57.910Z,1629041517.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:31:58.365Z,1629041518.365 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153159.08*5C

2021-08-15T15:31:58.439Z,1629041518.439 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.940002 m, bearing: 255.046831 deg, deltaT: 4.431963 s, approachRate: -0.527982 m/s, LOS rate: 1.742329 deg/s, posRepo size: 4
2021-08-15T15:31:58.445Z,1629041518.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.940002 m,
      bearing: 255.046831 deg,
      approachRate: -0.527982 m/s,
      LOS rate: 1.742329 deg/s,
      cmd update: 6.969317 deg/s,
      cmd heading: 230.636510 deg,
      new cmd heading: 231.895788 deg.

2021-08-15T15:32:00.796Z,1629041520.796 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:32:01.157Z,1629041521.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:32:01.157Z,1629041521.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:32:01.157Z,1629041521.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:32:01.158Z,1629041521.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:32:01.573Z,1629041521.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D85,000,007B6,189,80,80,99,FF
2021-08-15T15:32:01.573Z,1629041521.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:32:01.574Z,1629041521.574 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:32:01.575Z,1629041521.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:32:01.972Z,1629041521.972 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:32:02.385Z,1629041522.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2C,000,0078E,186,80,80,8A,FF
2021-08-15T15:32:02.386Z,1629041522.386 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:32:02.817Z,1629041522.817 [Micromodem](INFO): Nmea in: $SNTTA,,0.208512,,,153203.55*4A

2021-08-15T15:32:02.833Z,1629041522.833 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.540001 m, bearing: 241.910930 deg, deltaT: 4.516599 s, approachRate: -0.531374 m/s, LOS rate: -2.908361 deg/s, posRepo size: 4
2021-08-15T15:32:02.835Z,1629041522.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.540001 m,
      bearing: 241.910930 deg,
      approachRate: -0.531374 m/s,
      LOS rate: -2.908361 deg/s,
      cmd update: -11.633445 deg/s,
      cmd heading: 262.135988 deg,
      new cmd heading: 264.597286 deg.

2021-08-15T15:32:03.512Z,1629041523.512 [Radio_Surface](INFO): Powering down
2021-08-15T15:32:05.231Z,1629041525.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:32:05.612Z,1629041525.612 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:32:05.614Z,1629041525.614 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:32:05.615Z,1629041525.615 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:32:05.626Z,1629041525.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:32:06.009Z,1629041526.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2C,000,0078E,186,80,80,8A,FF
2021-08-15T15:32:06.009Z,1629041526.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:32:06.009Z,1629041526.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:32:06.011Z,1629041526.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:32:06.429Z,1629041526.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:32:06.813Z,1629041526.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,035,000,00761,185,80,80,8C,FF
2021-08-15T15:32:06.813Z,1629041526.813 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:32:07.291Z,1629041527.291 [Micromodem](INFO): Nmea in: $SNTTA,0.057392,,,,153207.98*49

2021-08-15T15:32:07.358Z,1629041527.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.840004 m, bearing: 243.834885 deg, deltaT: 4.350658 s, approachRate: -0.620595 m/s, LOS rate: 0.442222 deg/s, posRepo size: 4
2021-08-15T15:32:07.364Z,1629041527.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.840004 m,
      bearing: 243.834885 deg,
      approachRate: -0.620595 m/s,
      LOS rate: 0.442222 deg/s,
      cmd update: 1.768886 deg/s,
      cmd heading: 211.518635 deg,
      new cmd heading: 205.381260 deg.

2021-08-15T15:32:09.698Z,1629041529.698 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:32:10.041Z,1629041530.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:32:10.041Z,1629041530.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:32:10.041Z,1629041530.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:32:10.042Z,1629041530.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:32:10.461Z,1629041530.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
035,000,00761,185,80,80,8C,FF
2021-08-15T15:32:10.462Z,1629041530.462 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:32:10.462Z,1629041530.462 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:32:10.465Z,1629041530.465 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:32:10.866Z,1629041530.866 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:32:11.259Z,1629041531.259 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D0,000,0073A,185,80,80,4F,FF
2021-08-15T15:32:11.260Z,1629041531.260 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:32:11.705Z,1629041531.705 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153212.44*58

2021-08-15T15:32:11.728Z,1629041531.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.500000 m, bearing: 241.241189 deg, deltaT: 4.534002 s, approachRate: -0.516101 m/s, LOS rate: -0.572054 deg/s, posRepo size: 4
2021-08-15T15:32:11.730Z,1629041531.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.500000 m,
      bearing: 241.241189 deg,
      approachRate: -0.516101 m/s,
      LOS rate: -0.572054 deg/s,
      cmd update: -2.288218 deg/s,
      cmd heading: 219.531271 deg,
      new cmd heading: 220.181259 deg.

2021-08-15T15:32:14.103Z,1629041534.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:32:14.498Z,1629041534.498 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:32:14.498Z,1629041534.498 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:32:14.498Z,1629041534.498 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:32:14.499Z,1629041534.499 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:32:14.893Z,1629041534.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D0,000,0073A,185,80,80,4F,FF
2021-08-15T15:32:14.893Z,1629041534.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:32:14.893Z,1629041534.893 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:32:14.895Z,1629041534.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:32:15.339Z,1629041535.339 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:32:15.701Z,1629041535.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F44,000,00713,186,80,80,84,FF
2021-08-15T15:32:15.702Z,1629041535.702 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:32:16.154Z,1629041536.154 [Micromodem](INFO): Nmea in: $SNTTA,0.074909,,,,153216.87*4E

2021-08-15T15:32:16.248Z,1629041536.248 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.159996 m, bearing: 242.467836 deg, deltaT: 4.399201 s, approachRate: -0.531916 m/s, LOS rate: 0.278834 deg/s, posRepo size: 4
2021-08-15T15:32:16.250Z,1629041536.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.159996 m,
      bearing: 242.467836 deg,
      approachRate: -0.531916 m/s,
      LOS rate: 0.278834 deg/s,
      cmd update: 1.115336 deg/s,
      cmd heading: 209.455278 deg,
      new cmd heading: 208.361098 deg.

2021-08-15T15:32:18.658Z,1629041538.658 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:32:18.945Z,1629041538.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:32:18.945Z,1629041538.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:32:18.946Z,1629041538.946 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:32:18.947Z,1629041538.947 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:32:19.357Z,1629041539.357 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F44,000,00713,186,80,80,84,FF
2021-08-15T15:32:19.357Z,1629041539.357 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:32:19.358Z,1629041539.358 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:32:19.359Z,1629041539.359 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:32:19.799Z,1629041539.799 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:32:20.229Z,1629041540.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB6,000,006EF,189,80,80,7C,FF
2021-08-15T15:32:20.231Z,1629041540.231 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:32:20.637Z,1629041540.637 [Micromodem](INFO): Nmea in: $SNTTA,0.076591,,,,153221.33*4A

2021-08-15T15:32:20.681Z,1629041540.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.000008 m, bearing: 247.480922 deg, deltaT: 4.611574 s, approachRate: -0.468384 m/s, LOS rate: 1.087066 deg/s, posRepo size: 4
2021-08-15T15:32:20.683Z,1629041540.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.000008 m,
      bearing: 247.480922 deg,
      approachRate: -0.468384 m/s,
      LOS rate: 1.087066 deg/s,
      cmd update: 4.348264 deg/s,
      cmd heading: 214.594846 deg,
      new cmd heading: 214.940159 deg.

2021-08-15T15:32:23.051Z,1629041543.051 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:32:23.441Z,1629041543.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:32:23.441Z,1629041543.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:32:23.442Z,1629041543.442 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:32:23.443Z,1629041543.443 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:32:23.850Z,1629041543.850 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB6,000,006EF,189,80,80,7C,FF
2021-08-15T15:32:23.850Z,1629041543.850 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:32:23.850Z,1629041543.850 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:32:23.851Z,1629041543.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:32:24.317Z,1629041544.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:32:24.681Z,1629041544.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D62,000,006C5,189,80,80,AA,FF
2021-08-15T15:32:24.682Z,1629041544.682 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:32:25.106Z,1629041545.106 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153225.83*57

2021-08-15T15:32:25.154Z,1629041545.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.480003 m, bearing: 251.088054 deg, deltaT: 4.350464 s, approachRate: -0.579250 m/s, LOS rate: 0.829137 deg/s, posRepo size: 4
2021-08-15T15:32:25.156Z,1629041545.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.480003 m,
      bearing: 251.088054 deg,
      approachRate: -0.579250 m/s,
      LOS rate: 0.829137 deg/s,
      cmd update: 3.316549 deg/s,
      cmd heading: 233.512188 deg,
      new cmd heading: 235.387603 deg.

2021-08-15T15:32:27.586Z,1629041547.586 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:32:27.897Z,1629041547.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:32:27.897Z,1629041547.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:32:27.897Z,1629041547.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:32:27.898Z,1629041547.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:32:28.346Z,1629041548.346 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D62,000,006C5,189,80,80,AA,FF
2021-08-15T15:32:28.346Z,1629041548.346 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:32:28.346Z,1629041548.346 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:32:28.378Z,1629041548.378 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:32:28.788Z,1629041548.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:32:29.203Z,1629041549.203 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA1,000,0069E,187,80,80,8C,FF
2021-08-15T15:32:29.203Z,1629041549.203 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:32:29.625Z,1629041549.625 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153230.35*5E

2021-08-15T15:32:29.663Z,1629041549.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.139999 m, bearing: 248.870428 deg, deltaT: 4.571684 s, approachRate: -0.511847 m/s, LOS rate: -0.485079 deg/s, posRepo size: 4
2021-08-15T15:32:29.665Z,1629041549.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.139999 m,
      bearing: 248.870428 deg,
      approachRate: -0.511847 m/s,
      LOS rate: -0.485079 deg/s,
      cmd update: -1.940314 deg/s,
      cmd heading: 248.625989 deg,
      new cmd heading: 249.898234 deg.

2021-08-15T15:32:32.034Z,1629041552.034 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:32:32.116Z,1629041552.116 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T15:32:32.438Z,1629041552.438 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:32:32.438Z,1629041552.438 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:32:32.438Z,1629041552.438 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:32:32.439Z,1629041552.439 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:32:32.817Z,1629041552.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA1,000,0069E,187,80,80,8C,FF
2021-08-15T15:32:32.817Z,1629041552.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:32:32.817Z,1629041552.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:32:32.819Z,1629041552.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:32:33.120Z,1629041553.120 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2021-08-15T15:32:33.237Z,1629041553.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:32:33.625Z,1629041553.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,022,000,00672,184,80,80,8E,FF
2021-08-15T15:32:33.626Z,1629041553.626 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:32:34.077Z,1629041554.077 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153234.80*54

2021-08-15T15:32:34.123Z,1629041554.123 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.500000 m, bearing: 244.122408 deg, deltaT: 4.397302 s, approachRate: -0.600368 m/s, LOS rate: -1.079757 deg/s, posRepo size: 4
2021-08-15T15:32:34.126Z,1629041554.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.500000 m,
      bearing: 244.122408 deg,
      approachRate: -0.600368 m/s,
      LOS rate: -1.079757 deg/s,
      cmd update: -4.319030 deg/s,
      cmd heading: 240.065614 deg,
      new cmd heading: 239.228407 deg.

2021-08-15T15:32:36.554Z,1629041556.554 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:32:36.866Z,1629041556.866 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:32:36.866Z,1629041556.866 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:32:36.866Z,1629041556.866 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:32:36.867Z,1629041556.867 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:32:37.264Z,1629041557.264 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
022,000,00672,184,80,80,8E,FF
2021-08-15T15:32:37.265Z,1629041557.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:32:37.265Z,1629041557.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:32:37.292Z,1629041557.292 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:32:37.677Z,1629041557.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:32:38.074Z,1629041558.074 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,071,000,00647,186,80,80,7D,FF
2021-08-15T15:32:38.074Z,1629041558.074 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:32:38.521Z,1629041558.521 [Micromodem](INFO): Nmea in: $SNTTA,,0.388884,,,153239.27*4D

2021-08-15T15:32:38.578Z,1629041558.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.920006 m, bearing: 241.619062 deg, deltaT: 4.405655 s, approachRate: -0.585610 m/s, LOS rate: -0.568212 deg/s, posRepo size: 4
2021-08-15T15:32:38.581Z,1629041558.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.920006 m,
      bearing: 241.619062 deg,
      approachRate: -0.585610 m/s,
      LOS rate: -0.568212 deg/s,
      cmd update: -2.272848 deg/s,
      cmd heading: 221.042153 deg,
      new cmd heading: 218.958052 deg.

2021-08-15T15:32:40.946Z,1629041560.946 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:32:41.333Z,1629041561.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:32:41.333Z,1629041561.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:32:41.333Z,1629041561.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:32:41.334Z,1629041561.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:32:41.719Z,1629041561.719 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
071,000,00647,186,80,80,7D,FF
2021-08-15T15:32:41.719Z,1629041561.719 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:32:41.720Z,1629041561.720 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:32:41.722Z,1629041561.722 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:32:42.116Z,1629041562.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:32:42.532Z,1629041562.532 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED4,000,00618,187,80,80,82,FF
2021-08-15T15:32:42.533Z,1629041562.533 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:32:42.957Z,1629041562.957 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153243.70*5B

2021-08-15T15:32:42.979Z,1629041562.979 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.099998 m, bearing: 244.225271 deg, deltaT: 4.511118 s, approachRate: -0.625124 m/s, LOS rate: 0.577730 deg/s, posRepo size: 4
2021-08-15T15:32:42.984Z,1629041562.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.099998 m,
      bearing: 244.225271 deg,
      approachRate: -0.625124 m/s,
      LOS rate: 0.577730 deg/s,
      cmd update: 2.310921 deg/s,
      cmd heading: 210.786570 deg,
      new cmd heading: 209.942459 deg.

2021-08-15T15:32:45.378Z,1629041565.378 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:32:45.767Z,1629041565.767 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:32:45.767Z,1629041565.767 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:32:45.767Z,1629041565.767 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:32:45.768Z,1629041565.768 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:32:46.157Z,1629041566.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED4,000,00618,187,80,80,82,FF
2021-08-15T15:32:46.157Z,1629041566.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:32:46.157Z,1629041566.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:32:46.163Z,1629041566.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:32:46.624Z,1629041566.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:32:47.025Z,1629041567.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D74,000,005EE,189,80,80,6A,FF
2021-08-15T15:32:47.026Z,1629041567.026 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:32:47.455Z,1629041567.455 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153248.14*52

2021-08-15T15:32:47.482Z,1629041567.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.579998 m, bearing: 249.230461 deg, deltaT: 4.476815 s, approachRate: -0.562900 m/s, LOS rate: 1.118025 deg/s, posRepo size: 4
2021-08-15T15:32:47.485Z,1629041567.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 53.579998 m,
      bearing: 249.230461 deg,
      approachRate: -0.562900 m/s,
      LOS rate: 1.118025 deg/s,
      cmd update: 4.472099 deg/s,
      cmd heading: 221.117582 deg,
      new cmd heading: 222.047578 deg.

2021-08-15T15:32:49.881Z,1629041569.881 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:32:50.272Z,1629041570.272 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:32:50.273Z,1629041570.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:32:50.273Z,1629041570.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:32:50.275Z,1629041570.275 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:32:50.653Z,1629041570.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D74,000,005EE,189,80,80,6A,FF
2021-08-15T15:32:50.653Z,1629041570.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:32:50.653Z,1629041570.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:32:50.656Z,1629041570.656 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:32:51.061Z,1629041571.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:32:51.478Z,1629041571.478 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF0,000,005C5,187,80,80,82,FF
2021-08-15T15:32:51.479Z,1629041571.479 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:32:51.905Z,1629041571.905 [Micromodem](INFO): Nmea in: $SNTTA,0.054286,,,,153252.63*4A

2021-08-15T15:32:51.927Z,1629041571.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.119999 m, bearing: 245.845638 deg, deltaT: 4.451549 s, approachRate: -0.552616 m/s, LOS rate: -0.760370 deg/s, posRepo size: 4
2021-08-15T15:32:51.930Z,1629041571.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.119999 m,
      bearing: 245.845638 deg,
      approachRate: -0.552616 m/s,
      LOS rate: -0.760370 deg/s,
      cmd update: -3.041479 deg/s,
      cmd heading: 240.981872 deg,
      new cmd heading: 242.802673 deg.

2021-08-15T15:32:54.363Z,1629041574.363 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:32:54.697Z,1629041574.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:32:54.697Z,1629041574.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:32:54.697Z,1629041574.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:32:54.698Z,1629041574.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:32:55.089Z,1629041575.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF0,000,005C5,187,80,80,82,FF
2021-08-15T15:32:55.089Z,1629041575.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:32:55.089Z,1629041575.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:32:55.091Z,1629041575.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:32:55.523Z,1629041575.523 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:32:55.901Z,1629041575.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8E,000,0059B,186,80,80,B3,FF
2021-08-15T15:32:55.902Z,1629041575.902 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:32:56.355Z,1629041576.355 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153257.07*5E

2021-08-15T15:32:56.421Z,1629041576.421 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.599995 m, bearing: 244.766960 deg, deltaT: 4.419392 s, approachRate: -0.570215 m/s, LOS rate: -0.244078 deg/s, posRepo size: 4
2021-08-15T15:32:56.423Z,1629041576.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.599995 m,
      bearing: 244.766960 deg,
      approachRate: -0.570215 m/s,
      LOS rate: -0.244078 deg/s,
      cmd update: -0.976314 deg/s,
      cmd heading: 227.479420 deg,
      new cmd heading: 226.076398 deg.

2021-08-15T15:32:58.747Z,1629041578.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:32:59.129Z,1629041579.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:32:59.129Z,1629041579.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:32:59.129Z,1629041579.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:32:59.130Z,1629041579.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:32:59.549Z,1629041579.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8E,000,0059B,186,80,80,B3,FF
2021-08-15T15:32:59.549Z,1629041579.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:32:59.549Z,1629041579.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:32:59.551Z,1629041579.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:32:59.945Z,1629041579.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:33:00.354Z,1629041580.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8D,000,0056D,187,80,80,A3,FF
2021-08-15T15:33:00.354Z,1629041580.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:33:00.357Z,1629041580.357 [Micromodem](INFO): Nmea in: $SNTTA,0.072117,0.220912,,,153301.53*55

2021-08-15T15:33:00.780Z,1629041580.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.840000 m, bearing: 241.167177 deg, deltaT: 4.483634 s, approachRate: -0.615571 m/s, LOS rate: -0.802872 deg/s, posRepo size: 4
2021-08-15T15:33:00.782Z,1629041580.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.840000 m,
      bearing: 241.167177 deg,
      approachRate: -0.615571 m/s,
      LOS rate: -0.802872 deg/s,
      cmd update: -3.211487 deg/s,
      cmd heading: 223.105896 deg,
      new cmd heading: 222.773330 deg.

2021-08-15T15:33:03.191Z,1629041583.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:33:03.589Z,1629041583.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:33:03.589Z,1629041583.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:33:03.589Z,1629041583.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:33:03.590Z,1629041583.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:33:03.977Z,1629041583.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8D,000,0056D,187,80,80,A3,FF
2021-08-15T15:33:03.977Z,1629041583.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:33:03.977Z,1629041583.977 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:33:03.979Z,1629041583.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:33:04.397Z,1629041584.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:33:04.785Z,1629041584.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB6,000,00540,187,80,80,A8,FF
2021-08-15T15:33:04.786Z,1629041584.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:33:05.229Z,1629041585.229 [Micromodem](INFO): Nmea in: $SNTTA,0.066659,,,,153305.95*47

2021-08-15T15:33:05.301Z,1629041585.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.139999 m, bearing: 241.827465 deg, deltaT: 4.358918 s, approachRate: -0.619420 m/s, LOS rate: 0.151480 deg/s, posRepo size: 4
2021-08-15T15:33:05.303Z,1629041585.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 43.139999 m,
      bearing: 241.827465 deg,
      approachRate: -0.619420 m/s,
      LOS rate: 0.151480 deg/s,
      cmd update: 0.605919 deg/s,
      cmd heading: 209.094471 deg,
      new cmd heading: 207.536871 deg.

2021-08-15T15:33:07.647Z,1629041587.647 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:33:08.029Z,1629041588.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:33:08.029Z,1629041588.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:33:08.029Z,1629041588.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:33:08.030Z,1629041588.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:33:08.433Z,1629041588.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB6,000,00540,187,80,80,A8,FF
2021-08-15T15:33:08.433Z,1629041588.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:33:08.434Z,1629041588.434 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:33:08.435Z,1629041588.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:33:08.841Z,1629041588.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:33:09.237Z,1629041589.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,250,000,00516,189,80,80,6D,FF
2021-08-15T15:33:09.238Z,1629041589.238 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:33:09.670Z,1629041589.670 [Micromodem](INFO): Nmea in: $SNTTA,0.041471,,,,153310.41*47

2021-08-15T15:33:09.686Z,1629041589.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.620003 m, bearing: 185.517445 deg, deltaT: 4.505396 s, approachRate: -0.559329 m/s, LOS rate: -12.498351 deg/s, posRepo size: 4
2021-08-15T15:33:09.687Z,1629041589.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.498351 deg/s. Setting heading cmd to target bearing of 185.517445deg and heading rate command to 0 deg/s.
2021-08-15T15:33:10.488Z,1629041590.488 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T15:33:12.083Z,1629041592.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:33:12.473Z,1629041592.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:33:12.473Z,1629041592.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:33:12.473Z,1629041592.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:33:12.474Z,1629041592.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:33:12.873Z,1629041592.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
250,000,00516,189,80,80,6D,FF
2021-08-15T15:33:12.873Z,1629041592.873 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:33:12.874Z,1629041592.874 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:33:12.875Z,1629041592.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:33:13.297Z,1629041593.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:33:13.673Z,1629041593.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AF,000,004F2,185,80,80,5E,FF
2021-08-15T15:33:13.674Z,1629041593.674 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:33:14.125Z,1629041594.125 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153314.85*52

2021-08-15T15:33:14.190Z,1629041594.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.459995 m, bearing: 190.103016 deg, deltaT: 4.411171 s, approachRate: -0.489668 m/s, LOS rate: 1.039536 deg/s, posRepo size: 4
2021-08-15T15:33:14.191Z,1629041594.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.46 m.
2021-08-15T15:33:14.218Z,1629041594.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.459995 m,
      bearing: 190.103016 deg,
      approachRate: -0.489668 m/s,
      LOS rate: 1.039536 deg/s,
      cmd update: 4.158144 deg/s,
      cmd heading: 185.517445 deg,
      new cmd heading: 185.517445 deg.

2021-08-15T15:33:14.530Z,1629041594.530 [PowerOnly](INFO): Powering up loadControl
2021-08-15T15:33:14.613Z,1629041594.613 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T15:33:14.613Z,1629041594.613 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T15:33:14.614Z,1629041594.614 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T15:33:14.614Z,1629041594.614 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T15:33:14.614Z,1629041594.614 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T15:33:14.614Z,1629041594.614 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T15:33:14.949Z,1629041594.949 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T15:33:14.949Z,1629041594.949 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T15:33:14.949Z,1629041594.949 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T15:33:14.950Z,1629041594.950 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T15:33:16.229Z,1629041596.229 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:33:16.533Z,1629041596.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:33:16.533Z,1629041596.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:33:16.533Z,1629041596.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:33:16.534Z,1629041596.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:33:16.917Z,1629041596.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AF,000,004F2,185,80,80,5E,FF
2021-08-15T15:33:16.917Z,1629041596.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:33:16.917Z,1629041596.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:33:16.919Z,1629041596.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:33:17.344Z,1629041597.344 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:33:17.713Z,1629041597.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B33,000,004D1,189,80,80,68,FF
2021-08-15T15:33:17.713Z,1629041597.713 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:33:17.735Z,1629041597.735 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:33:18.164Z,1629041598.164 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153318.90*5A

2021-08-15T15:33:18.283Z,1629041598.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.480000 m, bearing: 262.168069 deg, deltaT: 4.012862 s, approachRate: -0.493412 m/s, LOS rate: 17.958517 deg/s, posRepo size: 4
2021-08-15T15:33:18.288Z,1629041598.288 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.48 m.
2021-08-15T15:33:18.289Z,1629041598.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 17.958517 deg/s. Setting heading cmd to target bearing of 262.168069deg and heading rate command to 0 deg/s.
2021-08-15T15:33:20.265Z,1629041600.265 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:33:20.565Z,1629041600.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:33:20.565Z,1629041600.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:33:20.565Z,1629041600.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:33:20.566Z,1629041600.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:33:20.946Z,1629041600.946 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B33,000,004D1,189,80,80,68,FF
2021-08-15T15:33:20.946Z,1629041600.946 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:33:20.946Z,1629041600.946 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:33:20.967Z,1629041600.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:33:21.372Z,1629041601.372 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:33:21.753Z,1629041601.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BC1,000,004B4,189,80,80,8D,FF
2021-08-15T15:33:21.754Z,1629041601.754 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:33:21.774Z,1629041601.774 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:33:22.293Z,1629041602.293 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153322.95*56

2021-08-15T15:33:22.377Z,1629041602.377 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.740002 m, bearing: 254.832172 deg, deltaT: 4.039816 s, approachRate: -0.430712 m/s, LOS rate: -1.815899 deg/s, posRepo size: 4
2021-08-15T15:33:22.378Z,1629041602.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.74 m.
2021-08-15T15:33:22.384Z,1629041602.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.740002 m,
      bearing: 254.832172 deg,
      approachRate: -0.430712 m/s,
      LOS rate: -1.815899 deg/s,
      cmd update: -7.263595 deg/s,
      cmd heading: 262.168069 deg,
      new cmd heading: 262.168069 deg.

2021-08-15T15:33:24.317Z,1629041604.317 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:33:24.617Z,1629041604.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:33:24.617Z,1629041604.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:33:24.618Z,1629041604.618 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:33:24.618Z,1629041604.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:33:24.991Z,1629041604.991 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BC1,000,004B4,189,80,80,8D,FF
2021-08-15T15:33:24.991Z,1629041604.991 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:33:24.991Z,1629041604.991 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:33:24.993Z,1629041604.993 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:33:25.409Z,1629041605.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:33:25.809Z,1629041605.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D12,000,00496,189,80,80,69,FF
2021-08-15T15:33:25.809Z,1629041605.809 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:33:25.855Z,1629041605.855 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:33:26.297Z,1629041606.297 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153326.97*50

2021-08-15T15:33:26.358Z,1629041606.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.939999 m, bearing: 250.073088 deg, deltaT: 4.080592 s, approachRate: -0.441113 m/s, LOS rate: -1.166273 deg/s, posRepo size: 4
2021-08-15T15:33:26.359Z,1629041606.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 32.94 m.
2021-08-15T15:33:26.361Z,1629041606.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.939999 m,
      bearing: 250.073088 deg,
      approachRate: -0.441113 m/s,
      LOS rate: -1.166273 deg/s,
      cmd update: -4.665092 deg/s,
      cmd heading: 232.557713 deg,
      new cmd heading: 228.847810 deg.

2021-08-15T15:33:28.710Z,1629041608.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:33:29.033Z,1629041609.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:33:29.033Z,1629041609.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:33:29.033Z,1629041609.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:33:29.034Z,1629041609.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:33:29.451Z,1629041609.451 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D12,000,00496,189,80,80,69,FF
2021-08-15T15:33:29.451Z,1629041609.451 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:33:29.451Z,1629041609.451 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:33:29.453Z,1629041609.453 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:33:29.849Z,1629041609.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:33:30.289Z,1629041610.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D79,000,00473,189,80,80,66,FF
2021-08-15T15:33:30.290Z,1629041610.290 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:33:30.379Z,1629041610.379 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:33:30.697Z,1629041610.697 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153331.43*5F

2021-08-15T15:33:30.740Z,1629041610.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.839998 m, bearing: 262.451139 deg, deltaT: 4.524096 s, approachRate: -0.464181 m/s, LOS rate: 2.736028 deg/s, posRepo size: 4
2021-08-15T15:33:30.740Z,1629041610.740 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 30.84 m.
2021-08-15T15:33:30.741Z,1629041610.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 30.84 m.
2021-08-15T15:33:30.741Z,1629041610.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-15T15:33:30.743Z,1629041610.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 30.839998 m,
      bearing: 262.451139 deg,
      approachRate: -0.464181 m/s,
      LOS rate: 2.736028 deg/s,
      cmd update: 10.944110 deg/s,
      cmd heading: 211.451534 deg,
      new cmd heading: 209.829584 deg.

2021-08-15T15:33:33.091Z,1629041613.091 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:33:33.476Z,1629041613.476 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:33:33.476Z,1629041613.476 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:33:33.477Z,1629041613.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:33:33.477Z,1629041613.477 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:33:33.889Z,1629041613.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D79,000,00473,189,80,80,66,FF
2021-08-15T15:33:33.889Z,1629041613.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:33:33.889Z,1629041613.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:33:33.891Z,1629041613.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:33:34.308Z,1629041614.308 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:33:34.697Z,1629041614.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D5C,000,0044A,189,80,80,68,FF
2021-08-15T15:33:34.697Z,1629041614.697 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:33:34.742Z,1629041614.742 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:33:35.118Z,1629041615.118 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153335.87*53

2021-08-15T15:33:35.161Z,1629041615.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.379997 m, bearing: 260.429676 deg, deltaT: 4.363009 s, approachRate: -0.563831 m/s, LOS rate: -0.463319 deg/s, posRepo size: 4
2021-08-15T15:33:35.163Z,1629041615.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.379997 m,
      bearing: 260.429676 deg,
      approachRate: -0.563831 m/s,
      LOS rate: -0.463319 deg/s,
      cmd update: -1.853274 deg/s,
      cmd heading: 259.200852 deg,
      new cmd heading: 263.861587 deg.

2021-08-15T15:33:37.581Z,1629041617.581 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:33:37.925Z,1629041617.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:33:37.925Z,1629041617.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:33:37.925Z,1629041617.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:33:37.926Z,1629041617.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:33:38.333Z,1629041618.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D5C,000,0044A,189,80,80,68,FF
2021-08-15T15:33:38.333Z,1629041618.333 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:33:38.333Z,1629041618.333 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:33:38.337Z,1629041618.337 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:33:38.733Z,1629041618.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:33:39.129Z,1629041619.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D29,000,00425,189,80,80,44,FF
2021-08-15T15:33:39.130Z,1629041619.130 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:33:39.154Z,1629041619.154 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:33:39.589Z,1629041619.589 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153340.31*5C

2021-08-15T15:33:39.631Z,1629041619.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.160002 m, bearing: 259.174752 deg, deltaT: 4.412453 s, approachRate: -0.503120 m/s, LOS rate: -0.284405 deg/s, posRepo size: 4
2021-08-15T15:33:39.646Z,1629041619.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.160002 m,
      bearing: 259.174752 deg,
      approachRate: -0.503120 m/s,
      LOS rate: -0.284405 deg/s,
      cmd update: -1.137621 deg/s,
      cmd heading: 251.023463 deg,
      new cmd heading: 250.126586 deg.

2021-08-15T15:33:41.000Z,1629041622.000 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:33:42.354Z,1629041622.354 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:33:42.354Z,1629041622.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:33:42.354Z,1629041622.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:33:42.355Z,1629041622.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:33:42.773Z,1629041622.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D29,000,00425,189,80,80,44,FF
2021-08-15T15:33:42.773Z,1629041622.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:33:42.773Z,1629041622.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:33:42.775Z,1629041622.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:33:43.169Z,1629041623.169 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:33:43.581Z,1629041623.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E96,000,00403,186,80,80,7A,FF
2021-08-15T15:33:43.582Z,1629041623.582 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:33:43.644Z,1629041623.644 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:33:44.021Z,1629041624.021 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153344.75*58

2021-08-15T15:33:44.067Z,1629041624.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.120003 m, bearing: 255.739549 deg, deltaT: 4.489444 s, approachRate: -0.454399 m/s, LOS rate: -0.765173 deg/s, posRepo size: 4
2021-08-15T15:33:44.070Z,1629041624.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.120003 m,
      bearing: 255.739549 deg,
      approachRate: -0.454399 m/s,
      LOS rate: -0.765173 deg/s,
      cmd update: -3.060693 deg/s,
      cmd heading: 245.920956 deg,
      new cmd heading: 245.427650 deg.

2021-08-15T15:33:46.483Z,1629041626.483 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:33:46.805Z,1629041626.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:33:46.805Z,1629041626.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:33:46.805Z,1629041626.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:33:46.806Z,1629041626.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:33:47.213Z,1629041627.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E96,000,00403,186,80,80,7A,FF
2021-08-15T15:33:47.213Z,1629041627.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:33:47.213Z,1629041627.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:33:47.215Z,1629041627.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:33:47.625Z,1629041627.625 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:33:48.017Z,1629041628.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2E,000,003D2,187,80,80,77,FF
2021-08-15T15:33:48.017Z,1629041628.017 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:33:48.041Z,1629041628.041 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:33:48.466Z,1629041628.466 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153349.19*5F

2021-08-15T15:33:48.549Z,1629041628.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.179998 m, bearing: 261.252332 deg, deltaT: 4.397163 s, approachRate: -0.668614 m/s, LOS rate: 1.253713 deg/s, posRepo size: 4
2021-08-15T15:33:48.551Z,1629041628.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.179998 m,
      bearing: 261.252332 deg,
      approachRate: -0.668614 m/s,
      LOS rate: 1.253713 deg/s,
      cmd update: 5.014854 deg/s,
      cmd heading: 232.437320 deg,
      new cmd heading: 230.885573 deg.

2021-08-15T15:33:50.863Z,1629041630.863 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:33:51.249Z,1629041631.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:33:51.249Z,1629041631.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:33:51.250Z,1629041631.250 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:33:51.251Z,1629041631.251 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:33:51.661Z,1629041631.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2E,000,003D2,187,80,80,77,FF
2021-08-15T15:33:51.661Z,1629041631.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:33:51.662Z,1629041631.662 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:33:51.663Z,1629041631.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:33:52.061Z,1629041632.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:33:52.477Z,1629041632.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0E,000,003A3,186,80,80,55,FF
2021-08-15T15:33:52.477Z,1629041632.477 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:33:52.591Z,1629041632.591 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:33:52.893Z,1629041632.893 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153353.64*5E

2021-08-15T15:33:52.940Z,1629041632.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.359997 m, bearing: 268.937414 deg, deltaT: 4.549904 s, approachRate: -0.619794 m/s, LOS rate: 1.689065 deg/s, posRepo size: 4
2021-08-15T15:33:52.942Z,1629041632.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.359997 m,
      bearing: 268.937414 deg,
      approachRate: -0.619794 m/s,
      LOS rate: 1.689065 deg/s,
      cmd update: 6.756260 deg/s,
      cmd heading: 255.234098 deg,
      new cmd heading: 256.897886 deg.

2021-08-15T15:33:54.498Z,1629041634.498 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T15:33:55.375Z,1629041635.375 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:33:55.727Z,1629041635.727 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:33:55.727Z,1629041635.727 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:33:55.730Z,1629041635.730 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:33:55.731Z,1629041635.731 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:33:56.093Z,1629041636.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0E,000,003A3,186,80,80,55,FF
2021-08-15T15:33:56.093Z,1629041636.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:33:56.093Z,1629041636.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:33:56.095Z,1629041636.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:33:56.516Z,1629041636.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:33:56.901Z,1629041636.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC9,000,00376,189,80,80,56,FF
2021-08-15T15:33:56.902Z,1629041636.902 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:33:56.954Z,1629041636.954 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:33:57.363Z,1629041637.363 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153358.07*50

2021-08-15T15:33:57.413Z,1629041637.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.660002 m, bearing: 271.591052 deg, deltaT: 4.362977 s, approachRate: -0.618842 m/s, LOS rate: 0.608217 deg/s, posRepo size: 4
2021-08-15T15:33:57.415Z,1629041637.415 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.660002 m,
      bearing: 271.591052 deg,
      approachRate: -0.618842 m/s,
      LOS rate: 0.608217 deg/s,
      cmd update: 2.432869 deg/s,
      cmd heading: 284.711388 deg,
      new cmd heading: 287.862940 deg.

2021-08-15T15:33:59.786Z,1629041639.786 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:34:00.144Z,1629041640.144 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:34:00.145Z,1629041640.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:34:00.145Z,1629041640.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:34:00.146Z,1629041640.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:34:00.558Z,1629041640.558 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC9,000,00376,189,80,80,56,FF
2021-08-15T15:34:00.559Z,1629041640.559 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:34:00.559Z,1629041640.559 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:34:00.561Z,1629041640.561 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:34:01.014Z,1629041641.014 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:34:01.405Z,1629041641.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,027,000,00355,184,80,80,A5,FF
2021-08-15T15:34:01.405Z,1629041641.405 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:34:01.462Z,1629041641.462 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:34:01.821Z,1629041641.821 [Micromodem](INFO): Nmea in: $SNTTA,0.012852,,,,153402.54*4C

2021-08-15T15:34:01.862Z,1629041641.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.680001 m, bearing: 259.493694 deg, deltaT: 4.507740 s, approachRate: -0.439245 m/s, LOS rate: -2.683686 deg/s, posRepo size: 4
2021-08-15T15:34:01.863Z,1629041641.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.680001 m,
      bearing: 259.493694 deg,
      approachRate: -0.439245 m/s,
      LOS rate: -2.683686 deg/s,
      cmd update: -10.734743 deg/s,
      cmd heading: 295.688094 deg,
      new cmd heading: 296.668238 deg.

2021-08-15T15:34:04.356Z,1629041644.356 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:34:04.637Z,1629041644.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:34:04.637Z,1629041644.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:34:04.637Z,1629041644.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:34:04.638Z,1629041644.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:34:05.041Z,1629041645.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
027,000,00355,184,80,80,A5,FF
2021-08-15T15:34:05.041Z,1629041645.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:34:05.041Z,1629041645.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:34:05.043Z,1629041645.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:34:05.449Z,1629041645.449 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:34:05.845Z,1629041645.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A7,000,0031D,186,80,80,8C,FF
2021-08-15T15:34:05.846Z,1629041645.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:34:05.893Z,1629041645.893 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:34:06.301Z,1629041646.301 [Micromodem](INFO): Nmea in: $SNTTA,0.008993,,,,153407.02*4D

2021-08-15T15:34:06.356Z,1629041646.356 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.319998 m, bearing: 257.811829 deg, deltaT: 4.431107 s, approachRate: -0.758276 m/s, LOS rate: -0.379559 deg/s, posRepo size: 4
2021-08-15T15:34:06.358Z,1629041646.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.319998 m,
      bearing: 257.811829 deg,
      approachRate: -0.758276 m/s,
      LOS rate: -0.379559 deg/s,
      cmd update: -1.518235 deg/s,
      cmd heading: 248.122459 deg,
      new cmd heading: 243.117890 deg.

2021-08-15T15:34:08.710Z,1629041648.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:34:09.081Z,1629041649.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:34:09.081Z,1629041649.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:34:09.082Z,1629041649.082 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:34:09.083Z,1629041649.083 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:34:09.482Z,1629041649.482 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A7,000,0031D,186,80,80,8C,FF
2021-08-15T15:34:09.482Z,1629041649.482 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:34:09.482Z,1629041649.482 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:34:09.485Z,1629041649.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:34:09.889Z,1629041649.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:34:10.333Z,1629041650.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,279,000,002FF,189,80,80,A5,FF
2021-08-15T15:34:10.334Z,1629041650.334 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:34:10.425Z,1629041650.425 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:34:10.745Z,1629041650.745 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153411.46*5F

2021-08-15T15:34:10.771Z,1629041650.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.520000 m, bearing: 250.966504 deg, deltaT: 4.531874 s, approachRate: -0.397186 m/s, LOS rate: -1.510484 deg/s, posRepo size: 4
2021-08-15T15:34:10.774Z,1629041650.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.520000 m,
      bearing: 250.966504 deg,
      approachRate: -0.397186 m/s,
      LOS rate: -1.510484 deg/s,
      cmd update: -6.041938 deg/s,
      cmd heading: 241.247991 deg,
      new cmd heading: 240.710829 deg.

2021-08-15T15:34:13.146Z,1629041653.146 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:34:13.530Z,1629041653.530 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:34:13.530Z,1629041653.530 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:34:13.530Z,1629041653.530 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:34:13.531Z,1629041653.531 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:34:13.925Z,1629041653.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
279,000,002FF,189,80,80,A5,FF
2021-08-15T15:34:13.925Z,1629041653.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:34:13.925Z,1629041653.925 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:34:13.927Z,1629041653.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:34:14.341Z,1629041654.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:34:14.733Z,1629041654.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A4,000,002DD,186,80,80,9E,FF
2021-08-15T15:34:14.733Z,1629041654.733 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:34:14.782Z,1629041654.782 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:34:15.177Z,1629041655.177 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153415.90*50

2021-08-15T15:34:15.200Z,1629041655.200 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.479999 m, bearing: 246.714574 deg, deltaT: 4.357514 s, approachRate: -0.468157 m/s, LOS rate: -0.975770 deg/s, posRepo size: 4
2021-08-15T15:34:15.202Z,1629041655.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.479999 m,
      bearing: 246.714574 deg,
      approachRate: -0.468157 m/s,
      LOS rate: -0.975770 deg/s,
      cmd update: -3.903078 deg/s,
      cmd heading: 214.920393 deg,
      new cmd heading: 212.355391 deg.

2021-08-15T15:34:17.602Z,1629041657.602 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:34:17.965Z,1629041657.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:34:17.965Z,1629041657.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:34:17.965Z,1629041657.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:34:17.966Z,1629041657.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:34:18.373Z,1629041658.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A4,000,002DD,186,80,80,9E,FF
2021-08-15T15:34:18.373Z,1629041658.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:34:18.373Z,1629041658.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:34:18.375Z,1629041658.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:34:18.785Z,1629041658.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:34:19.189Z,1629041659.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,204,000,002CA,186,80,80,C3,FF
2021-08-15T15:34:19.189Z,1629041659.189 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:34:19.210Z,1629041659.210 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:34:19.623Z,1629041659.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.339999 m, bearing: 228.108429 deg, deltaT: 4.427523 s, approachRate: -0.257480 m/s, LOS rate: -4.202383 deg/s, posRepo size: 4
2021-08-15T15:34:19.625Z,1629041659.625 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.339999 m,
      bearing: 228.108429 deg,
      approachRate: -0.257480 m/s,
      LOS rate: -4.202383 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 197.623578 deg,
      new cmd heading: 195.997231 deg.

2021-08-15T15:34:22.032Z,1629041662.032 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:34:22.413Z,1629041662.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:34:22.413Z,1629041662.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:34:22.413Z,1629041662.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:34:22.414Z,1629041662.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:34:22.817Z,1629041662.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
204,000,002CA,186,80,80,C3,FF
2021-08-15T15:34:22.817Z,1629041662.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:34:22.818Z,1629041662.818 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:34:22.819Z,1629041662.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:34:23.257Z,1629041663.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:34:23.625Z,1629041663.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D2,000,002CF,186,80,80,B4,FF
2021-08-15T15:34:23.626Z,1629041663.626 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:34:23.646Z,1629041663.646 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:34:24.073Z,1629041664.073 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153424.79*55

2021-08-15T15:34:24.107Z,1629041664.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.639998 m, bearing: 216.831500 deg, deltaT: 4.435982 s, approachRate: 0.067629 m/s, LOS rate: -2.542149 deg/s, posRepo size: 4
2021-08-15T15:34:24.110Z,1629041664.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.639998 m,
      bearing: 216.831500 deg,
      approachRate: 0.067629 m/s,
      LOS rate: -2.542149 deg/s,
      cmd update: -10.168598 deg/s,
      cmd heading: 144.391816 deg,
      new cmd heading: 138.813916 deg.

2021-08-15T15:34:26.550Z,1629041666.550 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:34:26.850Z,1629041666.850 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:34:26.850Z,1629041666.850 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:34:26.851Z,1629041666.851 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:34:26.853Z,1629041666.853 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:34:27.280Z,1629041667.280 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D2,000,002CF,186,80,80,B4,FF
2021-08-15T15:34:27.281Z,1629041667.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:34:27.281Z,1629041667.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:34:27.287Z,1629041667.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:34:27.664Z,1629041667.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:34:28.073Z,1629041668.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D47,000,002E2,18A,80,80,99,FF
2021-08-15T15:34:28.073Z,1629041668.073 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:34:28.179Z,1629041668.179 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:34:28.502Z,1629041668.502 [Micromodem](INFO): Nmea in: $SNTTA,0.033584,,,,153429.26*45

2021-08-15T15:34:28.587Z,1629041668.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.779999 m, bearing: 258.768274 deg, deltaT: 4.538636 s, approachRate: 0.251177 m/s, LOS rate: 9.239951 deg/s, posRepo size: 4
2021-08-15T15:34:28.593Z,1629041668.593 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.779999 m,
      bearing: 258.768274 deg,
      approachRate: 0.251177 m/s,
      LOS rate: 9.239951 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 98.499063 deg,
      new cmd heading: 94.118105 deg.

2021-08-15T15:34:30.933Z,1629041670.933 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:34:31.329Z,1629041671.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:34:31.329Z,1629041671.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:34:31.329Z,1629041671.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:34:31.330Z,1629041671.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:34:31.701Z,1629041671.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D47,000,002E2,18A,80,80,99,FF
2021-08-15T15:34:31.701Z,1629041671.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:34:31.701Z,1629041671.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:34:31.703Z,1629041671.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:34:32.127Z,1629041672.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:34:32.510Z,1629041672.510 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21D,000,002F4,187,80,80,C4,FF
2021-08-15T15:34:32.511Z,1629041672.511 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:34:32.614Z,1629041672.614 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:34:32.969Z,1629041672.969 [Micromodem](INFO): Nmea in: $SNTTA,0.004916,,,,153433.68*47

2021-08-15T15:34:32.991Z,1629041672.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.859998 m, bearing: 183.450507 deg, deltaT: 4.429179 s, approachRate: 0.243837 m/s, LOS rate: -17.004905 deg/s, posRepo size: 4
2021-08-15T15:34:32.992Z,1629041672.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.004905 deg/s. Setting heading cmd to target bearing of 183.450507deg and heading rate command to 0 deg/s.
2021-08-15T15:34:35.391Z,1629041675.391 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:34:35.742Z,1629041675.742 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:34:35.742Z,1629041675.742 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:34:35.742Z,1629041675.742 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:34:35.743Z,1629041675.743 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:34:36.170Z,1629041676.170 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21D,000,002F4,187,80,80,C4,FF
2021-08-15T15:34:36.170Z,1629041676.170 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:34:36.171Z,1629041676.171 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:34:36.182Z,1629041676.182 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:34:36.561Z,1629041676.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:34:36.958Z,1629041676.958 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20B,000,00308,187,80,80,B7,FF
2021-08-15T15:34:36.959Z,1629041676.959 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:34:37.019Z,1629041677.019 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:34:37.386Z,1629041677.386 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153438.16*51

2021-08-15T15:34:37.427Z,1629041677.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.059999 m, bearing: 167.958655 deg, deltaT: 4.404985 s, approachRate: 0.272419 m/s, LOS rate: -3.516891 deg/s, posRepo size: 4
2021-08-15T15:34:37.429Z,1629041677.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.059999 m,
      bearing: 167.958655 deg,
      approachRate: 0.272419 m/s,
      LOS rate: -3.516891 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 183.450507 deg,
      new cmd heading: 183.450507 deg.

2021-08-15T15:34:39.800Z,1629041679.800 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:34:40.209Z,1629041680.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:34:40.210Z,1629041680.210 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:34:40.211Z,1629041680.211 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:34:40.212Z,1629041680.212 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:34:40.589Z,1629041680.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20B,000,00308,187,80,80,B7,FF
2021-08-15T15:34:40.589Z,1629041680.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:34:40.589Z,1629041680.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:34:40.591Z,1629041680.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:34:40.997Z,1629041680.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:34:41.398Z,1629041681.398 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F6,000,00315,186,80,80,C0,FF
2021-08-15T15:34:41.398Z,1629041681.398 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:34:41.429Z,1629041681.429 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:34:41.834Z,1629041681.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.839999 m, bearing: 153.705621 deg, deltaT: 4.410750 s, approachRate: 0.176841 m/s, LOS rate: -3.231431 deg/s, posRepo size: 4
2021-08-15T15:34:41.838Z,1629041681.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.839999 m,
      bearing: 153.705621 deg,
      approachRate: 0.176841 m/s,
      LOS rate: -3.231431 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 130.453322 deg,
      new cmd heading: 125.579498 deg.

2021-08-15T15:34:44.361Z,1629041684.361 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:34:44.644Z,1629041684.644 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:34:44.645Z,1629041684.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:34:44.645Z,1629041684.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:34:44.646Z,1629041684.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:34:45.033Z,1629041685.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F6,000,00315,186,80,80,C0,FF
2021-08-15T15:34:45.033Z,1629041685.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:34:45.033Z,1629041685.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:34:45.035Z,1629041685.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:34:45.457Z,1629041685.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:34:45.841Z,1629041685.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,321,000,00324,189,80,80,B5,FF
2021-08-15T15:34:45.842Z,1629041685.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:34:45.863Z,1629041685.863 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:34:46.305Z,1629041686.305 [Micromodem](INFO): Nmea in: $SNTTA,0.022676,,,,153447.01*46

2021-08-15T15:34:46.370Z,1629041686.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.739998 m, bearing: 121.937810 deg, deltaT: 4.433698 s, approachRate: 0.202991 m/s, LOS rate: -7.165082 deg/s, posRepo size: 4
2021-08-15T15:34:46.373Z,1629041686.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.739998 m,
      bearing: 121.937810 deg,
      approachRate: 0.202991 m/s,
      LOS rate: -7.165082 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 77.252317 deg,
      new cmd heading: 71.122429 deg.

2021-08-15T15:34:48.671Z,1629041688.671 [PowerOnly](INFO): Powering down loadControl
2021-08-15T15:34:48.717Z,1629041688.717 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:34:49.077Z,1629041689.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:34:49.077Z,1629041689.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:34:49.077Z,1629041689.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:34:49.078Z,1629041689.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:34:49.477Z,1629041689.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
321,000,00324,189,80,80,B5,FF
2021-08-15T15:34:49.477Z,1629041689.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:34:49.477Z,1629041689.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:34:49.479Z,1629041689.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:34:49.885Z,1629041689.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:34:50.297Z,1629041690.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,365,000,0033C,189,80,80,8E,FF
2021-08-15T15:34:50.297Z,1629041690.297 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:34:50.382Z,1629041690.382 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:34:50.721Z,1629041690.721 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153451.46*5B

2021-08-15T15:34:50.778Z,1629041690.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.179997 m, bearing: 103.268881 deg, deltaT: 4.519064 s, approachRate: 0.318650 m/s, LOS rate: -4.131149 deg/s, posRepo size: 4
2021-08-15T15:34:50.780Z,1629041690.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.179997 m,
      bearing: 103.268881 deg,
      approachRate: 0.318650 m/s,
      LOS rate: -4.131149 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 23.025516 deg,
      new cmd heading: 18.234876 deg.

2021-08-15T15:34:53.142Z,1629041693.142 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:34:53.537Z,1629041693.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:34:53.537Z,1629041693.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:34:53.537Z,1629041693.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:34:53.538Z,1629041693.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:34:53.921Z,1629041693.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
365,000,0033C,189,80,80,8E,FF
2021-08-15T15:34:53.921Z,1629041693.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:34:53.921Z,1629041693.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:34:53.923Z,1629041693.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:34:54.348Z,1629041694.348 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:34:54.729Z,1629041694.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C7,000,00329,189,80,80,85,FF
2021-08-15T15:34:54.730Z,1629041694.730 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:34:54.786Z,1629041694.786 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:34:55.173Z,1629041695.173 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153455.90*54

2021-08-15T15:34:55.196Z,1629041695.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.039997 m, bearing: 95.869655 deg, deltaT: 4.403572 s, approachRate: -0.258881 m/s, LOS rate: -1.680278 deg/s, posRepo size: 4
2021-08-15T15:34:55.198Z,1629041695.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.039997 m,
      bearing: 95.869655 deg,
      approachRate: -0.258881 m/s,
      LOS rate: -1.680278 deg/s,
      cmd update: -6.721113 deg/s,
      cmd heading: 330.225838 deg,
      new cmd heading: 325.219462 deg.

2021-08-15T15:34:57.613Z,1629041697.613 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:34:57.974Z,1629041697.974 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:34:57.974Z,1629041697.974 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:34:57.975Z,1629041697.975 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:34:57.975Z,1629041697.975 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:34:58.380Z,1629041698.380 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C7,000,00329,189,80,80,85,FF
2021-08-15T15:34:58.381Z,1629041698.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:34:58.381Z,1629041698.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:34:58.382Z,1629041698.382 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:34:58.768Z,1629041698.768 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:34:59.173Z,1629041699.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,320,000,0032B,189,80,80,88,FF
2021-08-15T15:34:59.174Z,1629041699.174 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:34:59.194Z,1629041699.194 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:34:59.609Z,1629041699.609 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153500.36*59

2021-08-15T15:34:59.659Z,1629041699.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.159998 m, bearing: 75.667568 deg, deltaT: 4.408296 s, approachRate: 0.027222 m/s, LOS rate: -4.582743 deg/s, posRepo size: 4
2021-08-15T15:34:59.665Z,1629041699.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.159998 m,
      bearing: 75.667568 deg,
      approachRate: 0.027222 m/s,
      LOS rate: -4.582743 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 300.570695 deg,
      new cmd heading: 297.425698 deg.

2021-08-15T15:35:02.052Z,1629041702.052 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:35:02.413Z,1629041702.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:35:02.413Z,1629041702.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:35:02.413Z,1629041702.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:35:02.414Z,1629041702.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:35:02.809Z,1629041702.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
320,000,0032B,189,80,80,88,FF
2021-08-15T15:35:02.809Z,1629041702.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:35:02.810Z,1629041702.810 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:35:02.811Z,1629041702.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:35:03.221Z,1629041703.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:35:03.628Z,1629041703.628 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C9,000,0033A,189,80,80,82,FF
2021-08-15T15:35:03.629Z,1629041703.629 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:35:03.659Z,1629041703.659 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:35:04.065Z,1629041704.065 [Micromodem](INFO): Nmea in: $SNTTA,0.053132,,,,153504.79*4E

2021-08-15T15:35:04.092Z,1629041704.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.059997 m, bearing: 67.603034 deg, deltaT: 4.465049 s, approachRate: 0.201565 m/s, LOS rate: -1.806147 deg/s, posRepo size: 4
2021-08-15T15:35:04.094Z,1629041704.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.059997 m,
      bearing: 67.603034 deg,
      approachRate: 0.201565 m/s,
      LOS rate: -1.806147 deg/s,
      cmd update: -7.224587 deg/s,
      cmd heading: 246.989110 deg,
      new cmd heading: 241.760998 deg.

2021-08-15T15:35:06.543Z,1629041706.543 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:35:06.857Z,1629041706.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:35:06.857Z,1629041706.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:35:06.857Z,1629041706.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:35:06.858Z,1629041706.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:35:07.281Z,1629041707.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C9,000,0033A,189,80,80,82,FF
2021-08-15T15:35:07.281Z,1629041707.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:35:07.282Z,1629041707.282 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:35:07.289Z,1629041707.289 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:35:07.683Z,1629041707.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:35:08.077Z,1629041708.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,288,000,00336,189,80,80,6B,FF
2021-08-15T15:35:08.078Z,1629041708.078 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:35:08.130Z,1629041708.130 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:35:08.492Z,1629041708.492 [Micromodem](INFO): Nmea in: $SNTTA,0.390177,,,,153509.27*45

2021-08-15T15:35:08.575Z,1629041708.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.820001 m, bearing: 80.360673 deg, deltaT: 4.471148 s, approachRate: -0.053677 m/s, LOS rate: 2.853325 deg/s, posRepo size: 4
2021-08-15T15:35:08.577Z,1629041708.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.820001 m,
      bearing: 80.360673 deg,
      approachRate: -0.053677 m/s,
      LOS rate: 2.853325 deg/s,
      cmd update: 11.413301 deg/s,
      cmd heading: 214.716344 deg,
      new cmd heading: 211.449357 deg.

2021-08-15T15:35:10.919Z,1629041710.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:35:11.341Z,1629041711.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:35:11.341Z,1629041711.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:35:11.341Z,1629041711.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:35:11.342Z,1629041711.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:35:11.713Z,1629041711.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
288,000,00336,189,80,80,6B,FF
2021-08-15T15:35:11.713Z,1629041711.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:35:11.713Z,1629041711.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:35:11.715Z,1629041711.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:35:12.117Z,1629041712.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:35:12.529Z,1629041712.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3E9,000,0035B,189,80,80,36,FF
2021-08-15T15:35:12.530Z,1629041712.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:35:12.620Z,1629041712.620 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:35:12.974Z,1629041712.974 [Micromodem](INFO): Nmea in: $SNTTA,0.136549,,,,153513.69*43

2021-08-15T15:35:12.996Z,1629041712.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.039998 m, bearing: 81.400760 deg, deltaT: 4.490259 s, approachRate: 0.494403 m/s, LOS rate: 0.231632 deg/s, posRepo size: 4
2021-08-15T15:35:12.998Z,1629041712.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.039998 m,
      bearing: 81.400760 deg,
      approachRate: 0.494403 m/s,
      LOS rate: 0.231632 deg/s,
      cmd update: 0.926528 deg/s,
      cmd heading: 265.867311 deg,
      new cmd heading: 270.329912 deg.

2021-08-15T15:35:15.393Z,1629041715.393 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:35:15.745Z,1629041715.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:35:15.745Z,1629041715.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:35:15.745Z,1629041715.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:35:15.746Z,1629041715.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:35:16.160Z,1629041716.160 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3E9,000,0035B,189,80,80,36,FF
2021-08-15T15:35:16.161Z,1629041716.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:35:16.161Z,1629041716.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:35:16.167Z,1629041716.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:35:16.564Z,1629041716.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:35:16.968Z,1629041716.968 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F61,000,00386,187,80,80,4A,FF
2021-08-15T15:35:16.968Z,1629041716.968 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:35:16.988Z,1629041716.988 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:35:17.397Z,1629041717.397 [Micromodem](INFO): Nmea in: $SNTTA,0.035988,,,,153518.15*40

2021-08-15T15:35:17.423Z,1629041717.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.619999 m, bearing: 155.379072 deg, deltaT: 4.367813 s, approachRate: 0.590685 m/s, LOS rate: 16.937151 deg/s, posRepo size: 4
2021-08-15T15:35:17.424Z,1629041717.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 16.937151 deg/s. Setting heading cmd to target bearing of 155.379072deg and heading rate command to 0 deg/s.
2021-08-15T15:35:19.811Z,1629041719.811 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:35:20.229Z,1629041720.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:35:20.229Z,1629041720.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:35:20.229Z,1629041720.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:35:20.230Z,1629041720.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:35:20.605Z,1629041720.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F61,000,00386,187,80,80,4A,FF
2021-08-15T15:35:20.605Z,1629041720.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:35:20.605Z,1629041720.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:35:20.607Z,1629041720.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:35:21.009Z,1629041721.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:35:21.834Z,1629041721.834 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153522.59*50

2021-08-15T15:35:22.359Z,1629041722.359 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:35:24.285Z,1629041724.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,4A,FF
2021-08-15T15:35:24.286Z,1629041724.286 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,4A,FF
2021-08-15T15:35:24.286Z,1629041724.286 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T15:35:25.083Z,1629041725.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:35:25.461Z,1629041725.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:35:25.462Z,1629041725.462 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:35:25.462Z,1629041725.462 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:35:25.463Z,1629041725.463 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:35:25.881Z,1629041725.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,4A,FF
2021-08-15T15:35:25.881Z,1629041725.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:35:25.881Z,1629041725.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:35:25.883Z,1629041725.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:35:26.290Z,1629041726.290 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:35:26.681Z,1629041726.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE4,000,003BD,186,80,80,69,FF
2021-08-15T15:35:26.681Z,1629041726.681 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:35:26.701Z,1629041726.701 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:35:27.121Z,1629041727.121 [Micromodem](INFO): Nmea in: $SNTTA,0.026598,,,,153527.86*49

2021-08-15T15:35:27.140Z,1629041727.140 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.919998 m, bearing: 196.133568 deg, deltaT: 9.712993 s, approachRate: 0.339751 m/s, LOS rate: 4.195874 deg/s, posRepo size: 4
2021-08-15T15:35:27.142Z,1629041727.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.919998 m,
      bearing: 196.133568 deg,
      approachRate: 0.339751 m/s,
      LOS rate: 4.195874 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 155.379072 deg,
      new cmd heading: 155.379072 deg.

2021-08-15T15:35:29.543Z,1629041729.543 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:35:29.909Z,1629041729.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:35:29.910Z,1629041729.910 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:35:29.910Z,1629041729.910 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:35:29.911Z,1629041729.911 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:35:30.333Z,1629041730.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE4,000,003BD,186,80,80,69,FF
2021-08-15T15:35:30.333Z,1629041730.333 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:35:30.333Z,1629041730.333 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:35:30.335Z,1629041730.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:35:30.715Z,1629041730.715 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:35:31.109Z,1629041731.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E55,000,003D7,185,80,80,8A,FF
2021-08-15T15:35:31.110Z,1629041731.110 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:35:31.177Z,1629041731.177 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:35:31.545Z,1629041731.545 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153532.31*5F

2021-08-15T15:35:31.574Z,1629041731.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.480000 m, bearing: 204.160488 deg, deltaT: 4.476256 s, approachRate: 0.348506 m/s, LOS rate: 1.793222 deg/s, posRepo size: 4
2021-08-15T15:35:31.574Z,1629041731.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 21.48 m. Rolling out.
2021-08-15T15:35:31.575Z,1629041731.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-15T15:35:33.995Z,1629041733.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:35:34.349Z,1629041734.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:35:34.349Z,1629041734.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:35:34.349Z,1629041734.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:35:34.350Z,1629041734.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:35:34.750Z,1629041734.750 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E55,000,003D7,185,80,80,8A,FF
2021-08-15T15:35:34.750Z,1629041734.750 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:35:34.750Z,1629041734.750 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:35:34.796Z,1629041734.796 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:35:35.164Z,1629041735.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:35:36.367Z,1629041736.367 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153536.82*53

2021-08-15T15:35:36.797Z,1629041736.797 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:35:38.385Z,1629041738.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,185,80,80,8A,FF
2021-08-15T15:35:38.385Z,1629041738.385 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,185,80,80,8A,FF
2021-08-15T15:35:38.385Z,1629041738.385 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T15:35:39.625Z,1629041739.625 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:35:40.009Z,1629041740.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:35:40.010Z,1629041740.010 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:35:40.010Z,1629041740.010 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:35:40.011Z,1629041740.011 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:35:40.401Z,1629041740.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,185,80,80,8A,FF
2021-08-15T15:35:40.401Z,1629041740.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:35:40.402Z,1629041740.402 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:35:40.403Z,1629041740.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:35:40.846Z,1629041740.846 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:35:41.650Z,1629041741.650 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153542.39*50

2021-08-15T15:35:42.498Z,1629041742.498 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:35:44.041Z,1629041744.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,185,80,80,8A,FF
2021-08-15T15:35:44.042Z,1629041744.042 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,185,80,80,8A,FF
2021-08-15T15:35:44.042Z,1629041744.042 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T15:35:45.312Z,1629041745.312 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:35:45.657Z,1629041745.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:35:45.657Z,1629041745.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:35:45.657Z,1629041745.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:35:45.658Z,1629041745.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:35:46.069Z,1629041746.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,185,80,80,8A,FF
2021-08-15T15:35:46.069Z,1629041746.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:35:46.069Z,1629041746.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:35:46.071Z,1629041746.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:35:46.593Z,1629041746.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:35:46.966Z,1629041746.966 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F09,000,00421,187,80,80,79,FF
2021-08-15T15:35:46.966Z,1629041746.966 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:35:47.031Z,1629041747.031 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:35:47.381Z,1629041747.381 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153548.05*55

2021-08-15T15:35:47.419Z,1629041747.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.919998 m, bearing: 197.923364 deg, deltaT: 15.858157 s, approachRate: 0.279982 m/s, LOS rate: -0.393307 deg/s, posRepo size: 4
2021-08-15T15:35:49.819Z,1629041749.819 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:35:50.289Z,1629041750.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:35:50.289Z,1629041750.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:35:50.289Z,1629041750.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:35:50.290Z,1629041750.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:35:50.601Z,1629041750.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F09,000,00421,187,80,80,79,FF
2021-08-15T15:35:50.601Z,1629041750.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:35:50.601Z,1629041750.601 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:35:50.603Z,1629041750.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:35:51.019Z,1629041751.019 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:35:51.413Z,1629041751.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E32,000,00424,186,80,80,72,FF
2021-08-15T15:35:51.414Z,1629041751.414 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:35:51.468Z,1629041751.468 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:35:51.857Z,1629041751.857 [Micromodem](INFO): Nmea in: $SNTTA,0.038346,,,,153552.58*42

2021-08-15T15:35:51.883Z,1629041751.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.099998 m, bearing: 217.652857 deg, deltaT: 4.432855 s, approachRate: 0.040606 m/s, LOS rate: 4.450742 deg/s, posRepo size: 4
2021-08-15T15:35:54.374Z,1629041754.374 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:35:54.641Z,1629041754.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:35:54.641Z,1629041754.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:35:54.641Z,1629041754.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:35:54.642Z,1629041754.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:35:55.045Z,1629041755.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E32,000,00424,186,80,80,72,FF
2021-08-15T15:35:55.045Z,1629041755.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:35:55.045Z,1629041755.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:35:55.047Z,1629041755.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:35:55.461Z,1629041755.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:35:55.942Z,1629041755.942 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8E,000,0042E,186,80,80,82,FF
2021-08-15T15:35:55.942Z,1629041755.942 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:35:55.974Z,1629041755.974 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:35:56.317Z,1629041756.317 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153557.03*5D

2021-08-15T15:35:56.380Z,1629041756.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.700003 m, bearing: 217.975051 deg, deltaT: 4.505815 s, approachRate: 0.133162 m/s, LOS rate: 0.071506 deg/s, posRepo size: 4
2021-08-15T15:35:58.722Z,1629041758.722 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:35:59.085Z,1629041759.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:35:59.085Z,1629041759.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:35:59.085Z,1629041759.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:35:59.086Z,1629041759.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:35:59.494Z,1629041759.494 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8E,000,0042E,186,80,80,82,FF
2021-08-15T15:35:59.494Z,1629041759.494 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:35:59.494Z,1629041759.494 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:35:59.497Z,1629041759.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:35:59.892Z,1629041759.892 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:36:00.325Z,1629041760.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2D,000,00434,187,80,80,68,FF
2021-08-15T15:36:00.325Z,1629041760.325 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:36:00.431Z,1629041760.431 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:36:00.741Z,1629041760.741 [Micromodem](INFO): Nmea in: $SNTTA,0.045314,,,,153601.48*4B

2021-08-15T15:36:00.771Z,1629041760.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.059999 m, bearing: 226.062582 deg, deltaT: 4.457287 s, approachRate: 0.080766 m/s, LOS rate: 1.814451 deg/s, posRepo size: 4
2021-08-15T15:36:03.163Z,1629041763.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:36:03.537Z,1629041763.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:36:03.537Z,1629041763.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:36:03.537Z,1629041763.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:36:03.538Z,1629041763.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:36:03.929Z,1629041763.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2D,000,00434,187,80,80,68,FF
2021-08-15T15:36:03.930Z,1629041763.930 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:36:03.930Z,1629041763.930 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:36:03.931Z,1629041763.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:36:04.341Z,1629041764.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:36:04.746Z,1629041764.746 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E70,000,0043F,186,80,80,96,FF
2021-08-15T15:36:04.746Z,1629041764.746 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:36:04.766Z,1629041764.766 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:36:05.177Z,1629041765.177 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153605.91*52

2021-08-15T15:36:05.221Z,1629041765.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.720001 m, bearing: 223.723475 deg, deltaT: 4.334744 s, approachRate: 0.152259 m/s, LOS rate: -0.539618 deg/s, posRepo size: 4
2021-08-15T15:36:07.630Z,1629041767.630 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:36:07.977Z,1629041767.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:36:07.977Z,1629041767.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:36:07.977Z,1629041767.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:36:07.978Z,1629041767.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:36:08.385Z,1629041768.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E70,000,0043F,186,80,80,96,FF
2021-08-15T15:36:08.385Z,1629041768.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:36:08.385Z,1629041768.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:36:08.387Z,1629041768.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:36:08.789Z,1629041768.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:36:09.185Z,1629041769.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9E,000,00447,186,80,80,66,FF
2021-08-15T15:36:09.185Z,1629041769.185 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:36:09.241Z,1629041769.241 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:36:09.634Z,1629041769.634 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153610.37*5A

2021-08-15T15:36:09.668Z,1629041769.668 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.199999 m, bearing: 223.942806 deg, deltaT: 4.475080 s, approachRate: 0.107260 m/s, LOS rate: 0.049012 deg/s, posRepo size: 4
2021-08-15T15:36:12.048Z,1629041772.048 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:36:12.421Z,1629041772.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:36:12.421Z,1629041772.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:36:12.421Z,1629041772.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:36:12.422Z,1629041772.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:36:12.821Z,1629041772.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9E,000,00447,186,80,80,66,FF
2021-08-15T15:36:12.821Z,1629041772.821 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:36:12.821Z,1629041772.821 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:36:12.823Z,1629041772.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:36:13.233Z,1629041773.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:36:13.629Z,1629041773.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE1,000,00455,186,80,80,5F,FF
2021-08-15T15:36:13.630Z,1629041773.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:36:13.655Z,1629041773.655 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:36:14.069Z,1629041774.069 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153614.80*52

2021-08-15T15:36:14.104Z,1629041774.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.040001 m, bearing: 221.705850 deg, deltaT: 4.413173 s, approachRate: 0.190340 m/s, LOS rate: -0.506881 deg/s, posRepo size: 4
2021-08-15T15:36:16.546Z,1629041776.546 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:36:16.869Z,1629041776.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:36:16.869Z,1629041776.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:36:16.870Z,1629041776.870 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:36:16.870Z,1629041776.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:36:17.299Z,1629041777.299 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE1,000,00455,186,80,80,5F,FF
2021-08-15T15:36:17.299Z,1629041777.299 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:36:17.299Z,1629041777.299 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:36:17.301Z,1629041777.301 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:36:17.673Z,1629041777.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:36:18.078Z,1629041778.078 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E81,000,00453,186,80,80,4C,FF
2021-08-15T15:36:18.078Z,1629041778.078 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:36:18.103Z,1629041778.103 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:36:18.495Z,1629041778.495 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153619.28*5D

2021-08-15T15:36:18.572Z,1629041778.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.920000 m, bearing: 221.487353 deg, deltaT: 4.448000 s, approachRate: -0.026979 m/s, LOS rate: -0.049123 deg/s, posRepo size: 4
2021-08-15T15:36:20.930Z,1629041780.930 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:36:21.333Z,1629041781.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:36:21.333Z,1629041781.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:36:21.333Z,1629041781.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:36:21.334Z,1629041781.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:36:21.709Z,1629041781.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E81,000,00453,186,80,80,4C,FF
2021-08-15T15:36:21.709Z,1629041781.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:36:21.709Z,1629041781.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:36:21.711Z,1629041781.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:36:22.125Z,1629041782.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:36:22.521Z,1629041782.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E82,000,00466,187,80,80,45,FF
2021-08-15T15:36:22.521Z,1629041782.521 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:36:22.595Z,1629041782.595 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:36:22.949Z,1629041782.949 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153623.69*51

2021-08-15T15:36:22.983Z,1629041782.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.059999 m, bearing: 220.597871 deg, deltaT: 4.492106 s, approachRate: 0.253778 m/s, LOS rate: -0.198010 deg/s, posRepo size: 4
2021-08-15T15:36:25.391Z,1629041785.391 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:36:25.749Z,1629041785.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:36:25.749Z,1629041785.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:36:25.749Z,1629041785.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:36:25.750Z,1629041785.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:36:26.161Z,1629041786.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E82,000,00466,187,80,80,45,FF
2021-08-15T15:36:26.161Z,1629041786.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:36:26.162Z,1629041786.162 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:36:26.168Z,1629041786.168 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:36:26.564Z,1629041786.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:36:26.965Z,1629041786.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB3,000,00467,186,80,80,48,FF
2021-08-15T15:36:26.966Z,1629041786.966 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:36:26.986Z,1629041786.986 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:36:27.393Z,1629041787.393 [Micromodem](INFO): Nmea in: $SNTTA,0.030935,,,,153628.15*43

2021-08-15T15:36:27.427Z,1629041787.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.119997 m, bearing: 219.070039 deg, deltaT: 4.391204 s, approachRate: 0.013663 m/s, LOS rate: -0.347930 deg/s, posRepo size: 4
2021-08-15T15:36:29.826Z,1629041789.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:36:30.241Z,1629041790.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:36:30.241Z,1629041790.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:36:30.241Z,1629041790.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:36:30.242Z,1629041790.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:36:30.597Z,1629041790.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB3,000,00467,186,80,80,48,FF
2021-08-15T15:36:30.597Z,1629041790.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:36:30.597Z,1629041790.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:36:30.599Z,1629041790.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:36:31.023Z,1629041791.023 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:36:31.405Z,1629041791.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2F,000,00470,188,80,80,4E,FF
2021-08-15T15:36:31.406Z,1629041791.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:36:31.460Z,1629041791.460 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:36:31.845Z,1629041791.845 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153632.58*53

2021-08-15T15:36:31.883Z,1629041791.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.659998 m, bearing: 226.845062 deg, deltaT: 4.474123 s, approachRate: 0.120694 m/s, LOS rate: 1.737776 deg/s, posRepo size: 4
2021-08-15T15:36:34.345Z,1629041794.345 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:36:34.637Z,1629041794.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:36:34.637Z,1629041794.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:36:34.637Z,1629041794.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:36:34.638Z,1629041794.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:36:35.053Z,1629041795.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2F,000,00470,188,80,80,4E,FF
2021-08-15T15:36:35.053Z,1629041795.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:36:35.053Z,1629041795.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:36:35.055Z,1629041795.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:36:35.448Z,1629041795.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:36:35.871Z,1629041795.871 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E68,000,0047B,186,80,80,81,FF
2021-08-15T15:36:35.874Z,1629041795.874 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:36:35.927Z,1629041795.927 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:36:36.306Z,1629041796.306 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153637.03*58

2021-08-15T15:36:36.384Z,1629041796.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.320002 m, bearing: 226.875689 deg, deltaT: 4.467554 s, approachRate: 0.147733 m/s, LOS rate: 0.006855 deg/s, posRepo size: 4
2021-08-15T15:36:38.695Z,1629041798.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:36:39.082Z,1629041799.082 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:36:39.082Z,1629041799.082 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:36:39.082Z,1629041799.082 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:36:39.083Z,1629041799.083 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:36:39.494Z,1629041799.494 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E68,000,0047B,186,80,80,81,FF
2021-08-15T15:36:39.494Z,1629041799.494 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:36:39.494Z,1629041799.494 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:36:39.497Z,1629041799.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:36:39.906Z,1629041799.906 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:36:40.325Z,1629041800.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC9,000,00481,186,80,80,72,FF
2021-08-15T15:36:40.326Z,1629041800.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:36:40.427Z,1629041800.427 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:36:40.742Z,1629041800.742 [Micromodem](INFO): Nmea in: $SNTTA,0.040921,,,,153641.47*49

2021-08-15T15:36:40.787Z,1629041800.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.679998 m, bearing: 223.169983 deg, deltaT: 4.504138 s, approachRate: 0.079926 m/s, LOS rate: -0.822734 deg/s, posRepo size: 4
2021-08-15T15:36:43.154Z,1629041803.154 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:36:43.533Z,1629041803.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:36:43.533Z,1629041803.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:36:43.533Z,1629041803.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:36:43.534Z,1629041803.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:36:43.929Z,1629041803.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC9,000,00481,186,80,80,72,FF
2021-08-15T15:36:43.929Z,1629041803.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:36:43.929Z,1629041803.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:36:43.931Z,1629041803.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:36:44.345Z,1629041804.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:36:44.745Z,1629041804.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E97,000,00487,186,80,80,7E,FF
2021-08-15T15:36:44.745Z,1629041804.745 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:36:44.811Z,1629041804.811 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:36:45.173Z,1629041805.173 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153645.91*56

2021-08-15T15:36:45.220Z,1629041805.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.040001 m, bearing: 225.508859 deg, deltaT: 4.379013 s, approachRate: 0.082211 m/s, LOS rate: 0.534110 deg/s, posRepo size: 4
2021-08-15T15:36:47.613Z,1629041807.613 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:36:47.977Z,1629041807.977 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:36:47.977Z,1629041807.977 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:36:47.977Z,1629041807.977 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:36:47.978Z,1629041807.978 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:36:48.381Z,1629041808.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E97,000,00487,186,80,80,7E,FF
2021-08-15T15:36:48.381Z,1629041808.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:36:48.381Z,1629041808.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:36:48.383Z,1629041808.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:36:48.785Z,1629041808.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:36:49.177Z,1629041809.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E51,000,00495,186,80,80,54,FF
2021-08-15T15:36:49.178Z,1629041809.178 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:36:49.197Z,1629041809.197 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:36:49.625Z,1629041809.625 [Micromodem](INFO): Nmea in: $SNTTA,0.038462,,,,153650.36*4A

2021-08-15T15:36:49.679Z,1629041809.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.880001 m, bearing: 227.785620 deg, deltaT: 4.386750 s, approachRate: 0.191486 m/s, LOS rate: 0.519009 deg/s, posRepo size: 4
2021-08-15T15:36:52.026Z,1629041812.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:36:52.425Z,1629041812.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:36:52.425Z,1629041812.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:36:52.425Z,1629041812.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:36:52.426Z,1629041812.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:36:52.817Z,1629041812.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E51,000,00495,186,80,80,54,FF
2021-08-15T15:36:52.817Z,1629041812.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:36:52.817Z,1629041812.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:36:52.819Z,1629041812.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:36:53.225Z,1629041813.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:36:53.633Z,1629041813.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4E,000,0049B,187,80,80,51,FF
2021-08-15T15:36:53.634Z,1629041813.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:36:53.729Z,1629041813.729 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:36:54.065Z,1629041814.065 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153654.80*56

2021-08-15T15:36:54.099Z,1629041814.099 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.239998 m, bearing: 227.692607 deg, deltaT: 4.531301 s, approachRate: 0.079447 m/s, LOS rate: -0.020527 deg/s, posRepo size: 4
2021-08-15T15:36:56.529Z,1629041816.529 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:36:56.861Z,1629041816.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:36:56.861Z,1629041816.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:36:56.861Z,1629041816.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:36:56.862Z,1629041816.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:36:57.285Z,1629041817.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4E,000,0049B,187,80,80,51,FF
2021-08-15T15:36:57.285Z,1629041817.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:36:57.285Z,1629041817.285 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:36:57.287Z,1629041817.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:36:57.673Z,1629041817.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:36:58.082Z,1629041818.082 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E86,000,004A6,186,80,80,61,FF
2021-08-15T15:36:58.082Z,1629041818.082 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:36:58.102Z,1629041818.102 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:36:58.525Z,1629041818.525 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153659.26*57

2021-08-15T15:36:58.612Z,1629041818.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.900002 m, bearing: 225.122816 deg, deltaT: 4.373257 s, approachRate: 0.150918 m/s, LOS rate: -0.587615 deg/s, posRepo size: 4
2021-08-15T15:37:00.942Z,1629041820.942 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:37:01.333Z,1629041821.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:37:01.333Z,1629041821.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:37:01.333Z,1629041821.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:37:01.334Z,1629041821.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:37:01.709Z,1629041821.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E86,000,004A6,186,80,80,61,FF
2021-08-15T15:37:01.709Z,1629041821.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:37:01.709Z,1629041821.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:37:01.711Z,1629041821.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:37:02.117Z,1629041822.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:37:02.537Z,1629041822.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F78,000,004BA,186,80,80,74,FF
2021-08-15T15:37:02.537Z,1629041822.537 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:37:02.631Z,1629041822.631 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:37:02.957Z,1629041822.957 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153703.69*52

2021-08-15T15:37:02.991Z,1629041822.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.099998 m, bearing: 212.752811 deg, deltaT: 4.528756 s, approachRate: 0.264973 m/s, LOS rate: -2.731436 deg/s, posRepo size: 4
2021-08-15T15:37:05.394Z,1629041825.394 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:37:05.753Z,1629041825.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:37:05.753Z,1629041825.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:37:05.753Z,1629041825.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:37:05.754Z,1629041825.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:37:06.181Z,1629041826.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F78,000,004BA,186,80,80,74,FF
2021-08-15T15:37:06.181Z,1629041826.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:37:06.182Z,1629041826.182 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:37:06.187Z,1629041826.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:37:06.564Z,1629041826.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:37:06.965Z,1629041826.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F52,000,004B9,186,80,80,68,FF
2021-08-15T15:37:06.966Z,1629041826.966 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:37:07.007Z,1629041827.007 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:37:07.391Z,1629041827.391 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153708.17*50

2021-08-15T15:37:07.442Z,1629041827.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.040001 m, bearing: 215.140973 deg, deltaT: 4.376265 s, approachRate: -0.013710 m/s, LOS rate: 0.545708 deg/s, posRepo size: 4
2021-08-15T15:37:09.843Z,1629041829.843 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:37:10.247Z,1629041830.247 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:37:10.248Z,1629041830.248 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:37:10.248Z,1629041830.248 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:37:10.250Z,1629041830.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:37:10.609Z,1629041830.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F52,000,004B9,186,80,80,68,FF
2021-08-15T15:37:10.609Z,1629041830.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:37:10.609Z,1629041830.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:37:10.611Z,1629041830.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:37:11.009Z,1629041831.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:37:11.409Z,1629041831.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F00,000,004C6,186,80,80,8E,FF
2021-08-15T15:37:11.410Z,1629041831.410 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:37:11.439Z,1629041831.439 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:37:11.849Z,1629041831.849 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153712.59*51

2021-08-15T15:37:11.879Z,1629041831.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.820000 m, bearing: 219.005330 deg, deltaT: 4.456681 s, approachRate: 0.175018 m/s, LOS rate: 0.867093 deg/s, posRepo size: 4
2021-08-15T15:37:14.352Z,1629041834.352 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:37:14.641Z,1629041834.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:37:14.641Z,1629041834.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:37:14.641Z,1629041834.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:37:14.642Z,1629041834.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:37:15.053Z,1629041835.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F00,000,004C6,186,80,80,8E,FF
2021-08-15T15:37:15.053Z,1629041835.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:37:15.053Z,1629041835.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:37:15.055Z,1629041835.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:37:15.457Z,1629041835.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:37:15.853Z,1629041835.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F73,000,004D7,187,80,80,4F,FF
2021-08-15T15:37:15.854Z,1629041835.854 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:37:15.873Z,1629041835.873 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:37:16.313Z,1629041836.313 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153717.03*5B

2021-08-15T15:37:16.389Z,1629041836.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.840000 m, bearing: 212.906326 deg, deltaT: 4.409506 s, approachRate: 0.231319 m/s, LOS rate: -1.383149 deg/s, posRepo size: 4
2021-08-15T15:37:18.703Z,1629041838.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:37:19.081Z,1629041839.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:37:19.082Z,1629041839.082 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:37:19.082Z,1629041839.082 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:37:19.083Z,1629041839.083 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:37:19.503Z,1629041839.503 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F73,000,004D7,187,80,80,4F,FF
2021-08-15T15:37:19.503Z,1629041839.503 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:37:19.503Z,1629041839.503 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:37:19.506Z,1629041839.506 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:37:19.896Z,1629041839.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:37:20.325Z,1629041840.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08C,000,004E7,186,80,80,60,FF
2021-08-15T15:37:20.325Z,1629041840.325 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:37:20.410Z,1629041840.410 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:37:20.737Z,1629041840.737 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153721.49*50

2021-08-15T15:37:20.769Z,1629041840.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.799999 m, bearing: 198.497496 deg, deltaT: 4.537293 s, approachRate: 0.211580 m/s, LOS rate: -3.175645 deg/s, posRepo size: 4
2021-08-15T15:37:23.147Z,1629041843.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:37:23.545Z,1629041843.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:37:23.545Z,1629041843.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:37:23.545Z,1629041843.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:37:23.546Z,1629041843.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:37:23.942Z,1629041843.942 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08C,000,004E7,186,80,80,60,FF
2021-08-15T15:37:23.942Z,1629041843.942 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:37:23.942Z,1629041843.942 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:37:23.944Z,1629041843.944 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:37:24.341Z,1629041844.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:37:24.753Z,1629041844.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07A,000,004F2,187,80,80,6C,FF
2021-08-15T15:37:24.754Z,1629041844.754 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:37:24.811Z,1629041844.811 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:37:25.192Z,1629041845.192 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153725.92*52

2021-08-15T15:37:25.216Z,1629041845.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.459995 m, bearing: 198.301552 deg, deltaT: 4.400195 s, approachRate: 0.149992 m/s, LOS rate: -0.044531 deg/s, posRepo size: 4
2021-08-15T15:37:27.613Z,1629041847.613 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:37:27.985Z,1629041847.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:37:27.985Z,1629041847.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:37:27.985Z,1629041847.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:37:27.986Z,1629041847.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:37:28.377Z,1629041848.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07A,000,004F2,187,80,80,6C,FF
2021-08-15T15:37:28.377Z,1629041848.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:37:28.377Z,1629041848.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:37:28.379Z,1629041848.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:37:28.821Z,1629041848.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:37:29.221Z,1629041849.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10C,000,00503,186,80,80,87,FF
2021-08-15T15:37:29.222Z,1629041849.222 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:37:29.290Z,1629041849.290 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:37:29.653Z,1629041849.653 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153730.36*58

2021-08-15T15:37:29.703Z,1629041849.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.480003 m, bearing: 190.908405 deg, deltaT: 4.478936 s, approachRate: 0.227734 m/s, LOS rate: -1.650648 deg/s, posRepo size: 4
2021-08-15T15:37:32.090Z,1629041852.090 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:37:32.461Z,1629041852.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:37:32.461Z,1629041852.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:37:32.461Z,1629041852.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:37:32.462Z,1629041852.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:37:32.869Z,1629041852.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10C,000,00503,186,80,80,87,FF
2021-08-15T15:37:32.869Z,1629041852.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:37:32.870Z,1629041852.870 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:37:32.871Z,1629041852.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:37:33.292Z,1629041853.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:37:34.106Z,1629041854.106 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153734.85*54

2021-08-15T15:37:34.923Z,1629041854.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:37:36.510Z,1629041856.510 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,186,80,80,87,FF
2021-08-15T15:37:36.510Z,1629041856.510 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,186,80,80,87,FF
2021-08-15T15:37:36.510Z,1629041856.510 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T15:37:37.742Z,1629041857.742 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:37:38.117Z,1629041858.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:37:38.117Z,1629041858.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:37:38.117Z,1629041858.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:37:38.118Z,1629041858.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:37:38.537Z,1629041858.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,186,80,80,87,FF
2021-08-15T15:37:38.537Z,1629041858.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:37:38.537Z,1629041858.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:37:38.539Z,1629041858.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:37:38.928Z,1629041858.928 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:37:39.345Z,1629041859.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,185,000,0051F,186,80,80,3C,FF
2021-08-15T15:37:39.346Z,1629041859.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:37:39.377Z,1629041859.377 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T15:37:39.769Z,1629041859.769 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153740.52*5D

2021-08-15T15:37:39.792Z,1629041859.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.159996 m, bearing: 192.349001 deg, deltaT: 10.087079 s, approachRate: 0.166549 m/s, LOS rate: 0.142816 deg/s, posRepo size: 4
2021-08-15T15:37:40.235Z,1629041860.235 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T15:37:40.241Z,1629041860.241 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T15:37:40.242Z,1629041860.242 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T15:37:40.248Z,1629041860.248 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T15:37:40.249Z,1629041860.249 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T15:37:40.249Z,1629041860.249 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T15:37:40.614Z,1629041860.614 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T15:37:40.615Z,1629041860.615 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T15:37:40.615Z,1629041860.615 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T15:37:40.615Z,1629041860.615 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T15:37:42.236Z,1629041862.236 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:37:42.574Z,1629041862.574 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:37:42.575Z,1629041862.575 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:37:42.575Z,1629041862.575 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:37:42.576Z,1629041862.576 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:37:42.965Z,1629041862.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
185,000,0051F,186,80,80,3C,FF
2021-08-15T15:37:42.965Z,1629041862.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:37:42.966Z,1629041862.966 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:37:42.967Z,1629041862.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:37:43.380Z,1629041863.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:37:43.773Z,1629041863.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F09,000,00533,186,80,80,64,FF
2021-08-15T15:37:43.773Z,1629041863.773 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:37:44.260Z,1629041864.260 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153744.95*52

2021-08-15T15:37:44.332Z,1629041864.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.360001 m, bearing: 228.153972 deg, deltaT: 4.442921 s, approachRate: 0.270094 m/s, LOS rate: 8.058881 deg/s, posRepo size: 4
2021-08-15T15:37:46.345Z,1629041866.345 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:37:46.609Z,1629041866.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:37:46.610Z,1629041866.610 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:37:46.610Z,1629041866.610 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:37:46.611Z,1629041866.611 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:37:47.005Z,1629041867.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F09,000,00533,186,80,80,64,FF
2021-08-15T15:37:47.005Z,1629041867.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:37:47.005Z,1629041867.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:37:47.007Z,1629041867.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:37:47.433Z,1629041867.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:37:47.813Z,1629041867.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F83,000,0053A,187,80,80,60,FF
2021-08-15T15:37:47.814Z,1629041867.814 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:37:48.289Z,1629041868.289 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153748.99*52

2021-08-15T15:37:48.367Z,1629041868.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.780003 m, bearing: 220.159263 deg, deltaT: 4.038248 s, approachRate: 0.104006 m/s, LOS rate: -1.979747 deg/s, posRepo size: 4
2021-08-15T15:37:50.362Z,1629041870.362 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:37:50.649Z,1629041870.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:37:50.649Z,1629041870.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:37:50.649Z,1629041870.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:37:50.650Z,1629041870.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:37:51.049Z,1629041871.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F83,000,0053A,187,80,80,60,FF
2021-08-15T15:37:51.049Z,1629041871.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:37:51.049Z,1629041871.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:37:51.051Z,1629041871.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:37:51.457Z,1629041871.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:37:51.853Z,1629041871.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,253,000,00548,188,80,80,97,FF
2021-08-15T15:37:51.853Z,1629041871.853 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:37:52.314Z,1629041872.314 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153753.03*5B

2021-08-15T15:37:52.382Z,1629041872.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.619995 m, bearing: 180.463502 deg, deltaT: 4.075518 s, approachRate: 0.206107 m/s, LOS rate: -9.740053 deg/s, posRepo size: 4
2021-08-15T15:37:54.712Z,1629041874.712 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:37:55.085Z,1629041875.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:37:55.085Z,1629041875.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:37:55.085Z,1629041875.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:37:55.086Z,1629041875.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:37:55.490Z,1629041875.490 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
253,000,00548,188,80,80,97,FF
2021-08-15T15:37:55.490Z,1629041875.490 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:37:55.490Z,1629041875.490 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:37:55.493Z,1629041875.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:37:55.905Z,1629041875.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:37:56.333Z,1629041876.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBA,000,00556,186,80,80,7F,FF
2021-08-15T15:37:56.334Z,1629041876.334 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:37:56.753Z,1629041876.753 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153757.47*5F

2021-08-15T15:37:56.776Z,1629041876.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.459999 m, bearing: 223.382908 deg, deltaT: 4.517459 s, approachRate: 0.185946 m/s, LOS rate: 9.500785 deg/s, posRepo size: 4
2021-08-15T15:37:59.154Z,1629041879.154 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:37:59.537Z,1629041879.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:37:59.537Z,1629041879.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:37:59.537Z,1629041879.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:37:59.538Z,1629041879.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:37:59.929Z,1629041879.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBA,000,00556,186,80,80,7F,FF
2021-08-15T15:37:59.929Z,1629041879.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:37:59.929Z,1629041879.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:37:59.931Z,1629041879.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:38:00.337Z,1629041880.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:38:00.742Z,1629041880.742 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E46,000,00566,186,80,80,6B,FF
2021-08-15T15:38:00.742Z,1629041880.742 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:38:01.189Z,1629041881.189 [Micromodem](INFO): Nmea in: $SNTTA,0.040023,,,,153801.91*43

2021-08-15T15:38:01.212Z,1629041881.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.419998 m, bearing: 227.414509 deg, deltaT: 4.339243 s, approachRate: 0.221237 m/s, LOS rate: 0.929102 deg/s, posRepo size: 4
2021-08-15T15:38:03.605Z,1629041883.605 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:38:03.973Z,1629041883.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:38:03.973Z,1629041883.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:38:03.973Z,1629041883.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:38:03.974Z,1629041883.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:38:04.381Z,1629041884.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E46,000,00566,186,80,80,6B,FF
2021-08-15T15:38:04.381Z,1629041884.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:38:04.381Z,1629041884.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:38:04.383Z,1629041884.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:38:04.801Z,1629041884.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:38:05.181Z,1629041885.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDC,000,00574,186,80,80,A0,FF
2021-08-15T15:38:05.182Z,1629041885.182 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:38:05.629Z,1629041885.629 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153806.36*52

2021-08-15T15:38:05.652Z,1629041885.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.259998 m, bearing: 219.709837 deg, deltaT: 4.498022 s, approachRate: 0.186749 m/s, LOS rate: -1.712902 deg/s, posRepo size: 4
2021-08-15T15:38:08.039Z,1629041888.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:38:08.409Z,1629041888.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:38:08.409Z,1629041888.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:38:08.409Z,1629041888.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:38:08.410Z,1629041888.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:38:08.821Z,1629041888.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDC,000,00574,186,80,80,A0,FF
2021-08-15T15:38:08.821Z,1629041888.821 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:38:08.821Z,1629041888.821 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:38:08.823Z,1629041888.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:38:09.229Z,1629041889.229 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:38:09.633Z,1629041889.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F22,000,00587,186,80,80,7F,FF
2021-08-15T15:38:09.634Z,1629041889.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:38:10.069Z,1629041890.069 [Micromodem](INFO): Nmea in: $SNTTA,0.049922,,,,153810.80*42

2021-08-15T15:38:10.091Z,1629041890.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.399998 m, bearing: 215.342682 deg, deltaT: 4.375455 s, approachRate: 0.260544 m/s, LOS rate: -0.998103 deg/s, posRepo size: 4
2021-08-15T15:38:12.495Z,1629041892.495 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T15:38:12.544Z,1629041892.544 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:38:12.865Z,1629041892.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:38:12.865Z,1629041892.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:38:12.865Z,1629041892.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:38:12.866Z,1629041892.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:38:13.277Z,1629041893.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F22,000,00587,186,80,80,7F,FF
2021-08-15T15:38:13.277Z,1629041893.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:38:13.278Z,1629041893.278 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:38:13.282Z,1629041893.282 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:38:13.681Z,1629041893.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:38:14.077Z,1629041894.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE5,000,00595,186,80,80,83,FF
2021-08-15T15:38:14.078Z,1629041894.078 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:38:14.502Z,1629041894.502 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153815.26*51

2021-08-15T15:38:14.583Z,1629041894.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.239998 m, bearing: 217.897542 deg, deltaT: 4.458889 s, approachRate: 0.188388 m/s, LOS rate: 0.572981 deg/s, posRepo size: 4
2021-08-15T15:38:16.935Z,1629041896.935 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:38:17.321Z,1629041897.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:38:17.321Z,1629041897.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:38:17.321Z,1629041897.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:38:17.322Z,1629041897.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:38:17.702Z,1629041897.702 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE5,000,00595,186,80,80,83,FF
2021-08-15T15:38:17.702Z,1629041897.702 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:38:17.702Z,1629041897.702 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:38:17.703Z,1629041897.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:38:18.113Z,1629041898.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:38:18.521Z,1629041898.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7E,000,005A4,185,80,80,7D,FF
2021-08-15T15:38:18.522Z,1629041898.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:38:18.961Z,1629041898.961 [Micromodem](INFO): Nmea in: $SNTTA,0.046479,,,,153819.68*41

2021-08-15T15:38:18.995Z,1629041898.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.140003 m, bearing: 223.675076 deg, deltaT: 4.489643 s, approachRate: 0.200463 m/s, LOS rate: 1.286858 deg/s, posRepo size: 4
2021-08-15T15:38:21.370Z,1629041901.370 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:38:21.753Z,1629041901.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:38:21.753Z,1629041901.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:38:21.753Z,1629041901.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:38:21.754Z,1629041901.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:38:22.145Z,1629041902.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7E,000,005A4,185,80,80,7D,FF
2021-08-15T15:38:22.145Z,1629041902.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:38:22.146Z,1629041902.146 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:38:22.147Z,1629041902.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:38:22.569Z,1629041902.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:38:22.957Z,1629041902.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA1,000,005B8,186,80,80,6B,FF
2021-08-15T15:38:22.957Z,1629041902.957 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:38:23.398Z,1629041903.398 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153824.13*55

2021-08-15T15:38:23.427Z,1629041903.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.340000 m, bearing: 222.342042 deg, deltaT: 4.389713 s, approachRate: 0.273366 m/s, LOS rate: -0.303672 deg/s, posRepo size: 4
2021-08-15T15:38:25.811Z,1629041905.811 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:38:26.211Z,1629041906.211 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:38:26.226Z,1629041906.226 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:38:26.227Z,1629041906.227 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:38:26.228Z,1629041906.228 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:38:26.593Z,1629041906.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA1,000,005B8,186,80,80,6B,FF
2021-08-15T15:38:26.593Z,1629041906.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:38:26.593Z,1629041906.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:38:26.595Z,1629041906.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:38:27.011Z,1629041907.011 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:38:27.413Z,1629041907.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,164,000,005BF,186,80,80,49,FF
2021-08-15T15:38:27.414Z,1629041907.414 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:38:27.849Z,1629041907.849 [Micromodem](INFO): Nmea in: $SNTTA,0.052434,,,,153828.58*4C

2021-08-15T15:38:27.866Z,1629041907.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.760002 m, bearing: 185.691110 deg, deltaT: 4.476148 s, approachRate: 0.093831 m/s, LOS rate: -8.188052 deg/s, posRepo size: 4
2021-08-15T15:38:30.358Z,1629041910.358 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:38:30.637Z,1629041910.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:38:30.637Z,1629041910.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:38:30.637Z,1629041910.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:38:30.638Z,1629041910.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:38:31.041Z,1629041911.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
164,000,005BF,186,80,80,49,FF
2021-08-15T15:38:31.041Z,1629041911.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:38:31.041Z,1629041911.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:38:31.043Z,1629041911.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:38:31.463Z,1629041911.463 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:38:31.849Z,1629041911.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6E,000,005CF,187,80,80,31,FF
2021-08-15T15:38:31.850Z,1629041911.850 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:38:32.317Z,1629041912.317 [Micromodem](INFO): Nmea in: $SNTTA,0.042140,,,,153833.02*4E

2021-08-15T15:38:32.384Z,1629041912.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.719997 m, bearing: 214.281927 deg, deltaT: 4.420390 s, approachRate: 0.217174 m/s, LOS rate: 6.467940 deg/s, posRepo size: 4
2021-08-15T15:38:34.710Z,1629041914.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:38:35.106Z,1629041915.106 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:38:35.106Z,1629041915.106 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:38:35.106Z,1629041915.106 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:38:35.107Z,1629041915.107 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:38:35.498Z,1629041915.498 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6E,000,005CF,187,80,80,31,FF
2021-08-15T15:38:35.498Z,1629041915.498 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:38:35.498Z,1629041915.498 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:38:35.501Z,1629041915.501 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:38:35.918Z,1629041915.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:38:36.337Z,1629041916.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F07,000,005E8,186,80,80,97,FF
2021-08-15T15:38:36.338Z,1629041916.338 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:38:36.742Z,1629041916.742 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153837.48*59

2021-08-15T15:38:36.758Z,1629041916.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.220001 m, bearing: 222.060105 deg, deltaT: 4.529636 s, approachRate: 0.331153 m/s, LOS rate: 1.717175 deg/s, posRepo size: 4
2021-08-15T15:38:39.159Z,1629041919.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:38:39.557Z,1629041919.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:38:39.557Z,1629041919.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:38:39.557Z,1629041919.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:38:39.558Z,1629041919.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:38:39.941Z,1629041919.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F07,000,005E8,186,80,80,97,FF
2021-08-15T15:38:39.941Z,1629041919.941 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:38:39.941Z,1629041919.941 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:38:39.943Z,1629041919.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:38:40.373Z,1629041920.373 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:38:40.762Z,1629041920.762 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3B,000,005F4,186,80,80,7E,FF
2021-08-15T15:38:40.762Z,1629041920.762 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:38:41.201Z,1629041921.201 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153841.92*5F

2021-08-15T15:38:41.228Z,1629041921.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.939995 m, bearing: 218.284937 deg, deltaT: 4.358645 s, approachRate: 0.165187 m/s, LOS rate: -0.866134 deg/s, posRepo size: 4
2021-08-15T15:38:43.652Z,1629041923.652 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:38:43.996Z,1629041923.996 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:38:43.997Z,1629041923.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:38:43.997Z,1629041923.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:38:43.998Z,1629041923.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:38:44.411Z,1629041924.411 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3B,000,005F4,186,80,80,7E,FF
2021-08-15T15:38:44.411Z,1629041924.411 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:38:44.411Z,1629041924.411 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:38:44.414Z,1629041924.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:38:44.862Z,1629041924.862 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:38:45.281Z,1629041925.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F33,000,00605,186,80,80,9D,FF
2021-08-15T15:38:45.282Z,1629041925.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:38:45.673Z,1629041925.673 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153846.39*59

2021-08-15T15:38:45.703Z,1629041925.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.960007 m, bearing: 219.075504 deg, deltaT: 4.526109 s, approachRate: 0.225362 m/s, LOS rate: 0.174668 deg/s, posRepo size: 4
2021-08-15T15:38:48.106Z,1629041928.106 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:38:48.510Z,1629041928.510 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:38:48.510Z,1629041928.510 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:38:48.510Z,1629041928.510 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:38:48.511Z,1629041928.511 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:38:48.889Z,1629041928.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F33,000,00605,186,80,80,9D,FF
2021-08-15T15:38:48.889Z,1629041928.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:38:48.889Z,1629041928.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:38:48.891Z,1629041928.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:38:49.337Z,1629041929.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:38:49.719Z,1629041929.719 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F63,000,00614,187,80,80,8E,FF
2021-08-15T15:38:49.719Z,1629041929.719 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:38:50.156Z,1629041930.156 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153850.87*5B

2021-08-15T15:38:50.253Z,1629041930.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.859997 m, bearing: 217.965543 deg, deltaT: 4.427425 s, approachRate: 0.203276 m/s, LOS rate: -0.250701 deg/s, posRepo size: 4
2021-08-15T15:38:52.265Z,1629041932.265 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:38:52.562Z,1629041932.562 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:38:52.562Z,1629041932.562 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:38:52.562Z,1629041932.562 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:38:52.563Z,1629041932.563 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:38:52.945Z,1629041932.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F63,000,00614,187,80,80,8E,FF
2021-08-15T15:38:52.945Z,1629041932.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:38:52.945Z,1629041932.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:38:52.947Z,1629041932.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:38:53.365Z,1629041933.365 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:38:53.753Z,1629041933.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F80,000,0062B,186,80,80,85,FF
2021-08-15T15:38:53.753Z,1629041933.753 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:38:54.221Z,1629041934.221 [Micromodem](INFO): Nmea in: $SNTTA,0.060904,,,,153854.93*4F

2021-08-15T15:38:54.325Z,1629041934.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.240005 m, bearing: 216.438067 deg, deltaT: 4.076085 s, approachRate: 0.338562 m/s, LOS rate: -0.374741 deg/s, posRepo size: 4
2021-08-15T15:38:56.679Z,1629041936.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:38:56.985Z,1629041936.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:38:56.985Z,1629041936.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:38:56.985Z,1629041936.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:38:56.986Z,1629041936.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:38:57.399Z,1629041937.399 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F80,000,0062B,186,80,80,85,FF
2021-08-15T15:38:57.399Z,1629041937.399 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:38:57.399Z,1629041937.399 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:38:57.401Z,1629041937.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:38:57.794Z,1629041937.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:38:58.251Z,1629041938.251 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5D,000,00642,186,80,80,81,FF
2021-08-15T15:38:58.253Z,1629041938.253 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:38:58.649Z,1629041938.649 [Micromodem](INFO): Nmea in: $SNTTA,0.044247,,,,153859.38*49

2021-08-15T15:38:58.672Z,1629041938.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.620003 m, bearing: 216.893777 deg, deltaT: 4.541852 s, approachRate: 0.303840 m/s, LOS rate: 0.100336 deg/s, posRepo size: 4
2021-08-15T15:39:01.106Z,1629041941.106 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:39:01.437Z,1629041941.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:39:01.437Z,1629041941.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:39:01.437Z,1629041941.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:39:01.438Z,1629041941.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:39:01.841Z,1629041941.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5D,000,00642,186,80,80,81,FF
2021-08-15T15:39:01.842Z,1629041941.842 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:39:01.842Z,1629041941.842 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:39:01.843Z,1629041941.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:39:02.287Z,1629041942.287 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:39:02.653Z,1629041942.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F17,000,0064B,187,80,80,7D,FF
2021-08-15T15:39:02.654Z,1629041942.654 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:39:03.081Z,1629041943.081 [Micromodem](INFO): Nmea in: $SNTTA,0.055421,,,,153903.82*40

2021-08-15T15:39:03.134Z,1629041943.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.159996 m, bearing: 218.704939 deg, deltaT: 4.315271 s, approachRate: 0.125135 m/s, LOS rate: 0.419710 deg/s, posRepo size: 4
2021-08-15T15:39:05.523Z,1629041945.523 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:39:05.913Z,1629041945.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:39:05.913Z,1629041945.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:39:05.914Z,1629041945.914 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:39:05.915Z,1629041945.915 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:39:06.305Z,1629041946.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F17,000,0064B,187,80,80,7D,FF
2021-08-15T15:39:06.305Z,1629041946.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:39:06.305Z,1629041946.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:39:06.307Z,1629041946.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:39:06.700Z,1629041946.700 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:39:07.093Z,1629041947.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03D,000,00660,184,80,80,61,FF
2021-08-15T15:39:07.094Z,1629041947.094 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:39:07.517Z,1629041947.517 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153908.29*53

2021-08-15T15:39:07.555Z,1629041947.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.419998 m, bearing: 203.303026 deg, deltaT: 4.440165 s, approachRate: 0.283774 m/s, LOS rate: -3.468770 deg/s, posRepo size: 4
2021-08-15T15:39:09.951Z,1629041949.951 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:39:10.325Z,1629041950.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:39:10.325Z,1629041950.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:39:10.325Z,1629041950.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:39:10.326Z,1629041950.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:39:10.725Z,1629041950.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03D,000,00660,184,80,80,61,FF
2021-08-15T15:39:10.725Z,1629041950.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:39:10.725Z,1629041950.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:39:10.727Z,1629041950.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:39:11.155Z,1629041951.155 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:39:11.537Z,1629041951.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F93,000,00670,186,80,80,94,FF
2021-08-15T15:39:11.538Z,1629041951.538 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:39:11.969Z,1629041951.969 [Micromodem](INFO): Nmea in: $SNTTA,0.046919,,,,153912.71*48

2021-08-15T15:39:12.004Z,1629041952.004 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.380005 m, bearing: 210.424140 deg, deltaT: 4.482097 s, approachRate: 0.214187 m/s, LOS rate: 1.588791 deg/s, posRepo size: 4
2021-08-15T15:39:14.424Z,1629041954.424 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:39:14.773Z,1629041954.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:39:14.774Z,1629041954.774 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:39:14.774Z,1629041954.774 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:39:14.775Z,1629041954.775 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:39:15.169Z,1629041955.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F93,000,00670,186,80,80,94,FF
2021-08-15T15:39:15.169Z,1629041955.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:39:15.169Z,1629041955.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:39:15.171Z,1629041955.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:39:15.584Z,1629041955.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:39:16.002Z,1629041956.002 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF9,000,00680,183,80,80,8A,FF
2021-08-15T15:39:16.005Z,1629041956.005 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:39:16.425Z,1629041956.425 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153917.15*52

2021-08-15T15:39:16.514Z,1629041956.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.340004 m, bearing: 203.079474 deg, deltaT: 4.442973 s, approachRate: 0.216071 m/s, LOS rate: -1.653097 deg/s, posRepo size: 4
2021-08-15T15:39:18.834Z,1629041958.834 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:39:19.209Z,1629041959.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:39:19.209Z,1629041959.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:39:19.210Z,1629041959.210 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:39:19.211Z,1629041959.211 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:39:19.617Z,1629041959.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF9,000,00680,183,80,80,8A,FF
2021-08-15T15:39:19.618Z,1629041959.618 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:39:19.618Z,1629041959.618 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:39:19.619Z,1629041959.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:39:20.020Z,1629041960.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:39:20.434Z,1629041960.434 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,046,000,00695,185,80,80,8E,FF
2021-08-15T15:39:20.434Z,1629041960.434 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:39:20.853Z,1629041960.853 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153921.60*55

2021-08-15T15:39:20.888Z,1629041960.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.600002 m, bearing: 197.817797 deg, deltaT: 4.501411 s, approachRate: 0.279912 m/s, LOS rate: -1.168895 deg/s, posRepo size: 4
2021-08-15T15:39:23.309Z,1629041963.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:39:23.653Z,1629041963.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:39:23.653Z,1629041963.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:39:23.653Z,1629041963.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:39:23.654Z,1629041963.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:39:24.085Z,1629041964.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
046,000,00695,185,80,80,8E,FF
2021-08-15T15:39:24.085Z,1629041964.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:39:24.085Z,1629041964.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:39:24.087Z,1629041964.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:39:24.473Z,1629041964.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:39:24.871Z,1629041964.871 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04E,000,006A4,184,80,80,53,FF
2021-08-15T15:39:24.871Z,1629041964.871 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:39:25.297Z,1629041965.297 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153926.07*53

2021-08-15T15:39:25.323Z,1629041965.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.500008 m, bearing: 197.017162 deg, deltaT: 4.350645 s, approachRate: 0.206867 m/s, LOS rate: -0.184027 deg/s, posRepo size: 4
2021-08-15T15:39:27.715Z,1629041967.715 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:39:28.109Z,1629041968.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:39:28.109Z,1629041968.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:39:28.109Z,1629041968.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:39:28.110Z,1629041968.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:39:28.517Z,1629041968.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04E,000,006A4,184,80,80,53,FF
2021-08-15T15:39:28.517Z,1629041968.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:39:28.517Z,1629041968.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:39:28.519Z,1629041968.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:39:28.962Z,1629041968.962 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:39:29.349Z,1629041969.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD0,000,006B7,184,80,80,6A,FF
2021-08-15T15:39:29.349Z,1629041969.349 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:39:29.773Z,1629041969.773 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153930.50*56

2021-08-15T15:39:29.812Z,1629041969.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.639999 m, bearing: 202.642847 deg, deltaT: 4.519222 s, approachRate: 0.252254 m/s, LOS rate: 1.244835 deg/s, posRepo size: 4
2021-08-15T15:39:32.263Z,1629041972.263 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:39:32.597Z,1629041972.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:39:32.597Z,1629041972.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:39:32.597Z,1629041972.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:39:32.598Z,1629041972.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:39:32.997Z,1629041972.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD0,000,006B7,184,80,80,6A,FF
2021-08-15T15:39:32.997Z,1629041972.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:39:32.997Z,1629041972.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:39:32.999Z,1629041972.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:39:33.400Z,1629041973.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:39:33.801Z,1629041973.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C4,000,006C5,186,80,80,4A,FF
2021-08-15T15:39:33.801Z,1629041973.801 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:39:34.267Z,1629041974.267 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153934.98*56

2021-08-15T15:39:34.357Z,1629041974.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.480003 m, bearing: 192.215225 deg, deltaT: 4.448251 s, approachRate: 0.188839 m/s, LOS rate: -2.344207 deg/s, posRepo size: 4
2021-08-15T15:39:36.650Z,1629041976.650 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:39:37.025Z,1629041977.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:39:37.025Z,1629041977.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:39:37.025Z,1629041977.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:39:37.026Z,1629041977.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:39:37.433Z,1629041977.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C4,000,006C5,186,80,80,4A,FF
2021-08-15T15:39:37.433Z,1629041977.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:39:37.433Z,1629041977.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:39:37.435Z,1629041977.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:39:37.841Z,1629041977.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:39:38.281Z,1629041978.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F89,000,006D5,187,80,80,6F,FF
2021-08-15T15:39:38.282Z,1629041978.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:39:38.685Z,1629041978.685 [Micromodem](INFO): Nmea in: $SNTTA,0.050206,,,,153939.41*40

2021-08-15T15:39:38.708Z,1629041978.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.440002 m, bearing: 209.770914 deg, deltaT: 4.524082 s, approachRate: 0.212198 m/s, LOS rate: 3.880498 deg/s, posRepo size: 4
2021-08-15T15:39:41.111Z,1629041981.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:39:41.469Z,1629041981.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:39:41.469Z,1629041981.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:39:41.469Z,1629041981.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:39:41.470Z,1629041981.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:39:41.877Z,1629041981.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F89,000,006D5,187,80,80,6F,FF
2021-08-15T15:39:41.877Z,1629041981.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:39:41.877Z,1629041981.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:39:41.879Z,1629041981.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:39:42.304Z,1629041982.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:39:42.685Z,1629041982.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCB,000,006EB,184,80,80,73,FF
2021-08-15T15:39:42.685Z,1629041982.685 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:39:43.129Z,1629041983.129 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153943.86*59

2021-08-15T15:39:43.156Z,1629041983.156 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.760002 m, bearing: 208.708301 deg, deltaT: 4.322861 s, approachRate: 0.305353 m/s, LOS rate: -0.245813 deg/s, posRepo size: 4
2021-08-15T15:39:45.558Z,1629041985.558 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:39:45.913Z,1629041985.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:39:45.914Z,1629041985.914 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:39:45.914Z,1629041985.914 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:39:45.915Z,1629041985.915 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:39:46.333Z,1629041986.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCB,000,006EB,184,80,80,73,FF
2021-08-15T15:39:46.333Z,1629041986.333 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:39:46.333Z,1629041986.333 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:39:46.335Z,1629041986.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:39:46.717Z,1629041986.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:39:47.137Z,1629041987.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E8,000,006F9,187,80,80,63,FF
2021-08-15T15:39:47.138Z,1629041987.138 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:39:47.561Z,1629041987.561 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153948.32*5D

2021-08-15T15:39:47.584Z,1629041987.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.600006 m, bearing: 195.156796 deg, deltaT: 4.555241 s, approachRate: 0.184404 m/s, LOS rate: -2.974926 deg/s, posRepo size: 4
2021-08-15T15:39:49.971Z,1629041989.971 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:39:50.373Z,1629041990.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:39:50.373Z,1629041990.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:39:50.373Z,1629041990.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:39:50.374Z,1629041990.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:39:50.761Z,1629041990.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E8,000,006F9,187,80,80,63,FF
2021-08-15T15:39:50.761Z,1629041990.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:39:50.761Z,1629041990.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:39:50.763Z,1629041990.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:39:51.175Z,1629041991.175 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:39:51.565Z,1629041991.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01A,000,00707,183,80,80,5F,FF
2021-08-15T15:39:51.566Z,1629041991.566 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:39:52.018Z,1629041992.018 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153952.75*55

2021-08-15T15:39:52.040Z,1629041992.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.440002 m, bearing: 205.517482 deg, deltaT: 4.359390 s, approachRate: 0.192687 m/s, LOS rate: 2.376637 deg/s, posRepo size: 4
2021-08-15T15:39:54.507Z,1629041994.507 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:39:54.793Z,1629041994.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:39:54.793Z,1629041994.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:39:54.794Z,1629041994.794 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:39:54.795Z,1629041994.795 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:39:55.217Z,1629041995.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01A,000,00707,183,80,80,5F,FF
2021-08-15T15:39:55.217Z,1629041995.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:39:55.218Z,1629041995.218 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:39:55.221Z,1629041995.221 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:39:55.609Z,1629041995.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:39:56.029Z,1629041996.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD8,000,0071A,184,80,80,78,FF
2021-08-15T15:39:56.064Z,1629041996.064 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:39:56.437Z,1629041996.437 [Micromodem](INFO): Nmea in: $SNTTA,,,,,153957.20*50

2021-08-15T15:39:56.534Z,1629041996.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.580002 m, bearing: 209.188026 deg, deltaT: 4.481727 s, approachRate: 0.254366 m/s, LOS rate: 0.819002 deg/s, posRepo size: 4
2021-08-15T15:39:58.855Z,1629041998.855 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:39:59.252Z,1629041999.252 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:39:59.253Z,1629041999.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:39:59.253Z,1629041999.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:39:59.255Z,1629041999.255 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:39:59.649Z,1629041999.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD8,000,0071A,184,80,80,78,FF
2021-08-15T15:39:59.649Z,1629041999.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:39:59.649Z,1629041999.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:39:59.651Z,1629041999.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:40:00.052Z,1629042000.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:40:00.457Z,1629042000.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,067,000,00725,187,80,80,4F,FF
2021-08-15T15:40:00.457Z,1629042000.457 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:40:00.911Z,1629042000.911 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154001.63*5A

2021-08-15T15:40:00.942Z,1629042000.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.240005 m, bearing: 201.339702 deg, deltaT: 4.462127 s, approachRate: 0.147912 m/s, LOS rate: -1.758875 deg/s, posRepo size: 4
2021-08-15T15:40:01.235Z,1629042001.235 [CTD_Seabird](ERROR): Failed to parse device response: 26,4775.68
2021-08-15T15:40:03.407Z,1629042003.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:40:03.705Z,1629042003.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:40:03.705Z,1629042003.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:40:03.705Z,1629042003.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:40:03.706Z,1629042003.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:40:04.109Z,1629042004.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
067,000,00725,187,80,80,4F,FF
2021-08-15T15:40:04.109Z,1629042004.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:40:04.109Z,1629042004.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:40:04.111Z,1629042004.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:40:04.531Z,1629042004.531 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:40:04.918Z,1629042004.918 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFB,000,0073C,187,80,80,5A,FF
2021-08-15T15:40:04.919Z,1629042004.919 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:40:05.373Z,1629042005.373 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154006.09*51

2021-08-15T15:40:05.399Z,1629042005.399 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.620003 m, bearing: 219.448773 deg, deltaT: 4.417099 s, approachRate: 0.312422 m/s, LOS rate: 4.099766 deg/s, posRepo size: 4
2021-08-15T15:40:07.778Z,1629042007.778 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:40:08.159Z,1629042008.159 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:40:08.160Z,1629042008.160 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:40:08.161Z,1629042008.161 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:40:08.162Z,1629042008.162 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:40:08.561Z,1629042008.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFB,000,0073C,187,80,80,5A,FF
2021-08-15T15:40:08.562Z,1629042008.562 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:40:08.562Z,1629042008.562 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:40:08.564Z,1629042008.564 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:40:08.965Z,1629042008.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:40:09.365Z,1629042009.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6B,000,0074C,186,80,80,99,FF
2021-08-15T15:40:09.365Z,1629042009.365 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:40:09.797Z,1629042009.797 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154010.55*5F

2021-08-15T15:40:09.828Z,1629042009.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.580009 m, bearing: 215.669534 deg, deltaT: 4.446681 s, approachRate: 0.215893 m/s, LOS rate: -0.849901 deg/s, posRepo size: 4
2021-08-15T15:40:12.365Z,1629042012.365 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:40:12.597Z,1629042012.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:40:12.598Z,1629042012.598 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:40:12.598Z,1629042012.598 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:40:12.599Z,1629042012.599 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:40:13.005Z,1629042013.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6B,000,0074C,186,80,80,99,FF
2021-08-15T15:40:13.005Z,1629042013.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:40:13.005Z,1629042013.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:40:13.007Z,1629042013.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:40:13.409Z,1629042013.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:40:13.811Z,1629042013.811 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,156,000,00759,186,80,80,5D,FF
2021-08-15T15:40:13.811Z,1629042013.811 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:40:14.288Z,1629042014.288 [Micromodem](INFO): Nmea in: $SNTTA,0.055582,,,,154014.99*4A

2021-08-15T15:40:14.358Z,1629042014.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.360001 m, bearing: 190.171250 deg, deltaT: 4.403555 s, approachRate: 0.177128 m/s, LOS rate: -5.790386 deg/s, posRepo size: 4
2021-08-15T15:40:16.343Z,1629042016.343 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:40:16.633Z,1629042016.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:40:16.633Z,1629042016.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:40:16.633Z,1629042016.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:40:16.634Z,1629042016.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:40:17.043Z,1629042017.043 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
156,000,00759,186,80,80,5D,FF
2021-08-15T15:40:17.043Z,1629042017.043 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:40:17.043Z,1629042017.043 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:40:17.045Z,1629042017.045 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:40:17.444Z,1629042017.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:40:17.845Z,1629042017.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6C,000,00769,186,80,80,89,FF
2021-08-15T15:40:17.846Z,1629042017.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:40:18.309Z,1629042018.309 [Micromodem](INFO): Nmea in: $SNTTA,0.056895,,,,154019.03*4C

2021-08-15T15:40:18.383Z,1629042018.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.320000 m, bearing: 213.479530 deg, deltaT: 4.034890 s, approachRate: 0.237924 m/s, LOS rate: 5.776683 deg/s, posRepo size: 4
2021-08-15T15:40:20.705Z,1629042020.705 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:40:21.109Z,1629042021.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:40:21.109Z,1629042021.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:40:21.109Z,1629042021.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:40:21.110Z,1629042021.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:40:21.490Z,1629042021.490 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6C,000,00769,186,80,80,89,FF
2021-08-15T15:40:21.490Z,1629042021.490 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:40:21.491Z,1629042021.491 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:40:21.493Z,1629042021.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:40:21.898Z,1629042021.898 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:40:22.317Z,1629042022.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F22,000,00774,187,80,80,26,FF
2021-08-15T15:40:22.317Z,1629042022.317 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:40:22.730Z,1629042022.730 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154023.47*5C

2021-08-15T15:40:22.745Z,1629042022.745 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.980003 m, bearing: 216.557513 deg, deltaT: 4.544668 s, approachRate: 0.145226 m/s, LOS rate: 0.677274 deg/s, posRepo size: 4
2021-08-15T15:40:25.143Z,1629042025.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:40:25.529Z,1629042025.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:40:25.529Z,1629042025.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:40:25.529Z,1629042025.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:40:25.530Z,1629042025.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:40:25.929Z,1629042025.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F22,000,00774,187,80,80,26,FF
2021-08-15T15:40:25.929Z,1629042025.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:40:25.930Z,1629042025.930 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:40:25.931Z,1629042025.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:40:26.354Z,1629042026.354 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:40:26.733Z,1629042026.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F36,000,00783,186,80,80,5A,FF
2021-08-15T15:40:26.734Z,1629042026.734 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:40:27.178Z,1629042027.178 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154027.91*53

2021-08-15T15:40:27.199Z,1629042027.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.880005 m, bearing: 215.854332 deg, deltaT: 4.366968 s, approachRate: 0.206093 m/s, LOS rate: -0.161023 deg/s, posRepo size: 4
2021-08-15T15:40:29.618Z,1629042029.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:40:29.969Z,1629042029.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:40:29.969Z,1629042029.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:40:29.969Z,1629042029.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:40:29.970Z,1629042029.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:40:30.369Z,1629042030.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F36,000,00783,186,80,80,5A,FF
2021-08-15T15:40:30.369Z,1629042030.369 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:40:30.369Z,1629042030.369 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:40:30.371Z,1629042030.371 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:40:30.825Z,1629042030.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:40:31.221Z,1629042031.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7D,000,00794,187,80,80,9E,FF
2021-08-15T15:40:31.222Z,1629042031.222 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:40:31.641Z,1629042031.641 [Micromodem](INFO): Nmea in: $SNTTA,,0.051868,,,154032.35*45

2021-08-15T15:40:31.667Z,1629042031.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.900009 m, bearing: 213.130138 deg, deltaT: 4.497717 s, approachRate: 0.226783 m/s, LOS rate: -0.605684 deg/s, posRepo size: 4
2021-08-15T15:40:32.864Z,1629042032.864 [lineCaptureDepth](INFO): Timed out from 2021-08-15T13:40:32.7Z
2021-08-15T15:40:32.864Z,1629042032.864 [MissionManager](INFO): lineCaptureDepth is completed.
2021-08-15T15:40:32.864Z,1629042032.864 [MissionManager](INFO): Uninitializing Mission lineCaptureDepth
2021-08-15T15:40:32.864Z,1629042032.864 [lineCaptureDepth] Stopped
2021-08-15T15:40:32.865Z,1629042032.865 [lineCaptureDepth](DEBUG): Aggregate::uninitialize lineCaptureDepth
2021-08-15T15:40:32.865Z,1629042032.865 [lineCaptureDepth:Science] Stopped
2021-08-15T15:40:32.865Z,1629042032.865 [lineCaptureDepth:Science](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science
2021-08-15T15:40:32.865Z,1629042032.865 [lineCaptureDepth:Science:B] Stopped
2021-08-15T15:40:32.865Z,1629042032.865 [lineCaptureDepth:Science:C] Stopped
2021-08-15T15:40:32.865Z,1629042032.865 [lineCaptureDepth:Science:Read_Oil] Stopped
2021-08-15T15:40:32.865Z,1629042032.865 [lineCaptureDepth:Science:OceanCurrent] Stopped
2021-08-15T15:40:32.865Z,1629042032.865 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:OceanCurrent
2021-08-15T15:40:32.865Z,1629042032.865 [lineCaptureDepth:Science:OceanCurrent:A.] Stopped
2021-08-15T15:40:32.865Z,1629042032.865 [lineCaptureDepth:StandardEnvelopes] Stopped
2021-08-15T15:40:32.866Z,1629042032.866 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:StandardEnvelopes
2021-08-15T15:40:32.866Z,1629042032.866 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-15T15:40:32.866Z,1629042032.866 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-15T15:40:32.866Z,1629042032.866 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-15T15:40:32.866Z,1629042032.866 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-15T15:40:32.866Z,1629042032.866 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-15T15:40:32.866Z,1629042032.866 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-15T15:40:32.866Z,1629042032.866 [lineCaptureDepth:TrackAC.] Stopped
2021-08-15T15:40:32.866Z,1629042032.866 [lineCaptureDepth:LineCapture] Stopped
2021-08-15T15:40:32.866Z,1629042032.866 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-08-15T15:40:32.866Z,1629042032.866 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-08-15T15:40:32.867Z,1629042032.867 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-15T15:40:32.867Z,1629042032.867 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-15T15:40:32.867Z,1629042032.867 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-15T15:40:32.867Z,1629042032.867 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-15T15:40:32.867Z,1629042032.867 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-15T15:40:32.867Z,1629042032.867 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-15T15:40:32.867Z,1629042032.867 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-15T15:40:32.867Z,1629042032.867 [lineCaptureDepth:LineCapture:G] Stopped
2021-08-15T15:40:32.867Z,1629042032.867 [lineCaptureDepth:LineCapture:H] Stopped
2021-08-15T15:40:32.867Z,1629042032.867 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-15T15:40:32.867Z,1629042032.867 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-15T15:40:32.868Z,1629042032.868 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-15T15:40:32.868Z,1629042032.868 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-15T15:40:32.868Z,1629042032.868 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-15T15:40:32.868Z,1629042032.868 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-15T15:40:32.868Z,1629042032.868 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-15T15:40:32.868Z,1629042032.868 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-08-15T15:40:32.868Z,1629042032.868 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-15T15:40:32.868Z,1629042032.868 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-08-15T15:40:32.869Z,1629042032.869 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-15T15:40:32.869Z,1629042032.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-15T15:40:32.869Z,1629042032.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-15T15:40:32.869Z,1629042032.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-15T15:40:32.869Z,1629042032.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-15T15:40:32.869Z,1629042032.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-15T15:40:32.869Z,1629042032.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-15T15:40:32.869Z,1629042032.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-15T15:40:32.869Z,1629042032.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-08-15T15:40:32.869Z,1629042032.869 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-15T15:40:32.870Z,1629042032.870 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-15T15:40:32.870Z,1629042032.870 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-15T15:40:32.870Z,1629042032.870 [lineCaptureDepth:Lap] Stopped
2021-08-15T15:40:32.870Z,1629042032.870 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-08-15T15:40:32.870Z,1629042032.870 [lineCaptureDepth:Lap:B] Stopped
2021-08-15T15:40:32.870Z,1629042032.870 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-08-15T15:40:33.024Z,1629042033.024 [WetLabsSeaOWL_UV_A](INFO): Powering down
2021-08-15T15:40:33.245Z,1629042033.245 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2021-08-15T15:40:33.246Z,1629042033.246 [DefaultWithUndock] Running Loop=1
2021-08-15T15:40:33.246Z,1629042033.246 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2021-08-15T15:40:33.246Z,1629042033.246 [DefaultWithUndock:A.Wait] Running Loop=1
2021-08-15T15:40:33.246Z,1629042033.246 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2021-08-15T15:41:03.562Z,1629042063.562 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2021-08-15T15:41:03.562Z,1629042063.562 [DefaultWithUndock:A.Wait] Stopped
2021-08-15T15:41:03.563Z,1629042063.563 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2021-08-15T15:41:03.563Z,1629042063.563 [DefaultWithUndock:LeaveDock] Running Loop=1
2021-08-15T15:41:03.563Z,1629042063.563 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2021-08-15T15:41:03.563Z,1629042063.563 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2021-08-15T15:41:03.563Z,1629042063.563 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2021-08-15T15:41:03.563Z,1629042063.563 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2021-08-15T15:41:03.563Z,1629042063.563 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2021-08-15T15:41:03.563Z,1629042063.563 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2021-08-15T15:41:04.322Z,1629042064.322 [PowerOnly](INFO): Powering up loadControl
2021-08-15T15:41:06.432Z,1629042066.432 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-15T15:41:06.797Z,1629042066.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:41:06.797Z,1629042066.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:41:06.797Z,1629042066.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:41:06.798Z,1629042066.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:41:06.849Z,1629042066.849 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2021-08-15T15:41:07.185Z,1629042067.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7D,000,00794,187,80,80,9E,FF
2021-08-15T15:41:07.186Z,1629042067.186 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:41:07.186Z,1629042067.186 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:41:07.187Z,1629042067.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:41:07.282Z,1629042067.282 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-15T15:41:07.589Z,1629042067.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:41:07.641Z,1629042067.641 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off.
2021-08-15T15:41:07.985Z,1629042067.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F70,000,007BE,186,80,80,89,FF
2021-08-15T15:41:07.986Z,1629042067.986 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:41:07.995Z,1629042067.995 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch -15.00 deg, mass-position 2.95 mm.
2021-08-15T15:41:07.996Z,1629042067.996 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 15.00 deg, mass-position 2.95 mm.
2021-08-15T15:41:08.001Z,1629042068.001 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-15T15:41:08.425Z,1629042068.425 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154109.17*50

2021-08-15T15:41:10.512Z,1629042070.512 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-15T15:41:10.845Z,1629042070.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:41:10.845Z,1629042070.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:41:10.845Z,1629042070.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:41:10.846Z,1629042070.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:41:11.225Z,1629042071.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F70,000,007BE,186,80,80,89,FF
2021-08-15T15:41:11.225Z,1629042071.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:41:11.226Z,1629042071.226 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:41:11.227Z,1629042071.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:41:11.628Z,1629042071.628 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:41:12.029Z,1629042072.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F79,000,007C0,186,80,80,7F,FF
2021-08-15T15:41:12.029Z,1629042072.029 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:41:12.461Z,1629042072.461 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154113.21*5E

2021-08-15T15:41:14.884Z,1629042074.884 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-15T15:41:15.261Z,1629042075.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:41:15.261Z,1629042075.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:41:15.262Z,1629042075.262 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:41:15.263Z,1629042075.263 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:41:15.669Z,1629042075.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F79,000,007C0,186,80,80,7F,FF
2021-08-15T15:41:15.669Z,1629042075.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:41:15.670Z,1629042075.670 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:41:15.671Z,1629042075.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:41:16.110Z,1629042076.110 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:41:16.477Z,1629042076.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E69,000,007C3,186,80,80,44,FF
2021-08-15T15:41:16.477Z,1629042076.477 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:41:16.897Z,1629042076.897 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154117.65*5A

2021-08-15T15:41:19.344Z,1629042079.344 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-15T15:41:19.705Z,1629042079.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:41:19.705Z,1629042079.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:41:19.705Z,1629042079.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:41:19.706Z,1629042079.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:41:20.105Z,1629042080.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E69,000,007C3,186,80,80,44,FF
2021-08-15T15:41:20.105Z,1629042080.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:41:20.105Z,1629042080.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:41:20.107Z,1629042080.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:41:20.513Z,1629042080.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:41:20.917Z,1629042080.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDB,000,007BD,188,80,80,6E,FF
2021-08-15T15:41:20.918Z,1629042080.918 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:41:21.349Z,1629042081.349 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154122.09*56

2021-08-15T15:41:23.468Z,1629042083.468 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-15T15:41:23.754Z,1629042083.754 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:41:23.754Z,1629042083.754 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:41:23.755Z,1629042083.755 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:41:23.755Z,1629042083.755 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:41:24.192Z,1629042084.192 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDB,000,007BD,188,80,80,6E,FF
2021-08-15T15:41:24.193Z,1629042084.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:41:24.193Z,1629042084.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:41:24.198Z,1629042084.198 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:41:24.576Z,1629042084.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:41:24.953Z,1629042084.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DED,000,007B8,187,80,80,7B,FF
2021-08-15T15:41:24.954Z,1629042084.954 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:41:25.370Z,1629042085.370 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154126.18*52

2021-08-15T15:41:27.794Z,1629042087.794 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-15T15:41:28.200Z,1629042088.200 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:41:28.201Z,1629042088.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:41:28.201Z,1629042088.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:41:28.202Z,1629042088.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:41:28.334Z,1629042088.334 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 81.06 m. Transitioning DDM to standby.
2021-08-15T15:41:28.585Z,1629042088.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DED,000,007B8,187,80,80,7B,FF
2021-08-15T15:41:28.585Z,1629042088.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:41:28.586Z,1629042088.586 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:41:28.587Z,1629042088.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:41:29.001Z,1629042089.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:41:29.818Z,1629042089.818 [Micromodem](INFO): Nmea in: $SNTTA,,,,,154130.58*51

2021-08-15T15:41:30.334Z,1629042090.334 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-15T15:41:31.056Z,1629042091.056 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM at standby.
2021-08-15T15:41:31.443Z,1629042091.443 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2021-08-15T15:41:31.443Z,1629042091.443 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2021-08-15T15:41:31.444Z,1629042091.444 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2021-08-15T15:41:31.444Z,1629042091.444 [DefaultWithUndock:LeaveDock] Stopped
2021-08-15T15:41:31.444Z,1629042091.444 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2021-08-15T15:41:31.444Z,1629042091.444 [DefaultWithUndock:LeaveDock:A.] Stopped
2021-08-15T15:41:31.444Z,1629042091.444 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2021-08-15T15:41:31.445Z,1629042091.445 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2021-08-15T15:41:31.445Z,1629042091.445 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2021-08-15T15:41:31.445Z,1629042091.445 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-08-15T15:41:31.445Z,1629042091.445 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2021-08-15T15:41:31.445Z,1629042091.445 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2021-08-15T15:41:31.445Z,1629042091.445 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Running Loop=1
2021-08-15T15:41:31.445Z,1629042091.445 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-08-15T15:41:31.445Z,1629042091.445 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-08-15T15:41:31.446Z,1629042091.446 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-08-15T15:41:31.446Z,1629042091.446 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-08-15T15:41:31.446Z,1629042091.446 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-08-15T15:41:31.447Z,1629042091.447 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-08-15T15:41:32.312Z,1629042092.312 [Radio_Surface](INFO): Powering up
2021-08-15T15:41:38.409Z,1629042098.409 [DataOverHttps](INFO): Radio surface powered ON.
2021-08-15T15:41:41.201Z,1629042101.201 [DDM](ERROR): Could not parse whisker state
2021-08-15T15:42:06.590Z,1629042126.590 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2021-08-15T15:42:06.590Z,1629042126.590 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-15T15:42:06.591Z,1629042126.591 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-15T15:42:06.591Z,1629042126.591 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2021-08-15T15:42:06.591Z,1629042126.591 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-08-15T15:42:06.591Z,1629042126.591 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2021-08-15T15:42:06.591Z,1629042126.591 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2021-08-15T15:42:08.197Z,1629042128.197 [DDM](ERROR): Could not parse whisker state
2021-08-15T15:42:08.528Z,1629042128.528 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T15:42:26.749Z,1629042146.749 [NAL9602](INFO): SBD MO Status=0, MOMSN=24049, MT Status=0, MTMSN=0
2021-08-15T15:42:26.749Z,1629042146.749 [NAL9602](INFO): No messages in MT queue
2021-08-15T15:42:27.956Z,1629042147.956 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,154229.00,A,4133.13652,N,07042.47117,W,1.011,337.21,150821,,,A*7C
2021-08-15T15:42:27.958Z,1629042147.958 [NAL9602](INFO): GPS fix at 20210815T154229: (41.552275, -70.707853)
2021-08-15T15:42:28.001Z,1629042148.001 [UniversalFixResidualReporter](INFO): Fix residual: 14.3 %DT, over the last 935.6 m. Residual distance 134.2 m at bearing -147.3 degrees. Fix at (41.5523, -70.7079) with 62.6 m made good.
2021-08-15T15:42:28.002Z,1629042148.002 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-15T15:42:28.002Z,1629042148.002 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-15T15:42:35.825Z,1629042155.825 [PowerOnly](INFO): Powering down loadControl
2021-08-15T15:42:36.268Z,1629042156.268 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T15:42:43.674Z,1629042163.674 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T15:42:45.139Z,1629042165.139 [NAL9602](INFO): SBD MO Status=1, MOMSN=24050, MT Status=0, MTMSN=0
2021-08-15T15:42:45.189Z,1629042165.189 [NAL9602](INFO): Sent 89 bytes from file Logs/20210815T133512/Courier0030.lzma
2021-08-15T15:42:45.189Z,1629042165.189 [NAL9602](INFO): Packets left to send: 0
2021-08-15T15:42:48.547Z,1629042168.547 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T15:42:52.683Z,1629042172.683 [NAL9602](INFO): SBD MO Status=1, MOMSN=24051, MT Status=0, MTMSN=0
2021-08-15T15:42:52.733Z,1629042172.733 [NAL9602](INFO): Sent 184 bytes from file Logs/20210815T133512/Express0013.lzma
2021-08-15T15:42:52.733Z,1629042172.733 [NAL9602](INFO): Packets left to send: 4
2021-08-15T15:43:02.780Z,1629042182.780 [NAL9602](INFO): SBD MO Status=1, MOMSN=24052, MT Status=0, MTMSN=0
2021-08-15T15:43:02.828Z,1629042182.828 [NAL9602](INFO): Sent 184 bytes from file Logs/20210815T133512/Express0013.lzma
2021-08-15T15:43:02.828Z,1629042182.828 [NAL9602](INFO): Packets left to send: 3
2021-08-15T15:43:16.531Z,1629042196.531 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T15:43:18.820Z,1629042198.820 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T15:43:20.166Z,1629042200.166 [Micromodem](INFO): Nmea in: *7B

2021-08-15T15:43:20.167Z,1629042200.167 [Micromodem](ERROR): Response from modem failed NMEA checksum: *7B
 expected 0
2021-08-15T15:43:28.333Z,1629042208.333 [NAL9602](INFO): SBD MO Status=1, MOMSN=24053, MT Status=0, MTMSN=0
2021-08-15T15:43:28.380Z,1629042208.380 [NAL9602](INFO): Sent 184 bytes from file Logs/20210815T133512/Express0013.lzma
2021-08-15T15:43:28.380Z,1629042208.380 [NAL9602](INFO): Packets left to send: 2
2021-08-15T15:43:39.568Z,1629042219.568 [NAL9602](INFO): SBD MO Status=1, MOMSN=24054, MT Status=0, MTMSN=0
2021-08-15T15:43:39.616Z,1629042219.616 [NAL9602](INFO): Sent 184 bytes from file Logs/20210815T133512/Express0013.lzma
2021-08-15T15:43:39.616Z,1629042219.616 [NAL9602](INFO): Packets left to send: 1
2021-08-15T15:43:51.070Z,1629042231.070 [NAL9602](INFO): SBD MO Status=1, MOMSN=24055, MT Status=0, MTMSN=0
2021-08-15T15:43:51.120Z,1629042231.120 [NAL9602](INFO): Sent 101 bytes from file Logs/20210815T133512/Express0013.lzma
2021-08-15T15:43:51.120Z,1629042231.120 [NAL9602](INFO): Packets left to send: 0
2021-08-15T15:43:53.960Z,1629042233.960 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T15:44:00.614Z,1629042240.614 [NAL9602](INFO): SBD MO Status=1, MOMSN=24056, MT Status=0, MTMSN=0
2021-08-15T15:44:00.664Z,1629042240.664 [NAL9602](INFO): Sent 100 bytes from file Logs/20210815T133512/Express0019.lzma
2021-08-15T15:44:00.665Z,1629042240.665 [NAL9602](INFO): Packets left to send: 0
2021-08-15T15:44:05.088Z,1629042245.088 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-15T15:44:05.089Z,1629042245.089 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-15T15:44:05.428Z,1629042245.428 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-15T15:44:05.839Z,1629042245.839 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815154406.073559,06,944,23,0110,0150,134,01,01,01,01,-1,-01,-01,1,3,1,0,150,-100.0,0.12,-100,2.88,-01,-1.44,-2147483648,14500,4000*57

2021-08-15T15:44:10.664Z,1629042250.664 [NAL9602](INFO): SBD MO Status=1, MOMSN=24057, MT Status=0, MTMSN=0
2021-08-15T15:44:10.720Z,1629042250.720 [NAL9602](INFO): Sent 184 bytes from file Logs/20210815T133512/Express0022.lzma
2021-08-15T15:44:10.720Z,1629042250.720 [NAL9602](INFO): Packets left to send: 1
2021-08-15T15:44:29.101Z,1629042269.101 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T15:44:31.615Z,1629042271.615 [NAL9602](INFO): SBD MO Status=1, MOMSN=24058, MT Status=0, MTMSN=0
2021-08-15T15:44:31.668Z,1629042271.668 [NAL9602](INFO): Sent 183 bytes from file Logs/20210815T133512/Express0022.lzma
2021-08-15T15:44:31.668Z,1629042271.668 [NAL9602](INFO): Packets left to send: 0
2021-08-15T15:44:52.401Z,1629042292.401 [NAL9602](INFO): SBD MO Status=1, MOMSN=24059, MT Status=0, MTMSN=0
2021-08-15T15:44:52.460Z,1629042292.460 [NAL9602](INFO): Sent 184 bytes from file Logs/20210815T133512/Express0025.lzma
2021-08-15T15:44:52.460Z,1629042292.460 [NAL9602](INFO): Packets left to send: 2
2021-08-15T15:45:02.496Z,1629042302.496 [NAL9602](INFO): SBD MO Status=1, MOMSN=24060, MT Status=0, MTMSN=0
2021-08-15T15:45:02.544Z,1629042302.544 [NAL9602](INFO): Sent 184 bytes from file Logs/20210815T133512/Express0025.lzma
2021-08-15T15:45:02.544Z,1629042302.544 [NAL9602](INFO): Packets left to send: 1
2021-08-15T15:45:04.248Z,1629042304.248 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T15:45:16.358Z,1629042316.358 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T15:45:20.992Z,1629042320.992 [NAL9602](INFO): SBD MO Status=1, MOMSN=24061, MT Status=0, MTMSN=0
2021-08-15T15:45:21.040Z,1629042321.040 [NAL9602](INFO): Sent 148 bytes from file Logs/20210815T133512/Express0025.lzma
2021-08-15T15:45:21.040Z,1629042321.040 [NAL9602](INFO): Packets left to send: 0
2021-08-15T15:45:26.371Z,1629042326.371 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T15:45:28.747Z,1629042328.747 [NAL9602](INFO): SBD MO Status=1, MOMSN=24062, MT Status=0, MTMSN=0
2021-08-15T15:45:28.796Z,1629042328.796 [NAL9602](INFO): Sent 184 bytes from file Logs/20210815T133512/Express0028.lzma
2021-08-15T15:45:28.796Z,1629042328.796 [NAL9602](INFO): Packets left to send: 1
2021-08-15T15:45:39.396Z,1629042339.396 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T15:45:41.005Z,1629042341.005 [NAL9602](INFO): SBD MO Status=1, MOMSN=24063, MT Status=0, MTMSN=0
2021-08-15T15:45:41.060Z,1629042341.060 [NAL9602](INFO): Sent 124 bytes from file Logs/20210815T133512/Express0028.lzma
2021-08-15T15:45:41.060Z,1629042341.060 [NAL9602](INFO): Packets left to send: 0
2021-08-15T15:46:04.472Z,1629042364.472 [NAL9602](INFO): SBD MO Status=1, MOMSN=24064, MT Status=0, MTMSN=0
2021-08-15T15:46:04.532Z,1629042364.532 [NAL9602](INFO): Sent 184 bytes from file Logs/20210815T133512/Express0031.lzma
2021-08-15T15:46:04.532Z,1629042364.532 [NAL9602](INFO): Packets left to send: 1
2021-08-15T15:46:14.536Z,1629042374.536 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T15:46:16.050Z,1629042376.050 [NAL9602](INFO): SBD MO Status=1, MOMSN=24065, MT Status=0, MTMSN=0
2021-08-15T15:46:16.100Z,1629042376.100 [NAL9602](INFO): Sent 140 bytes from file Logs/20210815T133512/Express0031.lzma
2021-08-15T15:46:16.100Z,1629042376.100 [NAL9602](INFO): Packets left to send: 0
2021-08-15T15:46:26.232Z,1629042386.232 [NAL9602](INFO): SBD MO Status=0, MOMSN=24066, MT Status=0, MTMSN=0
2021-08-15T15:46:36.010Z,1629042396.010 [NAL9602](INFO): SBD MO Status=0, MOMSN=24067, MT Status=0, MTMSN=0
2021-08-15T15:46:40.915Z,1629042400.915 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC, Data Header,2*00

2021-08-15T15:46:41.430Z,1629042401.430 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815154640.075692,06,763,22,0156,0150,134,03,03,01,03,4,-01,-01,2,3,1,0,150,5.1,13.28,-100,-10.28,-01,-0.02,54,14500,4000*59

2021-08-15T15:46:44.660Z,1629042404.660 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003109
2021-08-15T15:46:46.253Z,1629042406.253 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-15T15:46:46.254Z,1629042406.254 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-08-15T15:46:46.254Z,1629042406.254 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-15T15:46:51.078Z,1629042411.078 [NAL9602](INFO): SBD MO Status=0, MOMSN=24068, MT Status=0, MTMSN=0
2021-08-15T15:47:17.916Z,1629042437.916 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size.
2021-08-15T15:47:21.863Z,1629042441.863 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-15T15:47:24.349Z,1629042444.349 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-08-15T15:47:24.351Z,1629042444.351 [BPC1](INFO): Received data from all battery sticks.
2021-08-15T15:47:46.912Z,1629042466.912 [Micromodem](INFO): Nmea in: $CAMSG,Error accessing coproc,4*51

2021-08-15T15:47:46.918Z,1629042466.918 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815154748.070690,06,663,22,0097,0150,156,01,01,01,01,-1,-01,-01,4,3,0,0,-999,-99.9,-9.99,-999,-9.99,-01,0.00,-999,14500,4000*5F

2021-08-15T15:48:16.859Z,1629042496.859 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-15T15:48:16.868Z,1629042496.868 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815154818.069835,06,779,22,0150,0150,67,03,03,01,03,-1,-01,-01,1,3,1,0,150,9.7,1.00,-100,2.00,-01,-0.93,57,14500,4000*69

2021-08-15T15:48:20.886Z,1629042500.886 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-15T15:48:20.887Z,1629042500.887 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-15T15:48:20.889Z,1629042500.889 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-15T15:48:21.283Z,1629042501.283 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815154822.051923,06,1689,26,0109,0150,141,00,00,01,00,-1,-01,-01,1,3,1,0,150,-100.0,0.43,-100,2.57,-01,0.13,-2147483648,14500,4000*45

2021-08-15T15:49:51.777Z,1629042591.777 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T15:51:46.931Z,1629042706.931 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-08-15T15:51:46.931Z,1629042706.931 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-08-15T15:51:46.931Z,1629042706.931 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-08-15T15:51:46.932Z,1629042706.932 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-08-15T15:51:47.324Z,1629042707.324 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-08-15T15:51:47.325Z,1629042707.325 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-08-15T15:51:47.739Z,1629042707.739 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 11.234646 min 
2021-08-15T15:51:47.739Z,1629042707.739 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-08-15T15:51:47.739Z,1629042707.739 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-15T15:51:47.739Z,1629042707.739 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-08-15T15:51:47.739Z,1629042707.739 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-15T15:51:47.740Z,1629042707.740 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2
2021-08-15T15:51:47.740Z,1629042707.740 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2
2021-08-15T15:51:47.740Z,1629042707.740 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-15T15:51:47.740Z,1629042707.740 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-15T15:51:49.750Z,1629042709.750 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,155151.00,A,4133.11039,N,07042.47948,W,0.214,210.42,150821,,,A*7D
2021-08-15T15:51:49.753Z,1629042709.753 [NAL9602](INFO): GPS fix at 20210815T155151: (41.551840, -70.707991)
2021-08-15T15:51:49.767Z,1629042709.767 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-15T15:51:49.767Z,1629042709.767 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-15T15:51:53.920Z,1629042713.920 [DataOverHttps](INFO): Sending 82 bytes from file Logs/20210815T133512/Courier0033.lzma
2021-08-15T15:51:54.922Z,1629042714.922 [DataOverHttps](INFO): Moved sent file to Logs/20210815T133512/Courier0033.lzma.bak
2021-08-15T15:51:54.922Z,1629042714.922 [DataOverHttps](INFO): SBD MOMSN=442985
2021-08-15T15:52:03.960Z,1629042723.960 [DataOverHttps](INFO): Sending 119 bytes from file Logs/20210815T133512/Express0034.lzma
2021-08-15T15:52:04.962Z,1629042724.962 [DataOverHttps](INFO): Moved sent file to Logs/20210815T133512/Express0034.lzma.bak
2021-08-15T15:52:04.962Z,1629042724.962 [DataOverHttps](INFO): SBD MOMSN=442988
2021-08-15T15:52:05.498Z,1629042725.498 [NAL9602](INFO): SBD MO Status=0, MOMSN=24069, MT Status=0, MTMSN=0
2021-08-15T15:52:05.498Z,1629042725.498 [NAL9602](INFO): No messages in MT queue
2021-08-15T15:52:06.727Z,1629042726.727 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-15T15:52:06.727Z,1629042726.727 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-08-15T15:52:06.727Z,1629042726.727 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-15T15:52:36.213Z,1629042756.213 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-15T15:54:00.442Z,1629042840.442 [DataOverHttps](IMPORTANT): SBD MTMSN=20210815T155401
2021-08-15T15:54:07.472Z,1629042847.472 [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" 2t85j 1 2
2021-08-15T15:54:07.507Z,1629042847.507 [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" 2t85j 1 2.000000
2021-08-15T15:54:07.507Z,1629042847.507 [CommandLine](IMPORTANT): Scheduling command #1 of 2 with id=2t85j
2021-08-15T15:54:07.508Z,1629042847.508 [CommandLine](IMPORTANT): Scheduled #29 (#1 of 2 with id='2t85j'): "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
2021-08-15T15:54:08.474Z,1629042848.474 [DataOverHttps](IMPORTANT): SBD MTMSN=20210815T155410
2021-08-15T15:54:12.499Z,1629042852.499 [DataOverHttps](INFO): Received command:sched asap "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" 2t85j 2 2
2021-08-15T15:54:12.557Z,1629042852.557 [CommandLine](IMPORTANT): got command schedule asap "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" 2t85j 2 2.000000
2021-08-15T15:54:12.558Z,1629042852.558 [CommandLine](IMPORTANT): Scheduling command #2 of 2 with id=2t85j
2021-08-15T15:54:12.559Z,1629042852.559 [CommandLine](IMPORTANT): Scheduled #30 (#2 of 2 with id='2t85j'): "set lineCaptureDepth.MaxDepth 9 m;set lineCaptureDepth.MinOffshore .5 km;run" ASAP
2021-08-15T15:54:12.633Z,1629042852.633 [CommandLine](IMPORTANT): got command load ./Missions/Engineering/lineCaptureDepth.xml
2021-08-15T15:54:12.634Z,1629042852.634 [MissionManager](INFO): Loading Mission: ./Missions/Engineering/lineCaptureDepth.xml
2021-08-15T15:54:12.739Z,1629042852.739 [MissionManager](INFO): DefineArg lineCaptureDepth.MissionTimeout = 4.000000 h
2021-08-15T15:54:12.742Z,1629042852.742 [MissionManager](INFO): DefineArg lineCaptureDepth.NeedCommsTime = 240.000000 min
2021-08-15T15:54:12.796Z,1629042852.796 [MissionManager](INFO): DefineArg lineCaptureDepth.MicromodemCommsInterval = 5.000000 min
2021-08-15T15:54:12.799Z,1629042852.799 [MissionManager](INFO): DefineArg lineCaptureDepth.Repeat = 1.000000 count
2021-08-15T15:54:12.805Z,1629042852.805 [MissionManager](INFO): DefineArg lineCaptureDepth.WaitOnDockTimeout = 5.000000 min
2021-08-15T15:54:12.826Z,1629042852.826 [MissionManager](INFO): DefineArg lineCaptureDepth.TransponderCode = 2.000000 count
2021-08-15T15:54:12.832Z,1629042852.832 [MissionManager](INFO): DefineArg lineCaptureDepth.TrackingUpdatePeriod = 2.500000 s
2021-08-15T15:54:12.834Z,1629042852.834 [MissionManager](INFO): DefineArg lineCaptureDepth.NumberOfPings = 1.000000 count
2021-08-15T15:54:12.841Z,1629042852.841 [MissionManager](INFO): DefineArg lineCaptureDepth.NumPingsUSBL = 5.000000 count
2021-08-15T15:54:12.843Z,1629042852.843 [MissionManager](INFO): DefineArg lineCaptureDepth.RangeUSBL = 40.000000 m
2021-08-15T15:54:12.854Z,1629042852.854 [MissionManager](INFO): DefineArg lineCaptureDepth.MinAltitude = 5.000000 m
2021-08-15T15:54:12.869Z,1629042852.869 [MissionManager](INFO): DefineArg lineCaptureDepth.MaxDepth = 205.000000 m
2021-08-15T15:54:12.873Z,1629042852.873 [MissionManager](INFO): DefineArg lineCaptureDepth.MinOffshore = 2.000000 km
2021-08-15T15:54:12.876Z,1629042852.876 [MissionManager](INFO): DefineOutput lineCaptureDepth.Mode = -1.000000 count
2021-08-15T15:54:12.879Z,1629042852.879 [MissionManager](INFO): DefineOutput lineCaptureDepth.NumPings = 1.000000 count
2021-08-15T15:54:12.879Z,1629042852.879 [MissionManager](INFO): Inserting Stack: Missions/Insert/Science.xml
2021-08-15T15:54:13.175Z,1629042853.175 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectChlActive = 0 bool
2021-08-15T15:54:13.182Z,1629042853.182 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.TimeWindowPeakReport = nan min
2021-08-15T15:54:13.188Z,1629042853.188 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestChlPeakReportActive = 0 bool
2021-08-15T15:54:13.190Z,1629042853.190 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestSaltPeakReportActive = 0 bool
2021-08-15T15:54:13.196Z,1629042853.196 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.HighestOilPeakReportActive = 0 bool
2021-08-15T15:54:13.198Z,1629042853.198 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PatchTracking = 0 bool
2021-08-15T15:54:13.217Z,1629042853.217 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.FilterWidthHorizontal = 3.000000 count
2021-08-15T15:54:13.219Z,1629042853.219 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.NumProfilesSlidingwindow = 100.000000 count
2021-08-15T15:54:13.226Z,1629042853.226 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.OffPeakFractionHorizontal = 80.000000 %
2021-08-15T15:54:13.232Z,1629042853.232 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectNO3Active = 0 bool
2021-08-15T15:54:13.234Z,1629042853.234 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectOilActive = 0 bool
2021-08-15T15:54:13.240Z,1629042853.240 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectFDOMActive = 0 bool
2021-08-15T15:54:13.245Z,1629042853.245 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDetectSalinityActive = 0 bool
2021-08-15T15:54:13.247Z,1629042853.247 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.UpwardDerivativeOfTemperatureActive = 0 bool
2021-08-15T15:54:13.250Z,1629042853.250 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledAanderaaO2 = 0.000000 bool
2021-08-15T15:54:13.257Z,1629042853.257 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledNeilBrown = 0.000000 bool
2021-08-15T15:54:13.259Z,1629042853.259 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledSeabird = 1.000000 bool
2021-08-15T15:54:13.263Z,1629042853.263 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsBB2FL = 0.000000 bool
2021-08-15T15:54:13.278Z,1629042853.278 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsSeaOWL_UV_A = 1.000000 bool
2021-08-15T15:54:13.293Z,1629042853.293 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.EnabledWetLabsUBAT = 0.000000 bool
2021-08-15T15:54:13.295Z,1629042853.295 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.LowPassWindowLength = 20.000000 count
2021-08-15T15:54:13.302Z,1629042853.302 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.MedianFilterLen = 5.000000 count
2021-08-15T15:54:13.309Z,1629042853.309 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakShallowBound = nan m
2021-08-15T15:54:13.316Z,1629042853.316 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.PeakDeepBound = nan m
2021-08-15T15:54:13.318Z,1629042853.318 [MissionManager](INFO): DefineArg lineCaptureDepth:Science.DepChangeThreshForAttitudeFlip = 2.000000 m
2021-08-15T15:54:13.325Z,1629042853.325 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChl = 0.000000 ug/l
2021-08-15T15:54:13.332Z,1629042853.332 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlDepth = 0.000000 m
2021-08-15T15:54:13.334Z,1629042853.334 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlTemperature = 0.000000 degC
2021-08-15T15:54:13.337Z,1629042853.337 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLatitude = nan arcdeg
2021-08-15T15:54:13.345Z,1629042853.345 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakChlLongitude = nan arcdeg
2021-08-15T15:54:13.347Z,1629042853.347 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3 = 0.000000 umol/l
2021-08-15T15:54:13.365Z,1629042853.365 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Depth = 0.000000 m
2021-08-15T15:54:13.368Z,1629042853.368 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Latitude = nan arcdeg
2021-08-15T15:54:13.370Z,1629042853.370 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakNO3Longitude = nan arcdeg
2021-08-15T15:54:13.377Z,1629042853.377 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOil = 0.000000 kg/m3
2021-08-15T15:54:13.379Z,1629042853.379 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilDepth = 0.000000 m
2021-08-15T15:54:13.386Z,1629042853.386 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLatitude = nan arcdeg
2021-08-15T15:54:13.398Z,1629042853.398 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakOilLongitude = nan arcdeg
2021-08-15T15:54:13.401Z,1629042853.401 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOM = 0.000000 ppb
2021-08-15T15:54:13.403Z,1629042853.403 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMDepth = 0.000000 m
2021-08-15T15:54:13.410Z,1629042853.410 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMTemperature = nan degC
2021-08-15T15:54:13.416Z,1629042853.416 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLatitude = nan arcdeg
2021-08-15T15:54:13.419Z,1629042853.419 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakFDOMLongitude = nan arcdeg
2021-08-15T15:54:13.426Z,1629042853.426 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchFDOMDistance = nan m
2021-08-15T15:54:13.432Z,1629042853.432 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSalt = 0.000000 psu
2021-08-15T15:54:13.435Z,1629042853.435 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltDepth = 0.000000 m
2021-08-15T15:54:13.442Z,1629042853.442 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltTemperature = 0.000000 degC
2021-08-15T15:54:13.448Z,1629042853.448 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltLatitude = nan arcdeg
2021-08-15T15:54:13.451Z,1629042853.451 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PeakSaltLongitude = nan arcdeg
2021-08-15T15:54:13.462Z,1629042853.462 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChl = 0.000000 ug/l
2021-08-15T15:54:13.464Z,1629042853.464 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDepth = 0.000000 m
2021-08-15T15:54:13.467Z,1629042853.467 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLatitude = nan arcdeg
2021-08-15T15:54:13.474Z,1629042853.474 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlLongitude = nan arcdeg
2021-08-15T15:54:13.481Z,1629042853.481 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchChlDistance = nan m
2021-08-15T15:54:13.483Z,1629042853.483 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSalt = 0.000000 psu
2021-08-15T15:54:13.502Z,1629042853.502 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltDepth = 0.000000 m
2021-08-15T15:54:13.509Z,1629042853.509 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltLatitude = nan arcdeg
2021-08-15T15:54:13.511Z,1629042853.511 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltLongitude = nan arcdeg
2021-08-15T15:54:13.518Z,1629042853.518 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchSaltDistance = nan m
2021-08-15T15:54:13.525Z,1629042853.525 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOil = 0.000000 psu
2021-08-15T15:54:13.527Z,1629042853.527 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilDepth = 0.000000 m
2021-08-15T15:54:13.534Z,1629042853.534 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilLatitude = nan arcdeg
2021-08-15T15:54:13.545Z,1629042853.545 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilLongitude = nan arcdeg
2021-08-15T15:54:13.588Z,1629042853.588 [MissionManager](INFO): DefineOutput lineCaptureDepth:Science.PatchOilDistance = nan m
2021-08-15T15:54:13.649Z,1629042853.649 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-15T15:54:13.679Z,1629042853.679 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-15T15:54:13.717Z,1629042853.717 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-15T15:54:13.739Z,1629042853.739 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-15T15:54:13.769Z,1629042853.769 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-15T15:54:13.821Z,1629042853.821 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-15T15:54:13.849Z,1629042853.849 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth.
2021-08-15T15:54:13.878Z,1629042853.878 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal.
2021-08-15T15:54:13.898Z,1629042853.898 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-08-15T15:54:13.935Z,1629042853.935 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinAltitude = 5.000000 m
2021-08-15T15:54:13.941Z,1629042853.941 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MaxDepth = 200.000000 m
2021-08-15T15:54:13.948Z,1629042853.948 [MissionManager](INFO): DefineArg lineCaptureDepth:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-08-15T15:54:13.949Z,1629042853.949 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-08-15T15:54:13.999Z,1629042853.999 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-08-15T15:54:14.030Z,1629042854.030 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-08-15T15:54:14.054Z,1629042854.054 [MissionManager](INFO): Inserting Stack: Missions/Insert/NeedComms.xml
2021-08-15T15:54:14.130Z,1629042854.130 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.DiveInterval = 3.000000 h
2021-08-15T15:54:14.138Z,1629042854.138 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.WaitForPitchUp = 10.000000 min
2021-08-15T15:54:14.154Z,1629042854.154 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfacePitch = 20.000000 arcdeg
2021-08-15T15:54:14.170Z,1629042854.170 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceDepthRate = nan m/s
2021-08-15T15:54:14.190Z,1629042854.190 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.SurfaceSpeed = 1.000000 m/s
2021-08-15T15:54:14.205Z,1629042854.205 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.GPSTimeout = 7.000000 min
2021-08-15T15:54:14.207Z,1629042854.207 [MissionManager](INFO): DefineArg lineCaptureDepth:NeedComms.CommsTimeout = 30.000000 min
2021-08-15T15:54:14.221Z,1629042854.221 [lineCaptureDepth:NeedComms:B.GoToSurface](DEBUG): Construct GoToSurface.
2021-08-15T15:54:14.254Z,1629042854.254 [MissionManager](INFO): Inserting Stack: Missions/Insert/MicromodemComms.xml
2021-08-15T15:54:14.284Z,1629042854.284 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.Timeout = 10.000000 min
2021-08-15T15:54:14.287Z,1629042854.287 [MissionManager](INFO): DefineArg lineCaptureDepth:MicromodemComms.CommsInterval = 5.000000 min
2021-08-15T15:54:14.298Z,1629042854.298 [MissionManager](INFO): RedefineArg lineCaptureDepth:MicromodemComms.CommsInterval = reader:lineCaptureDepth.MicromodemCommsInterval
2021-08-15T15:54:14.326Z,1629042854.326 [MissionManager](INFO): Inserting Stack: Missions/Insert/LineCapture.xml
2021-08-15T15:54:14.597Z,1629042854.597 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLat = 41.552317 arcdeg
2021-08-15T15:54:14.600Z,1629042854.600 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DockLon = -70.708600 arcdeg
2021-08-15T15:54:14.602Z,1629042854.602 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DetachTimeout = 30.000000 min
2021-08-15T15:54:14.605Z,1629042854.605 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseDepth = 6.000000 m
2021-08-15T15:54:14.608Z,1629042854.608 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseSpeed = 1.000000 m/s
2021-08-15T15:54:14.610Z,1629042854.610 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MidcourseTimeout = 6.000000 h
2021-08-15T15:54:14.613Z,1629042854.613 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.TerminalRange = 650.000000 m
2021-08-15T15:54:14.636Z,1629042854.636 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.AcousticTimeout = 5.000000 min
2021-08-15T15:54:14.639Z,1629042854.639 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.SearchTimeout = 1.000000 h
2021-08-15T15:54:14.646Z,1629042854.646 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleRadius = 25.000000 m
2021-08-15T15:54:14.652Z,1629042854.652 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleMaxError = 1.000000 m
2021-08-15T15:54:14.654Z,1629042854.654 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.CircleTurnToPort = 0 bool
2021-08-15T15:54:14.661Z,1629042854.661 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.DepthDeadband = 0.010000 m
2021-08-15T15:54:14.663Z,1629042854.663 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.RudderDeadband = 0.001000 arcdeg
2021-08-15T15:54:14.670Z,1629042854.670 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinAltitude = 2.000000 m
2021-08-15T15:54:14.677Z,1629042854.677 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MaxDepth = 8.000000 m
2021-08-15T15:54:14.679Z,1629042854.679 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.MinOffshore = 1.000000 m
2021-08-15T15:54:14.702Z,1629042854.702 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DoneTimeout = -1.000000 count
2021-08-15T15:54:14.709Z,1629042854.708 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Done = 0.000000 count
2021-08-15T15:54:14.711Z,1629042854.711 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DetachFromDock = 1.000000 count
2021-08-15T15:54:14.722Z,1629042854.722 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Midcourse = 2.000000 count
2021-08-15T15:54:14.728Z,1629042854.728 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.Terminal = 3.000000 count
2021-08-15T15:54:14.731Z,1629042854.731 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.GuidanceMode = 1.000000 n/a
2021-08-15T15:54:14.738Z,1629042854.738 [MissionManager](INFO): DefineOutput lineCaptureDepth:LineCapture.DockingDepth = 1.000000 m
2021-08-15T15:54:14.748Z,1629042854.748 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.ElapsedRange = 0.000000 min
2021-08-15T15:54:14.751Z,1629042854.751 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture.Range = nan m
2021-08-15T15:54:14.763Z,1629042854.763 [MissionManager](INFO): Inserting Stack: Missions/Insert/StandardEnvelopes.xml
2021-08-15T15:54:14.841Z,1629042854.841 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinAltitude = 5.000000 m
2021-08-15T15:54:14.843Z,1629042854.843 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MaxDepth = 200.000000 m
2021-08-15T15:54:14.850Z,1629042854.850 [MissionManager](INFO): DefineArg lineCaptureDepth:LineCapture:StandardEnvelopes.MinOffshore = 2000.000000 m
2021-08-15T15:54:14.851Z,1629042854.851 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope.
2021-08-15T15:54:14.865Z,1629042854.865 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope.
2021-08-15T15:54:14.901Z,1629042854.901 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope.
2021-08-15T15:54:14.951Z,1629042854.951 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Construct.
2021-08-15T15:54:14.954Z,1629042854.954 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Construct Buoyancy.
2021-08-15T15:54:14.973Z,1629042854.973 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Construct.
2021-08-15T15:54:14.973Z,1629042854.973 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-15T15:54:15.016Z,1629042855.016 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Construct.
2021-08-15T15:54:15.019Z,1629042855.019 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Construct.
2021-08-15T15:54:15.032Z,1629042855.032 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Construct Waypoint.
2021-08-15T15:54:15.051Z,1629042855.051 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Construct.
2021-08-15T15:54:15.060Z,1629042855.060 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Construct Wait.
2021-08-15T15:54:15.070Z,1629042855.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Construct.
2021-08-15T15:54:15.078Z,1629042855.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Construct.
2021-08-15T15:54:15.098Z,1629042855.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-15T15:54:15.098Z,1629042855.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-15T15:54:15.102Z,1629042855.102 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Construct Wait.
2021-08-15T15:54:15.110Z,1629042855.110 [MissionManager](INFO): Inserting Stack: Missions/Insert/SetNavAcoustic.xml
2021-08-15T15:54:15.131Z,1629042855.131 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLat = 41.552317 arcdeg
2021-08-15T15:54:15.134Z,1629042855.134 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockLon = -70.708600 arcdeg
2021-08-15T15:54:15.137Z,1629042855.137 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.DockRange = 5.000000 m
2021-08-15T15:54:15.139Z,1629042855.139 [MissionManager](INFO): DefineArg lineCaptureDepth:SetNavAcoustic.RangeTimeout = 5.000000 min
2021-08-15T15:54:15.166Z,1629042855.166 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Construct SetNav.
2021-08-15T15:54:15.281Z,1629042855.281 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Construct.
2021-08-15T15:54:15.282Z,1629042855.282 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2021-08-15T15:54:15.313Z,1629042855.313 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Construct.
2021-08-15T15:54:15.314Z,1629042855.314 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2021-08-15T15:54:15.398Z,1629042855.398 [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>


2021-08-15T15:54:15.399Z,1629042855.399 [CommandLine](IMPORTANT): Loaded ./Missions/Engineering/lineCaptureDepth.xml
2021-08-15T15:54:29.046Z,1629042869.046 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MissionTimeout 120.000000 minute
2021-08-15T15:54:29.047Z,1629042869.047 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MicromodemCommsInterval 30.000000 minute
2021-08-15T15:54:29.048Z,1629042869.048 [CommandLine](IMPORTANT): got command set lineCaptureDepth.Repeat 20.000000 count
2021-08-15T15:54:29.049Z,1629042869.049 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinAltitude 3.000000 meter
2021-08-15T15:54:32.277Z,1629042872.277 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T15:54:35.249Z,1629042875.249 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MaxDepth 9.000000 meter
2021-08-15T15:54:35.250Z,1629042875.250 [CommandLine](IMPORTANT): got command set lineCaptureDepth.MinOffshore 0.500000 kilometer
2021-08-15T15:54:35.250Z,1629042875.250 [CommandLine](IMPORTANT): got command run
2021-08-15T15:54:35.253Z,1629042875.253 [CommandLine](IMPORTANT): Running 
2021-08-15T15:54:35.406Z,1629042875.406 [DefaultWithUndock] Stopped
2021-08-15T15:54:35.406Z,1629042875.406 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock
2021-08-15T15:54:35.406Z,1629042875.406 [DefaultWithUndock:SurfaceDefault] Stopped
2021-08-15T15:54:35.406Z,1629042875.406 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault
2021-08-15T15:54:35.406Z,1629042875.406 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Stopped
2021-08-15T15:54:35.406Z,1629042875.406 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Uninitialize GoToSurfaceComponent.
2021-08-15T15:54:35.406Z,1629042875.406 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-08-15T15:54:35.407Z,1629042875.407 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-15T15:54:35.407Z,1629042875.407 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-08-15T15:54:35.407Z,1629042875.407 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-08-15T15:54:35.407Z,1629042875.407 [MissionManager](IMPORTANT): Started mission lineCaptureDepth
2021-08-15T15:54:35.407Z,1629042875.407 [lineCaptureDepth] Running Loop=1
2021-08-15T15:54:35.407Z,1629042875.407 [lineCaptureDepth](DEBUG): Aggregate::initialize lineCaptureDepth
2021-08-15T15:54:35.407Z,1629042875.407 [lineCaptureDepth:Science] Running Loop=1
2021-08-15T15:54:35.408Z,1629042875.408 [lineCaptureDepth:Science](DEBUG): Aggregate::initialize lineCaptureDepth:Science
2021-08-15T15:54:35.408Z,1629042875.408 [lineCaptureDepth:Science:A] Running Loop=1
2021-08-15T15:54:35.408Z,1629042875.408 [lineCaptureDepth:Science:B] Running Loop=1
2021-08-15T15:54:35.408Z,1629042875.408 [lineCaptureDepth:Science:C] Running Loop=1
2021-08-15T15:54:35.408Z,1629042875.408 [lineCaptureDepth:Science:D] Running Loop=1
2021-08-15T15:54:35.408Z,1629042875.408 [lineCaptureDepth:Science:E] Running Loop=1
2021-08-15T15:54:35.408Z,1629042875.408 [lineCaptureDepth:Science:F] Running Loop=1
2021-08-15T15:54:35.408Z,1629042875.408 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2021-08-15T15:54:35.408Z,1629042875.408 [lineCaptureDepth:Science:PeakDetectChl] Running Loop=1
2021-08-15T15:54:35.409Z,1629042875.409 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectChl
2021-08-15T15:54:35.409Z,1629042875.409 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Running Loop=1
2021-08-15T15:54:35.409Z,1629042875.409 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-15T15:54:35.410Z,1629042875.410 [lineCaptureDepth:Science:HighestChlPeakReport] Running Loop=1
2021-08-15T15:54:35.410Z,1629042875.410 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestChlPeakReport
2021-08-15T15:54:35.411Z,1629042875.411 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-15T15:54:35.411Z,1629042875.411 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-15T15:54:35.411Z,1629042875.411 [lineCaptureDepth:Science:PeakDetectNO3] Running Loop=1
2021-08-15T15:54:35.411Z,1629042875.411 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectNO3
2021-08-15T15:54:35.411Z,1629042875.411 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Running Loop=1
2021-08-15T15:54:35.411Z,1629042875.411 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-15T15:54:35.413Z,1629042875.413 [lineCaptureDepth:Science:PeakDetectOil] Running Loop=1
2021-08-15T15:54:35.413Z,1629042875.413 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectOil
2021-08-15T15:54:35.413Z,1629042875.413 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Running Loop=1
2021-08-15T15:54:35.413Z,1629042875.413 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-15T15:54:35.414Z,1629042875.414 [lineCaptureDepth:Science:HighestOilPeakReport] Running Loop=1
2021-08-15T15:54:35.415Z,1629042875.415 [lineCaptureDepth:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestOilPeakReport
2021-08-15T15:54:35.415Z,1629042875.415 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-15T15:54:35.415Z,1629042875.415 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-15T15:54:35.415Z,1629042875.415 [lineCaptureDepth:Science:PeakDetectFDOM] Running Loop=1
2021-08-15T15:54:35.415Z,1629042875.415 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectFDOM
2021-08-15T15:54:35.432Z,1629042875.432 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Running Loop=1
2021-08-15T15:54:35.432Z,1629042875.432 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-15T15:54:35.433Z,1629042875.433 [lineCaptureDepth:Science:PeakDetectSalinity] Running Loop=1
2021-08-15T15:54:35.433Z,1629042875.433 [lineCaptureDepth:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize lineCaptureDepth:Science:PeakDetectSalinity
2021-08-15T15:54:35.433Z,1629042875.433 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Running Loop=1
2021-08-15T15:54:35.433Z,1629042875.433 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Initialize.
2021-08-15T15:54:35.435Z,1629042875.435 [lineCaptureDepth:Science:HighestSaltPeakReport] Running Loop=1
2021-08-15T15:54:35.435Z,1629042875.435 [lineCaptureDepth:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize lineCaptureDepth:Science:HighestSaltPeakReport
2021-08-15T15:54:35.435Z,1629042875.435 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1
2021-08-15T15:54:35.435Z,1629042875.435 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize.
2021-08-15T15:54:35.440Z,1629042875.440 [lineCaptureDepth:Science:OceanCurrent] Running Loop=1
2021-08-15T15:54:35.440Z,1629042875.440 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::initialize lineCaptureDepth:Science:OceanCurrent
2021-08-15T15:54:35.440Z,1629042875.440 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2021-08-15T15:54:35.441Z,1629042875.441 [lineCaptureDepth:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator.
2021-08-15T15:54:35.441Z,1629042875.441 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2021-08-15T15:54:35.441Z,1629042875.441 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:StandardEnvelopes
2021-08-15T15:54:35.441Z,1629042875.441 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-15T15:54:35.441Z,1629042875.441 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-15T15:54:35.441Z,1629042875.441 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-15T15:54:35.441Z,1629042875.441 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-15T15:54:35.441Z,1629042875.441 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-15T15:54:35.441Z,1629042875.441 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-15T15:54:35.442Z,1629042875.442 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-15T15:54:35.442Z,1629042875.442 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-15T15:54:35.442Z,1629042875.442 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-15T15:54:35.442Z,1629042875.442 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T15:54:35.442Z,1629042875.442 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-15T15:54:35.442Z,1629042875.442 [lineCaptureDepth:TrackAC.] Running Loop=1
2021-08-15T15:54:35.442Z,1629042875.442 [lineCaptureDepth:TrackAC.](INFO): Initializing TrackAcousticContact.
2021-08-15T15:54:35.443Z,1629042875.443 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-08-15T15:54:35.443Z,1629042875.443 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-15T15:54:35.443Z,1629042875.443 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Running Loop=1
2021-08-15T15:54:35.443Z,1629042875.443 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-15T15:54:35.443Z,1629042875.443 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-15T15:54:35.443Z,1629042875.443 [lineCaptureDepth:C] Running Loop=1
2021-08-15T15:54:35.449Z,1629042875.449 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-15T15:54:35.449Z,1629042875.449 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-15T15:54:35.449Z,1629042875.449 [lineCaptureDepth:UpdateNumPings_NotTerminal] Stopped
2021-08-15T15:54:35.449Z,1629042875.449 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-15T15:54:35.449Z,1629042875.449 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Stopped
2021-08-15T15:54:35.450Z,1629042875.450 [lineCaptureDepth:TrackAC.] Running Loop=1
2021-08-15T15:54:35.450Z,1629042875.450 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-15T15:54:35.450Z,1629042875.450 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-15T15:54:35.450Z,1629042875.450 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-15T15:54:35.450Z,1629042875.450 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T15:54:35.450Z,1629042875.450 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-15T15:54:35.451Z,1629042875.451 [lineCaptureDepth:C] Stopped
2021-08-15T15:54:35.451Z,1629042875.451 [lineCaptureDepth:D] Running Loop=1
2021-08-15T15:54:35.451Z,1629042875.451 [lineCaptureDepth:StandardEnvelopes] Running Loop=1
2021-08-15T15:54:35.451Z,1629042875.451 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-15T15:54:35.451Z,1629042875.451 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-15T15:54:35.456Z,1629042875.456 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-15T15:54:35.456Z,1629042875.456 [lineCaptureDepth:Science] Running Loop=1
2021-08-15T15:54:35.457Z,1629042875.457 [lineCaptureDepth:Science:HighestSaltPeakReport] Stopped
2021-08-15T15:54:35.458Z,1629042875.458 [lineCaptureDepth:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestSaltPeakReport
2021-08-15T15:54:35.458Z,1629042875.458 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-15T15:54:35.458Z,1629042875.458 [lineCaptureDepth:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-15T15:54:35.458Z,1629042875.458 [lineCaptureDepth:Science:PeakDetectSalinity] Stopped
2021-08-15T15:54:35.458Z,1629042875.458 [lineCaptureDepth:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectSalinity
2021-08-15T15:54:35.458Z,1629042875.458 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth] Stopped
2021-08-15T15:54:35.458Z,1629042875.458 [lineCaptureDepth:Science:PeakDetectSalinity:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-15T15:54:35.458Z,1629042875.458 [lineCaptureDepth:Science:PeakDetectFDOM] Stopped
2021-08-15T15:54:35.458Z,1629042875.458 [lineCaptureDepth:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectFDOM
2021-08-15T15:54:35.459Z,1629042875.459 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth] Stopped
2021-08-15T15:54:35.459Z,1629042875.459 [lineCaptureDepth:Science:PeakDetectFDOM:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-15T15:54:35.459Z,1629042875.459 [lineCaptureDepth:Science:HighestOilPeakReport] Stopped
2021-08-15T15:54:35.459Z,1629042875.459 [lineCaptureDepth:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestOilPeakReport
2021-08-15T15:54:35.459Z,1629042875.459 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-15T15:54:35.459Z,1629042875.459 [lineCaptureDepth:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-15T15:54:35.459Z,1629042875.459 [lineCaptureDepth:Science:PeakDetectOil] Stopped
2021-08-15T15:54:35.459Z,1629042875.459 [lineCaptureDepth:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectOil
2021-08-15T15:54:35.459Z,1629042875.459 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth] Stopped
2021-08-15T15:54:35.459Z,1629042875.459 [lineCaptureDepth:Science:PeakDetectOil:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-15T15:54:35.459Z,1629042875.459 [lineCaptureDepth:Science:PeakDetectNO3] Stopped
2021-08-15T15:54:35.464Z,1629042875.464 [lineCaptureDepth:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectNO3
2021-08-15T15:54:35.465Z,1629042875.465 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth] Stopped
2021-08-15T15:54:35.465Z,1629042875.465 [lineCaptureDepth:Science:PeakDetectNO3:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-15T15:54:35.466Z,1629042875.466 [lineCaptureDepth:Science:HighestChlPeakReport] Stopped
2021-08-15T15:54:35.466Z,1629042875.466 [lineCaptureDepth:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:HighestChlPeakReport
2021-08-15T15:54:35.467Z,1629042875.467 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped
2021-08-15T15:54:35.467Z,1629042875.467 [lineCaptureDepth:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize.
2021-08-15T15:54:35.467Z,1629042875.467 [lineCaptureDepth:Science:PeakDetectChl] Stopped
2021-08-15T15:54:35.467Z,1629042875.467 [lineCaptureDepth:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:PeakDetectChl
2021-08-15T15:54:35.467Z,1629042875.467 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth] Stopped
2021-08-15T15:54:35.467Z,1629042875.467 [lineCaptureDepth:Science:PeakDetectChl:A.PeakDetectVsDepth](DEBUG): Uninitialize.
2021-08-15T15:54:35.467Z,1629042875.467 [lineCaptureDepth:Science:OceanCurrent:A.] Running Loop=1
2021-08-15T15:54:35.473Z,1629042875.473 [lineCaptureDepth:Science:Read_Oil] Running Loop=1
2021-08-15T15:54:35.473Z,1629042875.473 [lineCaptureDepth:Science:Read_Oil](DEBUG): Initialize ReadDataComponent to sense mass_concentration_of_petroleum_hydrocarbons_in_sea_water
2021-08-15T15:54:35.473Z,1629042875.473 [lineCaptureDepth:Science:F] Stopped
2021-08-15T15:54:35.473Z,1629042875.473 [lineCaptureDepth:Science:E] Stopped
2021-08-15T15:54:35.474Z,1629042875.474 [lineCaptureDepth:Science:D] Stopped
2021-08-15T15:54:35.474Z,1629042875.474 [lineCaptureDepth:Science:C] Running Loop=1
2021-08-15T15:54:35.474Z,1629042875.474 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_temperature
2021-08-15T15:54:35.475Z,1629042875.475 [lineCaptureDepth:Science:C](DEBUG): Initialize ReadDataComponent to sense CTD_Seabird.sea_water_salinity
2021-08-15T15:54:35.475Z,1629042875.475 [lineCaptureDepth:Science:B] Running Loop=1
2021-08-15T15:54:35.475Z,1629042875.475 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_temperature
2021-08-15T15:54:35.478Z,1629042875.478 [lineCaptureDepth:Science:B](DEBUG): Initialize ReadDataComponent to sense sea_water_salinity
2021-08-15T15:54:35.478Z,1629042875.478 [lineCaptureDepth:Science:A] Stopped
2021-08-15T15:54:35.540Z,1629042875.540 [WetLabsSeaOWL_UV_A](INFO): Powering up
2021-08-15T15:54:35.810Z,1629042875.810 [lineCaptureDepth:D] Stopped
2021-08-15T15:54:35.810Z,1629042875.810 [lineCaptureDepth:E] Running Loop=1
2021-08-15T15:54:36.250Z,1629042876.250 [lineCaptureDepth:E] Stopped
2021-08-15T15:54:36.250Z,1629042876.250 [lineCaptureDepth:G] Running Loop=1
2021-08-15T15:54:36.621Z,1629042876.621 [lineCaptureDepth:G] Stopped
2021-08-15T15:54:36.621Z,1629042876.621 [lineCaptureDepth:H] Running Loop=1
2021-08-15T15:54:37.016Z,1629042877.016 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:788.813721
2021-08-15T15:54:37.037Z,1629042877.037 [lineCaptureDepth:H] Stopped
2021-08-15T15:54:37.037Z,1629042877.037 [lineCaptureDepth:J] Running Loop=1
2021-08-15T15:54:37.435Z,1629042877.435 [lineCaptureDepth:J] Stopped
2021-08-15T15:54:37.436Z,1629042877.436 [lineCaptureDepth:M] Running Loop=1
2021-08-15T15:54:37.846Z,1629042877.846 [lineCaptureDepth:M] Stopped
2021-08-15T15:54:37.846Z,1629042877.846 [lineCaptureDepth:N] Running Loop=1
2021-08-15T15:54:38.266Z,1629042878.266 [lineCaptureDepth:N] Stopped
2021-08-15T15:54:38.266Z,1629042878.266 [lineCaptureDepth:O] Running Loop=1
2021-08-15T15:54:38.267Z,1629042878.267 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:54:38.618Z,1629042878.618 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:54:38.618Z,1629042878.618 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:54:38.619Z,1629042878.619 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:54:38.619Z,1629042878.619 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:54:38.652Z,1629042878.652 [lineCaptureDepth:O] Stopped
2021-08-15T15:54:38.652Z,1629042878.652 [lineCaptureDepth:Lap] Running Loop=1
2021-08-15T15:54:38.653Z,1629042878.653 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-08-15T15:54:38.653Z,1629042878.653 [lineCaptureDepth:Lap:A] Running Loop=1
2021-08-15T15:54:38.841Z,1629042878.841 [CTD_Seabird](ERROR): Failed to parse device response: <!--startlogging-->
2021-08-15T15:54:39.025Z,1629042879.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DED,000,007B8,187,80,80,7B,FF
2021-08-15T15:54:39.025Z,1629042879.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:54:39.026Z,1629042879.026 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:54:39.027Z,1629042879.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:54:39.104Z,1629042879.104 [lineCaptureDepth:Lap:A] Stopped
2021-08-15T15:54:39.105Z,1629042879.105 [lineCaptureDepth:Lap:B] Running Loop=1
2021-08-15T15:54:39.105Z,1629042879.105 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-08-15T15:54:39.429Z,1629042879.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:54:39.477Z,1629042879.477 [lineCaptureDepth:LineCapture] Running Loop=1
2021-08-15T15:54:39.477Z,1629042879.477 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-08-15T15:54:39.477Z,1629042879.477 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-15T15:54:39.477Z,1629042879.477 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-15T15:54:39.477Z,1629042879.477 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-15T15:54:39.477Z,1629042879.477 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-15T15:54:39.478Z,1629042879.478 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-15T15:54:39.478Z,1629042879.478 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-15T15:54:39.478Z,1629042879.478 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-15T15:54:39.478Z,1629042879.478 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-15T15:54:39.478Z,1629042879.478 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-15T15:54:39.478Z,1629042879.478 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-15T15:54:39.478Z,1629042879.478 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-15T15:54:39.478Z,1629042879.478 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-15T15:54:39.478Z,1629042879.478 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-15T15:54:39.479Z,1629042879.479 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-15T15:54:39.479Z,1629042879.479 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-15T15:54:39.479Z,1629042879.479 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-15T15:54:39.479Z,1629042879.479 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-15T15:54:39.479Z,1629042879.479 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-08-15T15:54:39.479Z,1629042879.479 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-15T15:54:39.479Z,1629042879.479 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-15T15:54:39.484Z,1629042879.484 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-15T15:54:39.484Z,1629042879.484 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-15T15:54:39.484Z,1629042879.484 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-15T15:54:39.484Z,1629042879.484 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-15T15:54:39.484Z,1629042879.484 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-15T15:54:39.484Z,1629042879.484 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-15T15:54:39.485Z,1629042879.485 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-15T15:54:39.485Z,1629042879.485 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-15T15:54:39.485Z,1629042879.485 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-15T15:54:39.486Z,1629042879.486 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-15T15:54:39.487Z,1629042879.487 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-15T15:54:39.493Z,1629042879.493 [lineCaptureDepth:LineCapture:A] Stopped
2021-08-15T15:54:39.494Z,1629042879.494 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-08-15T15:54:39.872Z,1629042879.872 [lineCaptureDepth:LineCapture:B] Stopped
2021-08-15T15:54:39.872Z,1629042879.872 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-08-15T15:54:40.239Z,1629042880.239 [Micromodem](INFO): Nmea in: $SNTTA,0.467297,0.466772,,,155441.02*53

2021-08-15T15:54:40.293Z,1629042880.293 [lineCaptureDepth:LineCapture:D] Stopped
2021-08-15T15:54:40.293Z,1629042880.293 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-08-15T15:54:40.658Z,1629042880.658 [lineCaptureDepth:LineCapture:E] Stopped
2021-08-15T15:54:40.658Z,1629042880.658 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-08-15T15:54:41.074Z,1629042881.074 [lineCaptureDepth:LineCapture:F] Stopped
2021-08-15T15:54:41.074Z,1629042881.074 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-08-15T15:54:41.074Z,1629042881.074 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-15T15:54:41.074Z,1629042881.074 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-15T15:54:41.074Z,1629042881.074 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-15T15:54:41.074Z,1629042881.074 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-08-15T15:54:41.074Z,1629042881.074 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-15T15:54:41.075Z,1629042881.075 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-08-15T15:54:41.075Z,1629042881.075 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-08-15T15:54:41.075Z,1629042881.075 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-15T15:54:41.075Z,1629042881.075 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-15T15:54:41.075Z,1629042881.075 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-15T15:54:41.075Z,1629042881.075 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-15T15:54:41.092Z,1629042881.092 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-15T15:54:41.092Z,1629042881.092 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-15T15:54:41.092Z,1629042881.092 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-15T15:54:41.092Z,1629042881.092 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-15T15:54:41.092Z,1629042881.092 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-15T15:54:41.093Z,1629042881.093 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-15T15:54:41.093Z,1629042881.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-15T15:54:41.093Z,1629042881.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-15T15:54:41.093Z,1629042881.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-15T15:54:41.093Z,1629042881.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-15T15:54:41.093Z,1629042881.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-15T15:54:41.093Z,1629042881.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-15T15:54:41.093Z,1629042881.093 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-15T15:54:41.094Z,1629042881.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-15T15:54:41.094Z,1629042881.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-15T15:54:41.095Z,1629042881.095 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:54:41.485Z,1629042881.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-15T15:54:41.485Z,1629042881.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-15T15:54:41.486Z,1629042881.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-15T15:54:41.486Z,1629042881.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-15T15:54:41.486Z,1629042881.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-15T15:54:41.486Z,1629042881.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-15T15:54:41.486Z,1629042881.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-15T15:54:41.486Z,1629042881.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-15T15:54:41.486Z,1629042881.486 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-15T15:54:41.486Z,1629042881.486 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-15T15:54:41.486Z,1629042881.486 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-15T15:54:41.487Z,1629042881.487 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-15T15:54:41.487Z,1629042881.487 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-15T15:54:41.487Z,1629042881.487 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-15T15:54:41.487Z,1629042881.487 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-15T15:54:41.487Z,1629042881.487 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-15T15:54:41.487Z,1629042881.487 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-15T15:54:41.851Z,1629042881.851 [PowerOnly](INFO): Powering up loadControl
2021-08-15T15:54:42.354Z,1629042882.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,187,80,80,7B,FF
2021-08-15T15:54:42.354Z,1629042882.354 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,187,80,80,7B,FF
2021-08-15T15:54:42.354Z,1629042882.354 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T15:54:43.943Z,1629042883.943 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:54:44.341Z,1629042884.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:54:44.341Z,1629042884.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:54:44.341Z,1629042884.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:54:44.342Z,1629042884.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:54:44.449Z,1629042884.449 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-08-15T15:54:44.721Z,1629042884.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,187,80,80,7B,FF
2021-08-15T15:54:44.721Z,1629042884.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:54:44.721Z,1629042884.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:54:44.723Z,1629042884.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:54:44.802Z,1629042884.802 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-15T15:54:45.116Z,1629042885.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:54:45.529Z,1629042885.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F22,000,00CEC,187,80,80,7B,FF
2021-08-15T15:54:45.530Z,1629042885.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:54:45.977Z,1629042885.977 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155446.72*5C

2021-08-15T15:54:48.395Z,1629042888.395 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:54:48.761Z,1629042888.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:54:48.761Z,1629042888.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:54:48.761Z,1629042888.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:54:48.762Z,1629042888.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:54:49.158Z,1629042889.158 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F22,000,00CEC,187,80,80,7B,FF
2021-08-15T15:54:49.158Z,1629042889.158 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:54:49.158Z,1629042889.158 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:54:49.160Z,1629042889.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:54:49.569Z,1629042889.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:54:50.382Z,1629042890.382 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155451.15*5B

2021-08-15T15:54:51.218Z,1629042891.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:54:52.789Z,1629042892.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,187,80,80,7B,FF
2021-08-15T15:54:52.790Z,1629042892.790 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,187,80,80,7B,FF
2021-08-15T15:54:52.790Z,1629042892.790 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T15:54:54.031Z,1629042894.031 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:54:54.417Z,1629042894.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:54:54.417Z,1629042894.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:54:54.417Z,1629042894.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:54:54.418Z,1629042894.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:54:54.809Z,1629042894.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,187,80,80,7B,FF
2021-08-15T15:54:54.809Z,1629042894.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:54:54.809Z,1629042894.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:54:54.811Z,1629042894.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:54:55.238Z,1629042895.238 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:54:56.042Z,1629042896.042 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155456.80*50

2021-08-15T15:54:56.870Z,1629042896.870 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:54:58.458Z,1629042898.458 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,187,80,80,7B,FF
2021-08-15T15:54:58.458Z,1629042898.458 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,187,80,80,7B,FF
2021-08-15T15:54:58.458Z,1629042898.458 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T15:54:59.689Z,1629042899.689 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:55:00.070Z,1629042900.070 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:55:00.070Z,1629042900.070 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:55:00.070Z,1629042900.070 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:55:00.071Z,1629042900.071 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:55:00.470Z,1629042900.470 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,187,80,80,7B,FF
2021-08-15T15:55:00.470Z,1629042900.470 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:55:00.470Z,1629042900.470 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:55:00.473Z,1629042900.473 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:55:00.883Z,1629042900.883 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:55:01.291Z,1629042901.291 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08C,000,00D03,186,80,80,7B,FF
2021-08-15T15:55:01.291Z,1629042901.291 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:55:01.722Z,1629042901.722 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155502.47*5B

2021-08-15T15:55:04.138Z,1629042904.138 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:55:04.521Z,1629042904.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:55:04.522Z,1629042904.522 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:55:04.522Z,1629042904.522 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:55:04.523Z,1629042904.523 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:55:04.917Z,1629042904.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08C,000,00D03,186,80,80,7B,FF
2021-08-15T15:55:04.917Z,1629042904.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:55:04.917Z,1629042904.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:55:04.921Z,1629042904.921 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:55:05.060Z,1629042905.060 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 162.36 m. Transitioning DDM to standby.
2021-08-15T15:55:05.316Z,1629042905.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:55:05.728Z,1629042905.728 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E25,000,00D07,186,80,80,7B,FF
2021-08-15T15:55:05.728Z,1629042905.728 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:55:06.177Z,1629042906.177 [Micromodem](INFO): Nmea in: $SNTTA,0.107091,,,,155506.91*44

2021-08-15T15:55:07.407Z,1629042907.407 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-08-15T15:55:07.770Z,1629042907.770 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-08-15T15:55:07.770Z,1629042907.770 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-08-15T15:55:07.770Z,1629042907.770 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-08-15T15:55:08.177Z,1629042908.177 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-08-15T15:55:08.177Z,1629042908.177 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-08-15T15:55:08.178Z,1629042908.178 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-08-15T15:55:08.607Z,1629042908.607 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-08-15T15:55:08.607Z,1629042908.607 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-15T15:55:08.608Z,1629042908.608 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-08-15T15:55:08.608Z,1629042908.608 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-15T15:55:08.608Z,1629042908.608 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-15T15:55:08.610Z,1629042908.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:55:08.921Z,1629042908.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:55:08.921Z,1629042908.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:55:08.921Z,1629042908.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:55:08.922Z,1629042908.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:55:08.994Z,1629042908.994 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-15T15:55:08.994Z,1629042908.994 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-15T15:55:08.994Z,1629042908.994 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-15T15:55:08.994Z,1629042908.994 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-15T15:55:08.994Z,1629042908.994 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-15T15:55:08.994Z,1629042908.994 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-15T15:55:08.995Z,1629042908.995 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-15T15:55:08.995Z,1629042908.995 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-15T15:55:08.995Z,1629042908.995 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-15T15:55:09.000Z,1629042909.000 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-15T15:55:09.000Z,1629042909.000 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-15T15:55:09.001Z,1629042909.001 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-15T15:55:09.002Z,1629042909.002 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-08-15T15:55:09.002Z,1629042909.002 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-15T15:55:09.002Z,1629042909.002 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-08-15T15:55:09.003Z,1629042909.003 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 162.599991 m 
2021-08-15T15:55:09.008Z,1629042909.008 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-08-15T15:55:09.009Z,1629042909.009 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-08-15T15:55:09.010Z,1629042909.010 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-08-15T15:55:09.011Z,1629042909.011 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-15T15:55:09.011Z,1629042909.011 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-08-15T15:55:09.011Z,1629042909.011 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-08-15T15:55:09.339Z,1629042909.339 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E25,000,00D07,186,80,80,7B,FF
2021-08-15T15:55:09.339Z,1629042909.339 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:55:09.339Z,1629042909.339 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:55:09.341Z,1629042909.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:55:09.487Z,1629042909.487 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-08-15T15:55:09.496Z,1629042909.496 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-15T15:55:09.496Z,1629042909.496 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-08-15T15:55:09.496Z,1629042909.496 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-15T15:55:09.497Z,1629042909.497 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-15T15:55:09.497Z,1629042909.497 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-15T15:55:09.497Z,1629042909.497 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-15T15:55:09.498Z,1629042909.498 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-15T15:55:09.498Z,1629042909.498 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-15T15:55:09.498Z,1629042909.498 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-15T15:55:09.499Z,1629042909.499 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-15T15:55:09.499Z,1629042909.499 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-15T15:55:09.499Z,1629042909.499 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-15T15:55:09.505Z,1629042909.505 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-15T15:55:09.506Z,1629042909.506 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-15T15:55:09.738Z,1629042909.738 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:55:09.769Z,1629042909.769 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-15T15:55:09.769Z,1629042909.769 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-15T15:55:09.769Z,1629042909.769 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-15T15:55:09.770Z,1629042909.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-15T15:55:09.770Z,1629042909.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-15T15:55:09.770Z,1629042909.770 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-15T15:55:09.771Z,1629042909.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-15T15:55:09.771Z,1629042909.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-15T15:55:09.771Z,1629042909.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-15T15:55:09.771Z,1629042909.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-15T15:55:09.771Z,1629042909.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-15T15:55:09.771Z,1629042909.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-15T15:55:09.771Z,1629042909.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-15T15:55:09.771Z,1629042909.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-15T15:55:09.772Z,1629042909.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-15T15:55:09.772Z,1629042909.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-15T15:55:09.773Z,1629042909.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-08-15T15:55:09.773Z,1629042909.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-15T15:55:09.773Z,1629042909.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-08-15T15:55:09.773Z,1629042909.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-08-15T15:55:09.773Z,1629042909.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-15T15:55:09.773Z,1629042909.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-15T15:55:09.774Z,1629042909.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 600.00 sec.
2021-08-15T15:55:09.775Z,1629042909.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-15T15:55:09.775Z,1629042909.775 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-15T15:55:09.775Z,1629042909.775 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-15T15:55:09.775Z,1629042909.775 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-15T15:55:09.775Z,1629042909.775 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-15T15:55:09.775Z,1629042909.775 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-15T15:55:09.775Z,1629042909.775 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-15T15:55:09.775Z,1629042909.775 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-15T15:55:09.776Z,1629042909.776 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-08-15T15:55:09.776Z,1629042909.776 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-08-15T15:55:10.210Z,1629042910.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 162.599991 m, bearing: 259.835149 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-15T15:55:10.211Z,1629042910.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 259.835149deg and heading rate command to 0 deg/s.
2021-08-15T15:55:10.553Z,1629042910.553 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155511.34*5D

2021-08-15T15:55:11.492Z,1629042911.492 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:55:12.637Z,1629042912.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,186,80,80,7B,FF
2021-08-15T15:55:12.637Z,1629042912.637 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,186,80,80,7B,FF
2021-08-15T15:55:12.638Z,1629042912.638 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T15:55:14.278Z,1629042914.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:55:14.666Z,1629042914.666 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:55:14.667Z,1629042914.667 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:55:14.667Z,1629042914.667 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:55:14.673Z,1629042914.673 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:55:15.043Z,1629042915.043 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,186,80,80,7B,FF
2021-08-15T15:55:15.043Z,1629042915.043 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:55:15.043Z,1629042915.043 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:55:15.045Z,1629042915.045 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:55:15.456Z,1629042915.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:55:15.881Z,1629042915.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB7,000,00D19,186,80,80,71,FF
2021-08-15T15:55:15.882Z,1629042915.882 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:55:16.313Z,1629042916.313 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155517.04*58

2021-08-15T15:55:16.371Z,1629042916.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.680008 m, bearing: 241.144965 deg, deltaT: 10.176237 s, approachRate: 0.106131 m/s, LOS rate: -1.836650 deg/s, posRepo size: 2
2021-08-15T15:55:16.372Z,1629042916.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -1.836650 deg/s. Setting heading cmd to target bearing of 241.144965deg and heading rate command to 0 deg/s.
2021-08-15T15:55:18.703Z,1629042918.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:55:19.085Z,1629042919.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:55:19.085Z,1629042919.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:55:19.085Z,1629042919.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:55:19.086Z,1629042919.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:55:19.494Z,1629042919.494 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB7,000,00D19,186,80,80,71,FF
2021-08-15T15:55:19.495Z,1629042919.495 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:55:19.495Z,1629042919.495 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:55:19.498Z,1629042919.498 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:55:19.913Z,1629042919.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:55:20.305Z,1629042920.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E04,000,00D2D,186,80,80,71,FF
2021-08-15T15:55:20.306Z,1629042920.306 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:55:20.737Z,1629042920.737 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155521.49*54

2021-08-15T15:55:20.781Z,1629042920.781 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 164.880005 m, bearing: 249.020665 deg, deltaT: 4.484138 s, approachRate: 0.267609 m/s, LOS rate: 1.756346 deg/s, posRepo size: 3
2021-08-15T15:55:20.783Z,1629042920.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.880005 m,
      bearing: 249.020665 deg,
      approachRate: 0.267609 m/s,
      LOS rate: 1.756346 deg/s,
      cmd update: 7.025386 deg/s,
      cmd heading: 241.144965 deg,
      new cmd heading: 241.144965 deg.

2021-08-15T15:55:23.148Z,1629042923.148 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:55:23.545Z,1629042923.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:55:23.545Z,1629042923.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:55:23.545Z,1629042923.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:55:23.546Z,1629042923.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:55:23.933Z,1629042923.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E04,000,00D2D,186,80,80,71,FF
2021-08-15T15:55:23.933Z,1629042923.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:55:23.933Z,1629042923.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:55:23.935Z,1629042923.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:55:24.349Z,1629042924.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:55:25.193Z,1629042925.193 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155525.93*57

2021-08-15T15:55:26.071Z,1629042926.071 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:55:27.599Z,1629042927.599 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,186,80,80,71,FF
2021-08-15T15:55:27.600Z,1629042927.600 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,186,80,80,71,FF
2021-08-15T15:55:27.600Z,1629042927.600 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T15:55:28.828Z,1629042928.828 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:55:29.216Z,1629042929.216 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:55:29.217Z,1629042929.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:55:29.217Z,1629042929.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:55:29.219Z,1629042929.219 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:55:29.609Z,1629042929.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,186,80,80,71,FF
2021-08-15T15:55:29.609Z,1629042929.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:55:29.610Z,1629042929.610 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:55:29.611Z,1629042929.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:55:30.020Z,1629042930.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:55:30.433Z,1629042930.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DED,000,00D79,186,80,80,71,FF
2021-08-15T15:55:30.434Z,1629042930.434 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:55:30.865Z,1629042930.865 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155531.61*5F

2021-08-15T15:55:30.906Z,1629042930.906 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 169.440002 m, bearing: 261.491224 deg, deltaT: 10.133628 s, approachRate: 0.449987 m/s, LOS rate: 1.230612 deg/s, posRepo size: 4
2021-08-15T15:55:30.911Z,1629042930.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.440002 m,
      bearing: 261.491224 deg,
      approachRate: 0.449987 m/s,
      LOS rate: 1.230612 deg/s,
      cmd update: 4.922446 deg/s,
      cmd heading: 312.308111 deg,
      new cmd heading: 314.873747 deg.

2021-08-15T15:55:33.275Z,1629042933.275 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:55:33.661Z,1629042933.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:55:33.661Z,1629042933.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:55:33.661Z,1629042933.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:55:33.662Z,1629042933.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:55:34.061Z,1629042934.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DED,000,00D79,186,80,80,71,FF
2021-08-15T15:55:34.061Z,1629042934.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:55:34.062Z,1629042934.062 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:55:34.063Z,1629042934.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:55:34.475Z,1629042934.475 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:55:34.866Z,1629042934.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBA,000,00D79,186,80,80,71,FF
2021-08-15T15:55:34.866Z,1629042934.866 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:55:35.309Z,1629042935.309 [Micromodem](INFO): Nmea in: $SNTTA,0.116164,,,,155536.06*42

2021-08-15T15:55:35.334Z,1629042935.334 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 169.440002 m, bearing: 284.102402 deg, deltaT: 4.389903 s, approachRate: 0.000000 m/s, LOS rate: 5.150724 deg/s, posRepo size: 4
2021-08-15T15:55:35.360Z,1629042935.360 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 169.440002 m,
      bearing: 284.102402 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 5.150724 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 333.957482 deg,
      new cmd heading: 335.900150 deg.

2021-08-15T15:55:37.711Z,1629042937.711 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:55:38.101Z,1629042938.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:55:38.101Z,1629042938.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:55:38.101Z,1629042938.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:55:38.102Z,1629042938.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:55:38.516Z,1629042938.516 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBA,000,00D79,186,80,80,71,FF
2021-08-15T15:55:38.516Z,1629042938.516 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:55:38.517Z,1629042938.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:55:38.518Z,1629042938.518 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:55:38.913Z,1629042938.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:55:39.730Z,1629042939.730 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0B,000,00DA4,186,80,80,5F,FF
2021-08-15T15:55:39.730Z,1629042939.730 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:55:39.733Z,1629042939.733 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155540.51*5A

2021-08-15T15:55:40.219Z,1629042940.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 172.020004 m, bearing: 311.323219 deg, deltaT: 4.810163 s, approachRate: 0.536365 m/s, LOS rate: 5.659022 deg/s, posRepo size: 4
2021-08-15T15:55:40.226Z,1629042940.226 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.020004 m,
      bearing: 311.323219 deg,
      approachRate: 0.536365 m/s,
      LOS rate: 5.659022 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 31.677148 deg,
      new cmd heading: 37.323352 deg.

2021-08-15T15:55:40.575Z,1629042940.575 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T15:55:42.586Z,1629042942.586 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:55:42.945Z,1629042942.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:55:42.945Z,1629042942.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:55:42.945Z,1629042942.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:55:42.946Z,1629042942.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:55:43.349Z,1629042943.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0B,000,00DA4,186,80,80,5F,FF
2021-08-15T15:55:43.349Z,1629042943.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:55:43.349Z,1629042943.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:55:43.351Z,1629042943.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:55:43.757Z,1629042943.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:55:44.185Z,1629042944.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B6C,000,00D9E,189,80,80,5F,FF
2021-08-15T15:55:44.187Z,1629042944.187 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:55:44.609Z,1629042944.609 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155545.35*5D

2021-08-15T15:55:44.659Z,1629042944.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 171.660004 m, bearing: 8.751205 deg, deltaT: 4.533168 s, approachRate: -0.079415 m/s, LOS rate: 12.668398 deg/s, posRepo size: 4
2021-08-15T15:55:44.661Z,1629042944.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.668398 deg/s. Setting heading cmd to target bearing of 8.751205deg and heading rate command to 0 deg/s.
2021-08-15T15:55:47.019Z,1629042947.019 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:55:47.401Z,1629042947.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:55:47.401Z,1629042947.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:55:47.402Z,1629042947.402 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:55:47.403Z,1629042947.403 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:55:47.805Z,1629042947.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B6C,000,00D9E,189,80,80,5F,FF
2021-08-15T15:55:47.805Z,1629042947.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:55:47.805Z,1629042947.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:55:47.807Z,1629042947.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:55:48.257Z,1629042948.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:55:48.618Z,1629042948.618 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C23,000,00D9E,189,80,80,5F,FF
2021-08-15T15:55:48.618Z,1629042948.618 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:55:49.049Z,1629042949.049 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155549.80*5F

2021-08-15T15:55:49.077Z,1629042949.077 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 171.660004 m, bearing: 21.002767 deg, deltaT: 4.360337 s, approachRate: 0.000000 m/s, LOS rate: 2.809774 deg/s, posRepo size: 4
2021-08-15T15:55:49.079Z,1629042949.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.660004 m,
      bearing: 21.002767 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.809774 deg/s,
      cmd update: 11.239097 deg/s,
      cmd heading: 8.751205 deg,
      new cmd heading: 8.751205 deg.

2021-08-15T15:55:51.478Z,1629042951.478 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:55:51.857Z,1629042951.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:55:51.857Z,1629042951.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:55:51.857Z,1629042951.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:55:51.858Z,1629042951.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:55:51.913Z,1629042951.913 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T15:55:52.257Z,1629042952.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C23,000,00D9E,189,80,80,5F,FF
2021-08-15T15:55:52.257Z,1629042952.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:55:52.257Z,1629042952.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:55:52.259Z,1629042952.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:55:52.657Z,1629042952.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:55:53.054Z,1629042953.054 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2A,000,00D9E,189,80,80,5F,FF
2021-08-15T15:55:53.054Z,1629042953.054 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:55:53.494Z,1629042953.494 [Micromodem](INFO): Nmea in: $SNTTA,0.114697,,,,155554.25*4E

2021-08-15T15:55:53.538Z,1629042953.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 171.660004 m, bearing: 31.551239 deg, deltaT: 4.436713 s, approachRate: 0.000000 m/s, LOS rate: 2.377542 deg/s, posRepo size: 4
2021-08-15T15:55:53.540Z,1629042953.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.660004 m,
      bearing: 31.551239 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 2.377542 deg/s,
      cmd update: 9.510168 deg/s,
      cmd heading: 58.616098 deg,
      new cmd heading: 63.792950 deg.

2021-08-15T15:55:55.906Z,1629042955.906 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:55:56.296Z,1629042956.296 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:55:56.296Z,1629042956.296 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:55:56.297Z,1629042956.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:55:56.297Z,1629042956.297 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:55:56.689Z,1629042956.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2A,000,00D9E,189,80,80,5F,FF
2021-08-15T15:55:56.689Z,1629042956.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:55:56.689Z,1629042956.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:55:56.691Z,1629042956.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:55:57.101Z,1629042957.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:55:57.522Z,1629042957.522 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09B,000,00D26,186,80,80,89,FF
2021-08-15T15:55:57.522Z,1629042957.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:55:57.934Z,1629042957.934 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155558.69*58

2021-08-15T15:55:57.995Z,1629042957.995 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 164.459991 m, bearing: 27.852226 deg, deltaT: 4.473738 s, approachRate: -1.609395 m/s, LOS rate: -0.826828 deg/s, posRepo size: 4
2021-08-15T15:55:58.005Z,1629042958.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 164.459991 m,
      bearing: 27.852226 deg,
      approachRate: -1.609395 m/s,
      LOS rate: -0.826828 deg/s,
      cmd update: -3.307314 deg/s,
      cmd heading: 101.159694 deg,
      new cmd heading: 105.377653 deg.

2021-08-15T15:56:00.415Z,1629042960.415 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:56:00.725Z,1629042960.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:56:00.725Z,1629042960.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:56:00.725Z,1629042960.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:56:00.726Z,1629042960.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:56:01.129Z,1629042961.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09B,000,00D26,186,80,80,89,FF
2021-08-15T15:56:01.129Z,1629042961.129 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:56:01.129Z,1629042961.129 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:56:01.131Z,1629042961.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:56:01.540Z,1629042961.540 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:56:02.378Z,1629042962.378 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155603.13*58

2021-08-15T15:56:03.178Z,1629042963.178 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:56:04.765Z,1629042964.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,186,80,80,89,FF
2021-08-15T15:56:04.765Z,1629042964.765 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,186,80,80,89,FF
2021-08-15T15:56:04.765Z,1629042964.765 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T15:56:05.999Z,1629042965.999 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:56:06.417Z,1629042966.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:56:06.417Z,1629042966.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:56:06.417Z,1629042966.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:56:06.418Z,1629042966.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:56:06.798Z,1629042966.798 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,186,80,80,89,FF
2021-08-15T15:56:06.798Z,1629042966.798 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:56:06.801Z,1629042966.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:56:06.815Z,1629042966.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:56:07.197Z,1629042967.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:56:08.016Z,1629042968.016 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00CF4,189,80,80,2A,FF
2021-08-15T15:56:08.016Z,1629042968.016 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:56:08.019Z,1629042968.019 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155608.81*58

2021-08-15T15:56:08.501Z,1629042968.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 161.460007 m, bearing: 20.650140 deg, deltaT: 10.498506 s, approachRate: -0.285753 m/s, LOS rate: -0.686011 deg/s, posRepo size: 4
2021-08-15T15:56:08.503Z,1629042968.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.460007 m,
      bearing: 20.650140 deg,
      approachRate: -0.285753 m/s,
      LOS rate: -0.686011 deg/s,
      cmd update: -2.744042 deg/s,
      cmd heading: 66.471035 deg,
      new cmd heading: 64.985135 deg.

2021-08-15T15:56:10.869Z,1629042970.869 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:56:11.233Z,1629042971.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:56:11.233Z,1629042971.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:56:11.233Z,1629042971.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:56:11.234Z,1629042971.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:56:11.635Z,1629042971.635 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00CF4,189,80,80,2A,FF
2021-08-15T15:56:11.635Z,1629042971.635 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:56:11.636Z,1629042971.636 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:56:11.637Z,1629042971.637 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:56:12.044Z,1629042972.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:56:12.070Z,1629042972.070 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T15:56:12.454Z,1629042972.454 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00CDF,18A,80,80,2A,FF
2021-08-15T15:56:12.454Z,1629042972.454 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:56:12.908Z,1629042972.908 [Micromodem](INFO): Nmea in: $SNTTA,0.105578,,,,155613.63*4E

2021-08-15T15:56:12.928Z,1629042972.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 160.199997 m, bearing: 28.750322 deg, deltaT: 4.547815 s, approachRate: -0.277058 m/s, LOS rate: 1.781115 deg/s, posRepo size: 4
2021-08-15T15:56:12.930Z,1629042972.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.199997 m,
      bearing: 28.750322 deg,
      approachRate: -0.277058 m/s,
      LOS rate: 1.781115 deg/s,
      cmd update: 7.124461 deg/s,
      cmd heading: 53.969688 deg,
      new cmd heading: 53.057785 deg.

2021-08-15T15:56:13.306Z,1629042973.306 [PowerOnly](INFO): Powering down loadControl
2021-08-15T15:56:15.331Z,1629042975.331 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:56:15.705Z,1629042975.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:56:15.705Z,1629042975.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:56:15.705Z,1629042975.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:56:15.706Z,1629042975.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:56:16.101Z,1629042976.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00CDF,18A,80,80,2A,FF
2021-08-15T15:56:16.101Z,1629042976.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:56:16.102Z,1629042976.102 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:56:16.103Z,1629042976.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:56:16.536Z,1629042976.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:56:16.914Z,1629042976.914 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00CCF,18A,80,80,2A,FF
2021-08-15T15:56:16.914Z,1629042976.914 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:56:17.370Z,1629042977.370 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155618.10*51

2021-08-15T15:56:17.392Z,1629042977.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 159.240005 m, bearing: 16.474230 deg, deltaT: 4.380427 s, approachRate: -0.219155 m/s, LOS rate: -2.802487 deg/s, posRepo size: 4
2021-08-15T15:56:17.394Z,1629042977.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.240005 m,
      bearing: 16.474230 deg,
      approachRate: -0.219155 m/s,
      LOS rate: -2.802487 deg/s,
      cmd update: -11.209950 deg/s,
      cmd heading: 85.178653 deg,
      new cmd heading: 88.140235 deg.

2021-08-15T15:56:19.780Z,1629042979.780 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:56:20.152Z,1629042980.152 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:56:20.153Z,1629042980.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:56:20.154Z,1629042980.154 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:56:20.155Z,1629042980.155 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:56:20.576Z,1629042980.576 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00CCF,18A,80,80,2A,FF
2021-08-15T15:56:20.576Z,1629042980.576 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:56:20.577Z,1629042980.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:56:20.578Z,1629042980.578 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:56:20.965Z,1629042980.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:56:21.376Z,1629042981.376 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,446,000,00C9F,18A,80,80,2A,FF
2021-08-15T15:56:21.377Z,1629042981.377 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:56:21.801Z,1629042981.801 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155622.57*5B

2021-08-15T15:56:21.855Z,1629042981.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 156.360016 m, bearing: 20.375375 deg, deltaT: 4.458091 s, approachRate: -0.646014 m/s, LOS rate: 0.875071 deg/s, posRepo size: 4
2021-08-15T15:56:21.858Z,1629042981.858 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.360016 m,
      bearing: 20.375375 deg,
      approachRate: -0.646014 m/s,
      LOS rate: 0.875071 deg/s,
      cmd update: 3.500283 deg/s,
      cmd heading: 35.209931 deg,
      new cmd heading: 30.479276 deg.

2021-08-15T15:56:24.323Z,1629042984.323 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:56:24.603Z,1629042984.603 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:56:24.603Z,1629042984.603 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:56:24.603Z,1629042984.603 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:56:24.604Z,1629042984.604 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:56:25.001Z,1629042985.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
446,000,00C9F,18A,80,80,2A,FF
2021-08-15T15:56:25.001Z,1629042985.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:56:25.001Z,1629042985.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:56:25.003Z,1629042985.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:56:25.422Z,1629042985.422 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:56:25.811Z,1629042985.811 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,366,000,00C71,189,80,80,2A,FF
2021-08-15T15:56:25.811Z,1629042985.811 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:56:26.281Z,1629042986.281 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155627.00*5C

2021-08-15T15:56:26.363Z,1629042986.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 153.599991 m, bearing: 25.059503 deg, deltaT: 4.447021 s, approachRate: -0.620646 m/s, LOS rate: 1.053318 deg/s, posRepo size: 4
2021-08-15T15:56:26.369Z,1629042986.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.599991 m,
      bearing: 25.059503 deg,
      approachRate: -0.620646 m/s,
      LOS rate: 1.053318 deg/s,
      cmd update: 4.213273 deg/s,
      cmd heading: 50.762706 deg,
      new cmd heading: 52.465134 deg.

2021-08-15T15:56:28.714Z,1629042988.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:56:29.086Z,1629042989.086 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:56:29.087Z,1629042989.087 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:56:29.087Z,1629042989.087 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:56:29.093Z,1629042989.093 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:56:29.483Z,1629042989.483 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
366,000,00C71,189,80,80,2A,FF
2021-08-15T15:56:29.483Z,1629042989.483 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:56:29.483Z,1629042989.483 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:56:29.486Z,1629042989.486 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:56:29.872Z,1629042989.872 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:56:30.274Z,1629042990.274 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,325,000,00C71,189,80,80,2A,FF
2021-08-15T15:56:30.274Z,1629042990.274 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:56:30.709Z,1629042990.709 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155631.48*57

2021-08-15T15:56:30.744Z,1629042990.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 153.599991 m, bearing: 19.203719 deg, deltaT: 4.488242 s, approachRate: 0.000000 m/s, LOS rate: -1.304694 deg/s, posRepo size: 4
2021-08-15T15:56:30.746Z,1629042990.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.599991 m,
      bearing: 19.203719 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.304694 deg/s,
      cmd update: -5.218778 deg/s,
      cmd heading: 69.673135 deg,
      new cmd heading: 71.201289 deg.

2021-08-15T15:56:33.179Z,1629042993.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:56:33.553Z,1629042993.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:56:33.553Z,1629042993.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:56:33.553Z,1629042993.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:56:33.554Z,1629042993.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:56:33.953Z,1629042993.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
325,000,00C71,189,80,80,2A,FF
2021-08-15T15:56:33.953Z,1629042993.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:56:33.953Z,1629042993.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:56:33.955Z,1629042993.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:56:34.382Z,1629042994.382 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:56:34.762Z,1629042994.762 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AA,000,00C32,189,80,80,2A,FF
2021-08-15T15:56:34.762Z,1629042994.762 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:56:35.212Z,1629042995.212 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155635.95*53

2021-08-15T15:56:35.234Z,1629042995.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.820007 m, bearing: 22.655758 deg, deltaT: 4.437682 s, approachRate: -0.851792 m/s, LOS rate: 0.777892 deg/s, posRepo size: 4
2021-08-15T15:56:35.241Z,1629042995.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.820007 m,
      bearing: 22.655758 deg,
      approachRate: -0.851792 m/s,
      LOS rate: 0.777892 deg/s,
      cmd update: 3.111570 deg/s,
      cmd heading: 46.618000 deg,
      new cmd heading: 44.264545 deg.

2021-08-15T15:56:37.607Z,1629042997.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:56:37.993Z,1629042997.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:56:37.993Z,1629042997.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:56:37.994Z,1629042997.994 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:56:37.995Z,1629042997.995 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:56:38.417Z,1629042998.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AA,000,00C32,189,80,80,2A,FF
2021-08-15T15:56:38.417Z,1629042998.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:56:38.417Z,1629042998.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:56:38.419Z,1629042998.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:56:38.828Z,1629042998.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:56:39.230Z,1629042999.230 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2EB,000,00C12,188,80,80,AA,FF
2021-08-15T15:56:39.230Z,1629042999.230 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:56:39.661Z,1629042999.661 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155640.42*5B

2021-08-15T15:56:39.690Z,1629042999.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.899994 m, bearing: 20.730505 deg, deltaT: 4.472487 s, approachRate: -0.429294 m/s, LOS rate: -0.430466 deg/s, posRepo size: 4
2021-08-15T15:56:39.693Z,1629042999.693 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.899994 m,
      bearing: 20.730505 deg,
      approachRate: -0.429294 m/s,
      LOS rate: -0.430466 deg/s,
      cmd update: -1.721863 deg/s,
      cmd heading: 60.609508 deg,
      new cmd heading: 61.888901 deg.

2021-08-15T15:56:42.120Z,1629043002.120 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:56:42.461Z,1629043002.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:56:42.461Z,1629043002.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:56:42.461Z,1629043002.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:56:42.462Z,1629043002.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:56:42.857Z,1629043002.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2EB,000,00C12,188,80,80,AA,FF
2021-08-15T15:56:42.857Z,1629043002.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:56:42.858Z,1629043002.858 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:56:42.859Z,1629043002.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:56:43.268Z,1629043003.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:56:43.670Z,1629043003.670 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,305,000,00BEF,189,80,80,B0,FF
2021-08-15T15:56:43.670Z,1629043003.670 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:56:44.105Z,1629043004.105 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155644.86*57

2021-08-15T15:56:44.211Z,1629043004.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.800003 m, bearing: 21.958484 deg, deltaT: 4.404971 s, approachRate: -0.476732 m/s, LOS rate: 0.278771 deg/s, posRepo size: 4
2021-08-15T15:56:44.223Z,1629043004.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.800003 m,
      bearing: 21.958484 deg,
      approachRate: -0.476732 m/s,
      LOS rate: 0.278771 deg/s,
      cmd update: 1.115085 deg/s,
      cmd heading: 53.019378 deg,
      new cmd heading: 52.117475 deg.

2021-08-15T15:56:46.573Z,1629043006.573 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:56:46.917Z,1629043006.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:56:46.917Z,1629043006.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:56:46.917Z,1629043006.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:56:46.918Z,1629043006.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:56:47.313Z,1629043007.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
305,000,00BEF,189,80,80,B0,FF
2021-08-15T15:56:47.314Z,1629043007.314 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:56:47.314Z,1629043007.314 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:56:47.316Z,1629043007.316 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:56:47.713Z,1629043007.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:56:48.130Z,1629043008.130 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CE,000,00BCB,189,80,80,B0,FF
2021-08-15T15:56:48.130Z,1629043008.130 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:56:48.563Z,1629043008.563 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155649.31*56

2021-08-15T15:56:48.599Z,1629043008.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.639999 m, bearing: 23.066495 deg, deltaT: 4.561655 s, approachRate: -0.473513 m/s, LOS rate: 0.242897 deg/s, posRepo size: 4
2021-08-15T15:56:48.601Z,1629043008.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.639999 m,
      bearing: 23.066495 deg,
      approachRate: -0.473513 m/s,
      LOS rate: 0.242897 deg/s,
      cmd update: 0.971586 deg/s,
      cmd heading: 58.102349 deg,
      new cmd heading: 58.496352 deg.

2021-08-15T15:56:50.979Z,1629043010.979 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:56:51.354Z,1629043011.354 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:56:51.354Z,1629043011.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:56:51.354Z,1629043011.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:56:51.355Z,1629043011.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:56:51.753Z,1629043011.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CE,000,00BCB,189,80,80,B0,FF
2021-08-15T15:56:51.753Z,1629043011.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:56:51.753Z,1629043011.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:56:51.755Z,1629043011.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:56:52.225Z,1629043012.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:56:52.581Z,1629043012.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,35A,000,00BA2,189,80,80,B4,FF
2021-08-15T15:56:52.581Z,1629043012.581 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:56:53.014Z,1629043013.014 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155653.75*5D

2021-08-15T15:56:53.085Z,1629043013.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.180008 m, bearing: 20.176480 deg, deltaT: 4.375798 s, approachRate: -0.562181 m/s, LOS rate: -0.660454 deg/s, posRepo size: 4
2021-08-15T15:56:53.086Z,1629043013.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.180008 m,
      bearing: 20.176480 deg,
      approachRate: -0.562181 m/s,
      LOS rate: -0.660454 deg/s,
      cmd update: -2.641818 deg/s,
      cmd heading: 62.354757 deg,
      new cmd heading: 62.774309 deg.

2021-08-15T15:56:55.477Z,1629043015.477 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:56:55.819Z,1629043015.819 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:56:55.819Z,1629043015.819 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:56:55.819Z,1629043015.819 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:56:55.820Z,1629043015.820 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:56:56.253Z,1629043016.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
35A,000,00BA2,189,80,80,B4,FF
2021-08-15T15:56:56.253Z,1629043016.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:56:56.253Z,1629043016.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:56:56.255Z,1629043016.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:56:56.621Z,1629043016.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:56:57.039Z,1629043017.039 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3B3,000,00B79,188,80,80,B4,FF
2021-08-15T15:56:57.039Z,1629043017.039 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:56:57.443Z,1629043017.443 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155658.25*53

2021-08-15T15:56:57.522Z,1629043017.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.720001 m, bearing: 18.815583 deg, deltaT: 4.437018 s, approachRate: -0.554428 m/s, LOS rate: -0.306714 deg/s, posRepo size: 4
2021-08-15T15:56:57.529Z,1629043017.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.720001 m,
      bearing: 18.815583 deg,
      approachRate: -0.554428 m/s,
      LOS rate: -0.306714 deg/s,
      cmd update: -1.226857 deg/s,
      cmd heading: 50.624999 deg,
      new cmd heading: 49.410212 deg.

2021-08-15T15:56:59.897Z,1629043019.897 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:57:00.262Z,1629043020.262 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:57:00.262Z,1629043020.262 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:57:00.262Z,1629043020.262 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:57:00.263Z,1629043020.263 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:57:00.679Z,1629043020.679 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3B3,000,00B79,188,80,80,B4,FF
2021-08-15T15:57:00.679Z,1629043020.679 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:57:00.679Z,1629043020.679 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:57:00.681Z,1629043020.681 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:57:01.099Z,1629043021.099 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:57:01.915Z,1629043021.915 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155702.68*54

2021-08-15T15:57:02.705Z,1629043022.705 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:57:04.293Z,1629043024.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,188,80,80,B4,FF
2021-08-15T15:57:04.293Z,1629043024.293 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,188,80,80,B4,FF
2021-08-15T15:57:04.293Z,1629043024.293 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T15:57:05.559Z,1629043025.559 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:57:05.905Z,1629043025.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:57:05.905Z,1629043025.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:57:05.906Z,1629043025.906 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:57:05.906Z,1629043025.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:57:06.318Z,1629043026.318 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,188,80,80,B4,FF
2021-08-15T15:57:06.318Z,1629043026.318 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:57:06.318Z,1629043026.318 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:57:06.320Z,1629043026.320 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:57:06.721Z,1629043026.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:57:06.787Z,1629043026.787 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-15T15:57:06.787Z,1629043026.787 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-15T15:57:06.788Z,1629043026.788 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-15T15:57:06.788Z,1629043026.788 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T15:57:06.788Z,1629043026.788 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-15T15:57:06.788Z,1629043026.788 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-15T15:57:06.789Z,1629043026.789 [lineCaptureDepth:MicromodemComms:CheckIn:A](DEBUG): Initialize ReadDataComponent to sense platform_communications
2021-08-15T15:57:07.249Z,1629043027.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BC,000,00B19,189,80,80,81,FF
2021-08-15T15:57:07.249Z,1629043027.249 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:57:07.734Z,1629043027.734 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 10181961240000005D00000400260000000000000000151D80030C5669C08C799875F0596A8DD562E7804F063FF75481BE0E1927E4C0AF6F1E946000
2021-08-15T15:57:07.734Z,1629043027.734 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-15T15:57:07.856Z,1629043027.856 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-15T15:57:07.856Z,1629043027.856 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-15T15:57:07.856Z,1629043027.856 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-15T15:57:07.856Z,1629043027.856 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T15:57:07.856Z,1629043027.856 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-15T15:57:08.057Z,1629043028.057 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155708.32*51

2021-08-15T15:57:08.058Z,1629043028.058 [Micromodem](ERROR): Response from modem unexpected: $SNTTA,,,,,155708.32*51

2021-08-15T15:57:08.213Z,1629043028.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.960007 m, bearing: 14.872979 deg, deltaT: 10.767360 s, approachRate: -0.534950 m/s, LOS rate: -0.366163 deg/s, posRepo size: 4
2021-08-15T15:57:08.215Z,1629043028.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.960007 m,
      bearing: 14.872979 deg,
      approachRate: -0.534950 m/s,
      LOS rate: -0.366163 deg/s,
      cmd update: -1.464650 deg/s,
      cmd heading: 37.420011 deg,
      new cmd heading: 36.954970 deg.

2021-08-15T15:57:08.448Z,1629043028.448 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-15T15:57:08.841Z,1629043028.841 [Micromodem](INFO): Nmea in: $CADRQ,155709,1,10,0,64,1*79

2021-08-15T15:57:08.841Z,1629043028.841 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,10181961240000005D00000400260000000000000000151D80030C5669C08C799875F0596A8DD562E7804F063FF75481BE0E1927E4C0AF6F1E946000*4A

2021-08-15T15:57:09.257Z,1629043029.257 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-15T15:57:09.259Z,1629043029.259 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-15T15:57:10.590Z,1629043030.590 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:57:11.005Z,1629043031.005 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:57:11.005Z,1629043031.005 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:57:11.006Z,1629043031.006 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:57:11.007Z,1629043031.007 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:57:11.036Z,1629043031.036 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BC,000,00B19,189,80,80,81,FF
2021-08-15T15:57:11.037Z,1629043031.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:57:11.037Z,1629043031.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:57:11.038Z,1629043031.038 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-15T15:57:11.039Z,1629043031.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:57:11.410Z,1629043031.410 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,155710.860044,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5C

2021-08-15T15:57:11.411Z,1629043031.411 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210815,155710.860044,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5C

2021-08-15T15:57:11.434Z,1629043031.434 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:57:12.291Z,1629043032.291 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155713.04*5E

2021-08-15T15:57:13.130Z,1629043033.130 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:57:14.705Z,1629043034.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,189,80,80,81,FF
2021-08-15T15:57:14.705Z,1629043034.705 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,189,80,80,81,FF
2021-08-15T15:57:14.706Z,1629043034.706 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T15:57:15.950Z,1629043035.950 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:57:16.325Z,1629043036.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:57:16.325Z,1629043036.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:57:16.325Z,1629043036.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:57:16.326Z,1629043036.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:57:16.721Z,1629043036.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,189,80,80,81,FF
2021-08-15T15:57:16.721Z,1629043036.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:57:16.721Z,1629043036.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:57:16.723Z,1629043036.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:57:17.136Z,1629043037.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:57:17.537Z,1629043037.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,180,000,00A9F,185,80,80,AF,FF
2021-08-15T15:57:17.537Z,1629043037.537 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:57:17.965Z,1629043037.965 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155718.72*54

2021-08-15T15:57:18.001Z,1629043038.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.639999 m, bearing: 17.262716 deg, deltaT: 9.724629 s, approachRate: -0.752729 m/s, LOS rate: 0.245741 deg/s, posRepo size: 4
2021-08-15T15:57:18.003Z,1629043038.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.639999 m,
      bearing: 17.262716 deg,
      approachRate: -0.752729 m/s,
      LOS rate: 0.245741 deg/s,
      cmd update: 0.982963 deg/s,
      cmd heading: 23.170504 deg,
      new cmd heading: 22.517338 deg.

2021-08-15T15:57:20.427Z,1629043040.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:57:20.768Z,1629043040.768 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:57:20.768Z,1629043040.768 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:57:20.769Z,1629043040.769 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:57:20.769Z,1629043040.769 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:57:21.165Z,1629043041.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
180,000,00A9F,185,80,80,AF,FF
2021-08-15T15:57:21.165Z,1629043041.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:57:21.165Z,1629043041.165 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:57:21.167Z,1629043041.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:57:21.590Z,1629043041.590 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:57:22.009Z,1629043042.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,130,000,00A67,186,80,80,A9,FF
2021-08-15T15:57:22.010Z,1629043042.010 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:57:22.393Z,1629043042.393 [Micromodem](INFO): Nmea in: $SNTTA,0.103901,0.398314,,,155723.16*50

2021-08-15T15:57:22.442Z,1629043042.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.279999 m, bearing: 16.240933 deg, deltaT: 4.568067 s, approachRate: -0.735541 m/s, LOS rate: -0.223679 deg/s, posRepo size: 4
2021-08-15T15:57:22.445Z,1629043042.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.279999 m,
      bearing: 16.240933 deg,
      approachRate: -0.735541 m/s,
      LOS rate: -0.223679 deg/s,
      cmd update: -0.894718 deg/s,
      cmd heading: 27.660527 deg,
      new cmd heading: 27.974724 deg.

2021-08-15T15:57:24.826Z,1629043044.826 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:57:25.213Z,1629043045.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:57:25.213Z,1629043045.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:57:25.213Z,1629043045.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:57:25.214Z,1629043045.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:57:25.621Z,1629043045.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
130,000,00A67,186,80,80,A9,FF
2021-08-15T15:57:25.621Z,1629043045.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:57:25.621Z,1629043045.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:57:25.622Z,1629043045.622 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:57:26.038Z,1629043046.038 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:57:26.429Z,1629043046.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,179,000,00A32,185,80,80,9F,FF
2021-08-15T15:57:26.429Z,1629043046.429 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:57:26.549Z,1629043046.549 [CTD_Seabird](ERROR): Failed to parse device response: ,24.0697,4.78134,4589.91
2021-08-15T15:57:26.880Z,1629043046.880 [Micromodem](INFO): Nmea in: $SNTTA,,0.210596,,,155727.62*4E

2021-08-15T15:57:26.909Z,1629043046.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.100006 m, bearing: 13.923210 deg, deltaT: 4.411759 s, approachRate: -0.720799 m/s, LOS rate: -0.525351 deg/s, posRepo size: 4
2021-08-15T15:57:26.911Z,1629043046.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.100006 m,
      bearing: 13.923210 deg,
      approachRate: -0.720799 m/s,
      LOS rate: -0.525351 deg/s,
      cmd update: -2.101405 deg/s,
      cmd heading: 23.713125 deg,
      new cmd heading: 23.377710 deg.

2021-08-15T15:57:29.289Z,1629043049.289 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:57:29.665Z,1629043049.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:57:29.665Z,1629043049.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:57:29.665Z,1629043049.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:57:29.666Z,1629043049.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:57:30.058Z,1629043050.058 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
179,000,00A32,185,80,80,9F,FF
2021-08-15T15:57:30.059Z,1629043050.059 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:57:30.059Z,1629043050.059 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:57:30.065Z,1629043050.065 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:57:30.504Z,1629043050.504 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:57:30.881Z,1629043050.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,13D,000,009FA,186,80,80,B2,FF
2021-08-15T15:57:30.882Z,1629043050.882 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:57:31.330Z,1629043051.330 [Micromodem](INFO): Nmea in: $SNTTA,0.084692,,,,155732.06*40

2021-08-15T15:57:31.357Z,1629043051.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.739998 m, bearing: 15.742995 deg, deltaT: 4.363882 s, approachRate: -0.769959 m/s, LOS rate: 0.417011 deg/s, posRepo size: 4
2021-08-15T15:57:31.359Z,1629043051.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 115.739998 m,
      bearing: 15.742995 deg,
      approachRate: -0.769959 m/s,
      LOS rate: 0.417011 deg/s,
      cmd update: 1.668043 deg/s,
      cmd heading: 14.543009 deg,
      new cmd heading: 13.580438 deg.

2021-08-15T15:57:33.754Z,1629043053.754 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:57:34.156Z,1629043054.156 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:57:34.157Z,1629043054.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:57:34.158Z,1629043054.158 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:57:34.159Z,1629043054.159 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:57:34.377Z,1629043054.377 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.295177
2021-08-15T15:57:34.529Z,1629043054.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
13D,000,009FA,186,80,80,B2,FF
2021-08-15T15:57:34.529Z,1629043054.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:57:34.529Z,1629043054.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:57:34.531Z,1629043054.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:57:34.684Z,1629043054.684 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-15T15:57:34.685Z,1629043054.685 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-15T15:57:34.685Z,1629043054.685 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-15T15:57:34.685Z,1629043054.685 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T15:57:34.686Z,1629043054.686 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-15T15:57:35.221Z,1629043055.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:57:35.633Z,1629043055.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09B,000,009C4,186,80,80,60,FF
2021-08-15T15:57:35.633Z,1629043055.633 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:57:36.025Z,1629043056.025 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155736.53*5B

2021-08-15T15:57:36.109Z,1629043056.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.500008 m, bearing: 16.834588 deg, deltaT: 4.757714 s, approachRate: -0.680997 m/s, LOS rate: 0.229436 deg/s, posRepo size: 4
2021-08-15T15:57:36.111Z,1629043056.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.500008 m,
      bearing: 16.834588 deg,
      approachRate: -0.680997 m/s,
      LOS rate: 0.229436 deg/s,
      cmd update: 0.917745 deg/s,
      cmd heading: 22.478642 deg,
      new cmd heading: 23.232168 deg.

2021-08-15T15:57:38.256Z,1629043058.256 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:57:38.573Z,1629043058.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:57:38.573Z,1629043058.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:57:38.573Z,1629043058.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:57:38.574Z,1629043058.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:57:38.953Z,1629043058.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09B,000,009C4,186,80,80,60,FF
2021-08-15T15:57:38.953Z,1629043058.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:57:38.954Z,1629043058.954 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:57:38.955Z,1629043058.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:57:39.425Z,1629043059.425 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:57:39.835Z,1629043059.835 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,156,000,0098B,185,80,80,76,FF
2021-08-15T15:57:39.835Z,1629043059.835 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:57:40.265Z,1629043060.265 [Micromodem](INFO): Nmea in: $SNTTA,0.074998,,,,155740.95*45

2021-08-15T15:57:40.312Z,1629043060.312 [Radio_Surface](INFO): Powering down
2021-08-15T15:57:40.343Z,1629043060.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.079994 m, bearing: 12.049891 deg, deltaT: 4.199271 s, approachRate: -0.814430 m/s, LOS rate: -1.139411 deg/s, posRepo size: 4
2021-08-15T15:57:40.349Z,1629043060.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.079994 m,
      bearing: 12.049891 deg,
      approachRate: -0.814430 m/s,
      LOS rate: -1.139411 deg/s,
      cmd update: -4.557645 deg/s,
      cmd heading: 26.330332 deg,
      new cmd heading: 26.779994 deg.

2021-08-15T15:57:42.507Z,1629043062.507 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:57:42.805Z,1629043062.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:57:42.805Z,1629043062.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:57:42.805Z,1629043062.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:57:42.806Z,1629043062.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:57:43.217Z,1629043063.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
156,000,0098B,185,80,80,76,FF
2021-08-15T15:57:43.217Z,1629043063.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:57:43.217Z,1629043063.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:57:43.219Z,1629043063.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:57:43.786Z,1629043063.786 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,156,000,0098B,185,80,80,76,FF
2021-08-15T15:57:43.786Z,1629043063.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:57:43.793Z,1629043063.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:57:44.321Z,1629043064.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.079994 m, bearing: 13.950334 deg, deltaT: 4.001800 s, approachRate: 0.000000 m/s, LOS rate: 0.474897 deg/s, posRepo size: 4
2021-08-15T15:57:44.323Z,1629043064.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.079994 m,
      bearing: 13.950334 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.474897 deg/s,
      cmd update: 1.899588 deg/s,
      cmd heading: 8.117376 deg,
      new cmd heading: 5.965424 deg.

2021-08-15T15:57:44.593Z,1629043064.593 [Micromodem](INFO): Nmea in: $SNTTA,0.079321,,,,155745.22*49

2021-08-15T15:57:46.633Z,1629043066.633 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:57:47.013Z,1629043067.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:57:47.013Z,1629043067.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:57:47.013Z,1629043067.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:57:47.014Z,1629043067.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:57:47.406Z,1629043067.406 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
156,000,0098B,185,80,80,76,FF
2021-08-15T15:57:47.406Z,1629043067.406 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:57:47.406Z,1629043067.406 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:57:47.408Z,1629043067.408 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:57:47.928Z,1629043067.928 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:57:48.731Z,1629043068.731 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155749.40*51

2021-08-15T15:57:49.218Z,1629043069.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:57:50.874Z,1629043070.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,185,80,80,76,FF
2021-08-15T15:57:50.874Z,1629043070.874 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,185,80,80,76,FF
2021-08-15T15:57:50.874Z,1629043070.874 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T15:57:52.185Z,1629043072.185 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:57:52.486Z,1629043072.486 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:57:52.486Z,1629043072.486 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:57:52.486Z,1629043072.486 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:57:52.487Z,1629043072.487 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:57:52.905Z,1629043072.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,185,80,80,76,FF
2021-08-15T15:57:52.905Z,1629043072.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:57:52.905Z,1629043072.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:57:52.907Z,1629043072.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:57:53.300Z,1629043073.300 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:57:53.713Z,1629043073.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10F,000,008DD,186,80,80,A8,FF
2021-08-15T15:57:53.714Z,1629043073.714 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:57:54.205Z,1629043074.205 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155754.90*50

2021-08-15T15:57:54.278Z,1629043074.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.639999 m, bearing: 10.956579 deg, deltaT: 10.102896 s, approachRate: -1.033367 m/s, LOS rate: -0.296326 deg/s, posRepo size: 4
2021-08-15T15:57:54.285Z,1629043074.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.639999 m,
      bearing: 10.956579 deg,
      approachRate: -1.033367 m/s,
      LOS rate: -0.296326 deg/s,
      cmd update: -1.185306 deg/s,
      cmd heading: 27.324453 deg,
      new cmd heading: 27.929460 deg.

2021-08-15T15:57:56.468Z,1629043076.468 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:57:56.773Z,1629043076.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:57:56.773Z,1629043076.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:57:56.773Z,1629043076.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:57:56.774Z,1629043076.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:57:57.178Z,1629043077.178 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10F,000,008DD,186,80,80,A8,FF
2021-08-15T15:57:57.178Z,1629043077.178 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:57:57.178Z,1629043077.178 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:57:57.179Z,1629043077.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:57:57.581Z,1629043077.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:57:57.989Z,1629043077.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20F,000,008AA,187,80,80,96,FF
2021-08-15T15:57:57.989Z,1629043077.989 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:57:58.432Z,1629043078.432 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155759.18*5D

2021-08-15T15:57:58.518Z,1629043078.518 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.580002 m, bearing: 5.103592 deg, deltaT: 4.080116 s, approachRate: -0.749978 m/s, LOS rate: -1.434515 deg/s, posRepo size: 4
2021-08-15T15:57:58.524Z,1629043078.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.580002 m,
      bearing: 5.103592 deg,
      approachRate: -0.749978 m/s,
      LOS rate: -1.434515 deg/s,
      cmd update: -5.738059 deg/s,
      cmd heading: 22.494926 deg,
      new cmd heading: 21.921617 deg.

2021-08-15T15:58:00.658Z,1629043080.658 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:58:01.021Z,1629043081.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:58:01.021Z,1629043081.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:58:01.021Z,1629043081.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:58:01.022Z,1629043081.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:58:01.421Z,1629043081.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20F,000,008AA,187,80,80,96,FF
2021-08-15T15:58:01.421Z,1629043081.421 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:58:01.421Z,1629043081.421 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:58:01.423Z,1629043081.423 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:58:01.828Z,1629043081.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:58:02.261Z,1629043082.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EC,000,00876,186,80,80,AD,FF
2021-08-15T15:58:02.261Z,1629043082.261 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:58:02.797Z,1629043082.797 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155803.42*52

2021-08-15T15:58:02.845Z,1629043082.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.459999 m, bearing: 6.596976 deg, deltaT: 4.502974 s, approachRate: -0.692876 m/s, LOS rate: 0.331644 deg/s, posRepo size: 4
2021-08-15T15:58:02.846Z,1629043082.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 92.459999 m,
      bearing: 6.596976 deg,
      approachRate: -0.692876 m/s,
      LOS rate: 0.331644 deg/s,
      cmd update: 1.326575 deg/s,
      cmd heading: 356.623564 deg,
      new cmd heading: 355.010636 deg.

2021-08-15T15:58:05.247Z,1629043085.247 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:58:05.516Z,1629043085.516 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T15:58:05.597Z,1629043085.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:58:05.597Z,1629043085.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:58:05.597Z,1629043085.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:58:05.598Z,1629043085.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:58:06.015Z,1629043086.015 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EC,000,00876,186,80,80,AD,FF
2021-08-15T15:58:06.015Z,1629043086.015 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:58:06.015Z,1629043086.015 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:58:06.017Z,1629043086.017 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:58:06.427Z,1629043086.427 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:58:06.520Z,1629043086.520 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2021-08-15T15:58:06.919Z,1629043086.919 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,022,000,00838,185,80,80,89,FF
2021-08-15T15:58:06.919Z,1629043086.919 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:58:07.329Z,1629043087.329 [Micromodem](INFO): Nmea in: $SNTTA,0.075042,,,,155808.02*47

2021-08-15T15:58:07.369Z,1629043087.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.740005 m, bearing: 9.926506 deg, deltaT: 4.413637 s, approachRate: -0.842841 m/s, LOS rate: 0.754373 deg/s, posRepo size: 4
2021-08-15T15:58:07.371Z,1629043087.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.740005 m,
      bearing: 9.926506 deg,
      approachRate: -0.842841 m/s,
      LOS rate: 0.754373 deg/s,
      cmd update: 3.017493 deg/s,
      cmd heading: 2.472915 deg,
      new cmd heading: 3.008911 deg.

2021-08-15T15:58:09.470Z,1629043089.470 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:58:09.817Z,1629043089.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:58:09.817Z,1629043089.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:58:09.817Z,1629043089.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:58:09.818Z,1629043089.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:58:10.249Z,1629043090.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
022,000,00838,185,80,80,89,FF
2021-08-15T15:58:10.249Z,1629043090.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:58:10.250Z,1629043090.250 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:58:10.251Z,1629043090.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:58:10.632Z,1629043090.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:58:11.054Z,1629043091.054 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9D,000,00809,186,80,80,8C,FF
2021-08-15T15:58:11.055Z,1629043091.055 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:58:11.464Z,1629043091.464 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155812.28*5E

2021-08-15T15:58:11.520Z,1629043091.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.920006 m, bearing: 9.709379 deg, deltaT: 4.191222 s, approachRate: -0.672835 m/s, LOS rate: -0.051805 deg/s, posRepo size: 4
2021-08-15T15:58:11.522Z,1629043091.522 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 85.920006 m,
      bearing: 9.709379 deg,
      approachRate: -0.672835 m/s,
      LOS rate: -0.051805 deg/s,
      cmd update: -0.207221 deg/s,
      cmd heading: 15.120297 deg,
      new cmd heading: 16.243453 deg.

2021-08-15T15:58:13.093Z,1629043093.093 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-15T15:58:13.752Z,1629043093.752 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 10181961240000005D00000400260000000000000000151D80030C5669C08C799875F0596A8DD562E7804F063FF75481BE0E1927E4C0AF6F1E946000
2021-08-15T15:58:13.753Z,1629043093.753 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-15T15:58:13.807Z,1629043093.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:58:14.012Z,1629043094.012 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:58:14.012Z,1629043094.012 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:58:14.013Z,1629043094.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:58:14.014Z,1629043094.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:58:14.021Z,1629043094.021 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-15T15:58:14.417Z,1629043094.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9D,000,00809,186,80,80,8C,FF
2021-08-15T15:58:14.417Z,1629043094.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:58:14.418Z,1629043094.418 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:58:14.419Z,1629043094.419 [Micromodem](INFO): Nmea in: $CADRQ,155815,1,10,0,64,1*7B

2021-08-15T15:58:14.420Z,1629043094.420 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,10181961240000005D00000400260000000000000000151D80030C5669C08C799875F0596A8DD562E7804F063FF75481BE0E1927E4C0AF6F1E946000*4A

2021-08-15T15:58:14.842Z,1629043094.842 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-15T15:58:14.842Z,1629043094.842 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:58:15.250Z,1629043095.250 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-15T15:58:15.250Z,1629043095.250 [Micromodem](ERROR): Response from modem unexpected: $CATXP,60*74

2021-08-15T15:58:16.467Z,1629043096.467 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-15T15:58:16.468Z,1629043096.468 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-15T15:58:16.566Z,1629043096.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:58:16.871Z,1629043096.871 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,155816.439833,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5D

2021-08-15T15:58:16.871Z,1629043096.871 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210815,155816.439833,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*5D

2021-08-15T15:58:18.496Z,1629043098.496 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-15T15:58:18.498Z,1629043098.498 [Micromodem](INFO): Sent 52 bytes from file Logs/20210815T133512/Courier0036.lzma.parts
2021-08-15T15:58:18.498Z,1629043098.498 [Micromodem](INFO): Packets left to send: 0
2021-08-15T15:58:18.878Z,1629043098.878 [Micromodem](INFO): Nmea in: $CACST,6,0,20210815155819.368137,06,32767,45,0127,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,15.6,5.68,09,-2.68,-01,-0.63,38,14500,4000*46

2021-08-15T15:58:18.878Z,1629043098.878 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210815155819.368137,06,32767,45,0127,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,15.6,5.68,09,-2.68,-01,-0.63,38,14500,4000*46

2021-08-15T15:58:19.118Z,1629043099.118 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 101819612A0000005D00000400260000000000000000151D80030C5669C08C799856EEE2DD670351E9D019CF293DA504E5AE06F29CC790167F678900
2021-08-15T15:58:19.164Z,1629043099.164 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:58:20.169Z,1629043100.169 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.154847
2021-08-15T15:58:21.860Z,1629043101.860 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:58:22.245Z,1629043102.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:58:22.245Z,1629043102.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:58:22.246Z,1629043102.246 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:58:22.247Z,1629043102.247 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:58:22.641Z,1629043102.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9D,000,00809,186,80,80,8C,FF
2021-08-15T15:58:22.641Z,1629043102.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:58:22.641Z,1629043102.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:58:24.679Z,1629043104.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:58:25.871Z,1629043105.871 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:58:27.293Z,1629043107.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,123,000,00743,185,80,80,B1,FF
2021-08-15T15:58:27.294Z,1629043107.294 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:58:27.299Z,1629043107.299 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:58:27.312Z,1629043107.312 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-15T15:58:27.721Z,1629043107.721 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-15T15:58:27.758Z,1629043107.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.040001 m, bearing: 5.335567 deg, deltaT: 16.259781 s, approachRate: -0.730637 m/s, LOS rate: -0.268996 deg/s, posRepo size: 4
2021-08-15T15:58:27.761Z,1629043107.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.040001 m,
      bearing: 5.335567 deg,
      approachRate: -0.730637 m/s,
      LOS rate: -0.268996 deg/s,
      cmd update: -1.075983 deg/s,
      cmd heading: 11.752125 deg,
      new cmd heading: 11.677414 deg.

2021-08-15T15:58:28.144Z,1629043108.144 [Micromodem](INFO): Nmea in: $CADRQ,155829,1,10,0,64,1*74

2021-08-15T15:58:28.146Z,1629043108.146 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,101819612A0000005D00000400260000000000000000151D80030C5669C08C799856EEE2DD670351E9D019CF293DA504E5AE06F29CC790167F678900*42

2021-08-15T15:58:28.529Z,1629043108.529 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-15T15:58:28.913Z,1629043108.913 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-15T15:58:30.242Z,1629043110.242 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-15T15:58:30.309Z,1629043110.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:58:30.573Z,1629043110.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:58:30.573Z,1629043110.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:58:30.573Z,1629043110.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:58:30.574Z,1629043110.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:58:30.586Z,1629043110.586 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,155830.162888,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*52

2021-08-15T15:58:30.981Z,1629043110.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
123,000,00743,185,80,80,B1,FF
2021-08-15T15:58:30.981Z,1629043110.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:58:30.981Z,1629043110.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:58:30.983Z,1629043110.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:58:31.385Z,1629043111.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:58:32.246Z,1629043112.246 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155832.98*57

2021-08-15T15:58:32.275Z,1629043112.275 [RDI_Pathfinder](ERROR): only read -1 of 1 data item for water mass range.
2021-08-15T15:58:33.051Z,1629043113.051 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:58:33.837Z,1629043113.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F3,000,06589,186,80,80,8F,FF
2021-08-15T15:58:33.838Z,1629043113.838 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:58:34.306Z,1629043114.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1522.080078 m, bearing: 4.773572 deg, deltaT: 6.522947 s, approachRate: 221.991699 m/s, LOS rate: -0.086157 deg/s, posRepo size: 4
2021-08-15T15:58:34.308Z,1629043114.308 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1522.080078 m,
      bearing: 4.773572 deg,
      approachRate: 221.991699 m/s,
      LOS rate: -0.086157 deg/s,
      cmd update: -0.344626 deg/s,
      cmd heading: 4.725659 deg,
      new cmd heading: 4.319241 deg.

2021-08-15T15:58:36.758Z,1629043116.758 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:58:37.114Z,1629043117.114 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:58:37.114Z,1629043117.114 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:58:37.115Z,1629043117.115 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:58:37.115Z,1629043117.115 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:58:37.498Z,1629043117.498 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F3,000,06589,186,80,80,8F,FF
2021-08-15T15:58:37.498Z,1629043117.498 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:58:37.498Z,1629043117.498 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:58:37.500Z,1629043117.500 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:58:37.920Z,1629043117.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:58:38.309Z,1629043118.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C0,000,006AF,186,80,80,B1,FF
2021-08-15T15:58:38.309Z,1629043118.309 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:58:38.758Z,1629043118.758 [Micromodem](INFO): Nmea in: $SNTTA,0.076278,,,,155839.50*4A

2021-08-15T15:58:38.811Z,1629043118.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.159996 m, bearing: 3.047396 deg, deltaT: 4.467272 s, approachRate: -326.131927 m/s, LOS rate: -0.386405 deg/s, posRepo size: 4
2021-08-15T15:58:38.818Z,1629043118.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 65.159996 m,
      bearing: 3.047396 deg,
      approachRate: -326.131927 m/s,
      LOS rate: -0.386405 deg/s,
      cmd update: -1.545620 deg/s,
      cmd heading: 3.185246 deg,
      new cmd heading: 3.042928 deg.

2021-08-15T15:58:41.315Z,1629043121.315 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:58:41.658Z,1629043121.658 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:58:41.658Z,1629043121.658 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:58:41.658Z,1629043121.658 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:58:41.659Z,1629043121.659 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:58:42.085Z,1629043122.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C0,000,006AF,186,80,80,B1,FF
2021-08-15T15:58:42.085Z,1629043122.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:58:42.086Z,1629043122.086 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:58:42.087Z,1629043122.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:58:42.700Z,1629043122.700 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:58:43.129Z,1629043123.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07F,000,00675,186,80,80,BE,FF
2021-08-15T15:58:43.129Z,1629043123.129 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:58:43.525Z,1629043123.525 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155844.08*5F

2021-08-15T15:58:43.580Z,1629043123.580 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.680000 m, bearing: 2.374275 deg, deltaT: 4.785636 s, approachRate: -0.727175 m/s, LOS rate: -0.140654 deg/s, posRepo size: 4
2021-08-15T15:58:43.582Z,1629043123.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.680000 m,
      bearing: 2.374275 deg,
      approachRate: -0.727175 m/s,
      LOS rate: -0.140654 deg/s,
      cmd update: -0.562618 deg/s,
      cmd heading: 355.788412 deg,
      new cmd heading: 355.176303 deg.

2021-08-15T15:58:45.986Z,1629043125.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:58:46.333Z,1629043126.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:58:46.333Z,1629043126.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:58:46.333Z,1629043126.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:58:46.334Z,1629043126.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:58:46.905Z,1629043126.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07F,000,00675,186,80,80,BE,FF
2021-08-15T15:58:46.905Z,1629043126.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:58:46.905Z,1629043126.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:58:46.907Z,1629043126.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:58:47.404Z,1629043127.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:58:47.817Z,1629043127.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00E,000,00636,183,80,80,A1,FF
2021-08-15T15:58:47.817Z,1629043127.817 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:58:48.253Z,1629043128.253 [Micromodem](INFO): Nmea in: $SNTTA,0.052273,,,,155848.91*4C

2021-08-15T15:58:48.323Z,1629043128.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.900009 m, bearing: 2.795068 deg, deltaT: 4.695453 s, approachRate: -0.805032 m/s, LOS rate: 0.089617 deg/s, posRepo size: 4
2021-08-15T15:58:48.325Z,1629043128.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.900009 m,
      bearing: 2.795068 deg,
      approachRate: -0.805032 m/s,
      LOS rate: 0.089617 deg/s,
      cmd update: 0.358469 deg/s,
      cmd heading: 353.146638 deg,
      new cmd heading: 352.897014 deg.

2021-08-15T15:58:50.658Z,1629043130.658 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:58:51.060Z,1629043131.060 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:58:51.061Z,1629043131.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:58:51.062Z,1629043131.062 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:58:51.063Z,1629043131.063 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:58:51.441Z,1629043131.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00E,000,00636,183,80,80,A1,FF
2021-08-15T15:58:51.441Z,1629043131.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:58:51.441Z,1629043131.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:58:51.443Z,1629043131.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:58:51.864Z,1629043131.864 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:58:52.245Z,1629043132.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE3,000,005FF,185,80,80,A0,FF
2021-08-15T15:58:52.246Z,1629043132.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:58:52.681Z,1629043132.681 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155853.44*51

2021-08-15T15:58:52.725Z,1629043132.725 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.599998 m, bearing: 1.130887 deg, deltaT: 4.465893 s, approachRate: -0.738936 m/s, LOS rate: -0.372642 deg/s, posRepo size: 4
2021-08-15T15:58:52.726Z,1629043132.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.599998 m,
      bearing: 1.130887 deg,
      approachRate: -0.738936 m/s,
      LOS rate: -0.372642 deg/s,
      cmd update: -1.490569 deg/s,
      cmd heading: 354.744131 deg,
      new cmd heading: 354.883457 deg.

2021-08-15T15:58:55.380Z,1629043135.380 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:58:55.601Z,1629043135.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:58:55.601Z,1629043135.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:58:55.601Z,1629043135.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:58:55.602Z,1629043135.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:58:56.009Z,1629043136.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE3,000,005FF,185,80,80,A0,FF
2021-08-15T15:58:56.009Z,1629043136.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:58:56.009Z,1629043136.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:58:56.011Z,1629043136.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:58:56.401Z,1629043136.401 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:58:56.804Z,1629043136.804 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA7,000,005C8,184,80,80,86,FF
2021-08-15T15:58:56.805Z,1629043136.805 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:58:57.245Z,1629043137.245 [Micromodem](INFO): Nmea in: $SNTTA,0.043229,,,,155858.01*4B

2021-08-15T15:58:57.283Z,1629043137.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.299995 m, bearing: 3.258686 deg, deltaT: 4.482459 s, approachRate: -0.736204 m/s, LOS rate: 0.474695 deg/s, posRepo size: 4
2021-08-15T15:58:57.286Z,1629043137.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.299995 m,
      bearing: 3.258686 deg,
      approachRate: -0.736204 m/s,
      LOS rate: 0.474695 deg/s,
      cmd update: 1.898778 deg/s,
      cmd heading: 348.048603 deg,
      new cmd heading: 347.369081 deg.

2021-08-15T15:58:59.858Z,1629043139.858 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:59:00.063Z,1629043140.063 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:59:00.063Z,1629043140.063 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:59:00.069Z,1629043140.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:59:00.070Z,1629043140.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:59:00.441Z,1629043140.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA7,000,005C8,184,80,80,86,FF
2021-08-15T15:59:00.441Z,1629043140.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:59:00.441Z,1629043140.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:59:00.443Z,1629043140.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:59:00.852Z,1629043140.852 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:59:01.249Z,1629043141.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F86,000,0058F,187,80,80,A3,FF
2021-08-15T15:59:01.249Z,1629043141.249 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:59:01.685Z,1629043141.685 [Micromodem](INFO): Nmea in: $SNTTA,0.045411,,,,155902.44*4F

2021-08-15T15:59:01.912Z,1629043141.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.880001 m, bearing: 3.372684 deg, deltaT: 4.479870 s, approachRate: -0.763414 m/s, LOS rate: 0.025447 deg/s, posRepo size: 4
2021-08-15T15:59:01.914Z,1629043141.914 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.880001 m,
      bearing: 3.372684 deg,
      approachRate: -0.763414 m/s,
      LOS rate: 0.025447 deg/s,
      cmd update: 0.101787 deg/s,
      cmd heading: 356.554866 deg,
      new cmd heading: 357.703012 deg.

2021-08-15T15:59:04.213Z,1629043144.213 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:59:04.529Z,1629043144.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:59:04.529Z,1629043144.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:59:04.529Z,1629043144.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:59:04.530Z,1629043144.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:59:04.933Z,1629043144.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F86,000,0058F,187,80,80,A3,FF
2021-08-15T15:59:04.933Z,1629043144.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:59:04.933Z,1629043144.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:59:04.935Z,1629043144.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:59:05.351Z,1629043145.351 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:59:05.741Z,1629043145.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC9,000,00557,184,80,80,9B,FF
2021-08-15T15:59:05.742Z,1629043145.742 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:59:06.881Z,1629043146.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.520000 m, bearing: 3.635688 deg, deltaT: 4.488261 s, approachRate: -0.748620 m/s, LOS rate: 0.058598 deg/s, posRepo size: 4
2021-08-15T15:59:06.883Z,1629043146.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.520000 m,
      bearing: 3.635688 deg,
      approachRate: -0.748620 m/s,
      LOS rate: 0.058598 deg/s,
      cmd update: 0.234393 deg/s,
      cmd heading: 357.011307 deg,
      new cmd heading: 357.122119 deg.

2021-08-15T15:59:08.355Z,1629043148.355 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:59:08.669Z,1629043148.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:59:08.669Z,1629043148.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:59:08.669Z,1629043148.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:59:08.670Z,1629043148.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:59:09.145Z,1629043149.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC9,000,00557,184,80,80,9B,FF
2021-08-15T15:59:09.145Z,1629043149.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:59:09.145Z,1629043149.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:59:09.147Z,1629043149.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:59:11.186Z,1629043151.186 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:59:11.982Z,1629043151.982 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,184,80,80,9B,FF
2021-08-15T15:59:11.986Z,1629043151.986 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,184,80,80,9B,FF
2021-08-15T15:59:11.986Z,1629043151.986 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T15:59:14.010Z,1629043154.010 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:59:14.381Z,1629043154.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:59:14.381Z,1629043154.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:59:14.381Z,1629043154.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:59:14.382Z,1629043154.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:59:14.785Z,1629043154.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,184,80,80,9B,FF
2021-08-15T15:59:14.785Z,1629043154.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:59:14.785Z,1629043154.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:59:15.189Z,1629043155.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04B,000,00248,184,80,80,AC,FF
2021-08-15T15:59:15.189Z,1629043155.189 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2021-08-15T15:59:16.617Z,1629043156.617 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:59:19.418Z,1629043159.418 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:59:19.777Z,1629043159.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:59:19.777Z,1629043159.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:59:19.777Z,1629043159.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:59:19.778Z,1629043159.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:59:20.253Z,1629043160.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04B,000,00248,184,80,80,AC,FF
2021-08-15T15:59:20.253Z,1629043160.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:59:20.254Z,1629043160.254 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:59:20.255Z,1629043160.255 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:59:22.259Z,1629043162.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:59:23.253Z,1629043163.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,184,80,80,AC,FF
2021-08-15T15:59:23.253Z,1629043163.253 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,184,80,80,AC,FF
2021-08-15T15:59:23.254Z,1629043163.254 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T15:59:24.467Z,1629043164.467 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-15T15:59:25.128Z,1629043165.128 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 101819612A0000005D00000400260000000000000000151D80030C5669C08C799856EEE2DD670351E9D019CF293DA504E5AE06F29CC790167F678900
2021-08-15T15:59:25.184Z,1629043165.184 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:59:25.369Z,1629043165.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:59:25.369Z,1629043165.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:59:25.369Z,1629043165.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:59:25.370Z,1629043165.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:59:25.766Z,1629043165.766 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,184,80,80,AC,FF
2021-08-15T15:59:25.766Z,1629043165.766 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:59:25.766Z,1629043165.766 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:59:26.205Z,1629043166.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B4,000,00E59,186,80,80,72,FF
2021-08-15T15:59:26.206Z,1629043166.206 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:59:26.835Z,1629043166.835 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 182.879990 m, bearing: 359.159733 deg, deltaT: 20.525821 s, approachRate: 6.740777 m/s, LOS rate: -0.218064 deg/s, posRepo size: 4
2021-08-15T15:59:26.838Z,1629043166.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 182.879990 m,
      bearing: 359.159733 deg,
      approachRate: 6.740777 m/s,
      LOS rate: -0.218064 deg/s,
      cmd update: -0.872257 deg/s,
      cmd heading: 1.821011 deg,
      new cmd heading: 1.943569 deg.

2021-08-15T15:59:28.874Z,1629043168.874 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:59:29.048Z,1629043169.048 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:59:29.049Z,1629043169.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:59:29.049Z,1629043169.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:59:29.051Z,1629043169.051 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:59:29.441Z,1629043169.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B4,000,00E59,186,80,80,72,FF
2021-08-15T15:59:29.441Z,1629043169.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:59:29.441Z,1629043169.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:59:31.470Z,1629043171.470 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:59:31.542Z,1629043171.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:59:32.273Z,1629043172.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,72,FF
2021-08-15T15:59:32.274Z,1629043172.274 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,72,FF
2021-08-15T15:59:32.274Z,1629043172.274 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T15:59:32.678Z,1629043172.678 [Micromodem](FAULT): Failed to receive CAREV within timeout
2021-08-15T15:59:32.678Z,1629043172.678 [Micromodem] Hardware Fault, FailCount= 1
2021-08-15T15:59:32.678Z,1629043172.678 [Micromodem](ERROR): Hardware Fault
2021-08-15T15:59:32.739Z,1629043172.739 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-15T15:59:32.739Z,1629043172.739 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-15T15:59:32.739Z,1629043172.739 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-15T15:59:32.739Z,1629043172.739 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T15:59:32.739Z,1629043172.739 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-15T15:59:32.920Z,1629043172.920 [CBIT](ERROR): Hardware Fault in component: Micromodem
2021-08-15T15:59:33.114Z,1629043173.114 [Micromodem](INFO): Powering down
2021-08-15T15:59:34.188Z,1629043174.188 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:59:34.311Z,1629043174.311 [CBIT](INFO): Clearing failed state for component Micromodem
2021-08-15T15:59:34.311Z,1629043174.311 [Micromodem] No Fault, FailCount= 1
2021-08-15T15:59:34.509Z,1629043174.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:59:34.509Z,1629043174.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:59:34.509Z,1629043174.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:59:34.510Z,1629043174.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:59:34.913Z,1629043174.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,72,FF
2021-08-15T15:59:34.914Z,1629043174.914 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:59:34.914Z,1629043174.914 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:59:36.534Z,1629043176.534 [Micromodem](INFO): Powering up
2021-08-15T15:59:36.534Z,1629043176.534 [Micromodem](DEBUG): Initializing Micromodem.
2021-08-15T15:59:36.960Z,1629043176.960 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:59:39.790Z,1629043179.790 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:59:40.161Z,1629043180.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,72,FF
2021-08-15T15:59:40.161Z,1629043180.161 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,72,FF
2021-08-15T15:59:40.162Z,1629043180.162 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T15:59:41.778Z,1629043181.778 [Micromodem](INFO): Nmea in: $CATMG,2021-08-15T15:59:42.384305Z,RTC,RTC*5A

2021-08-15T15:59:41.779Z,1629043181.779 [Micromodem](ERROR): Response from modem unexpected: $CATMG,2021-08-15T15:59:42.384305Z,RTC,RTC*5A

2021-08-15T15:59:42.586Z,1629043182.586 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:59:42.592Z,1629043182.592 [RDI_Pathfinder](ERROR): No DVL communication! Re-initializing
2021-08-15T15:59:42.593Z,1629043182.593 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-15T15:59:42.593Z,1629043182.593 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-15T15:59:42.717Z,1629043182.717 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:59:42.840Z,1629043182.840 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-15T15:59:42.989Z,1629043182.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:59:42.989Z,1629043182.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:59:42.989Z,1629043182.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:59:42.990Z,1629043182.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:59:43.002Z,1629043183.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:59:43.025Z,1629043183.025 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-15T15:59:43.101Z,1629043183.101 [RDI_Pathfinder](INFO): Powering down
2021-08-15T15:59:43.404Z,1629043183.404 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,72,FF
2021-08-15T15:59:43.404Z,1629043183.404 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:59:43.405Z,1629043183.405 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:59:43.406Z,1629043183.406 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-15T15:59:43.407Z,1629043183.407 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2021-08-15T15:59:43.818Z,1629043183.818 [Micromodem](INFO): Nmea in: $CADRQ,155944,1,10,0,64,1*7E

2021-08-15T15:59:43.819Z,1629043183.819 [Micromodem](ERROR): CFG response from modem unexpected: $CADRQ,155944,1,10,0,64,1*7E

2021-08-15T15:59:44.004Z,1629043184.004 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-15T15:59:44.004Z,1629043184.004 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-15T15:59:44.202Z,1629043184.202 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2021-08-15T15:59:44.202Z,1629043184.202 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2021-08-15T15:59:44.615Z,1629043184.615 [Micromodem](INFO): Nmea in: $SNTTA,,,,,155944.58*5B

2021-08-15T15:59:44.615Z,1629043184.615 [Micromodem](ERROR): CFG response from modem unexpected: $SNTTA,,,,,155944.58*5B

2021-08-15T15:59:45.467Z,1629043185.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:59:45.854Z,1629043185.854 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2021-08-15T15:59:45.854Z,1629043185.854 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2021-08-15T15:59:46.256Z,1629043186.256 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2021-08-15T15:59:46.256Z,1629043186.256 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2021-08-15T15:59:46.700Z,1629043186.700 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,186,80,80,72,FF
2021-08-15T15:59:46.701Z,1629043186.701 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,186,80,80,72,FF
2021-08-15T15:59:46.701Z,1629043186.701 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T15:59:46.702Z,1629043186.702 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2021-08-15T15:59:46.702Z,1629043186.702 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2021-08-15T15:59:47.121Z,1629043187.121 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2021-08-15T15:59:47.122Z,1629043187.122 [Micromodem](INFO): Nmea out: $CCCFG,FC0,14500*47

2021-08-15T15:59:47.494Z,1629043187.494 [Micromodem](INFO): Nmea in: $CACFG,FC0,14500*45

2021-08-15T15:59:47.494Z,1629043187.494 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2021-08-15T15:59:47.918Z,1629043187.918 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2021-08-15T15:59:47.919Z,1629043187.919 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2021-08-15T15:59:48.025Z,1629043188.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:59:48.297Z,1629043188.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:59:48.297Z,1629043188.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:59:48.297Z,1629043188.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:59:48.298Z,1629043188.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:59:48.307Z,1629043188.307 [Micromodem](INFO): Nmea in: $CADQF,207,1*55

2021-08-15T15:59:48.308Z,1629043188.308 [Micromodem](ERROR): CFG response from modem unexpected: $CADQF,207,1*55

2021-08-15T15:59:48.707Z,1629043188.707 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,72,FF
2021-08-15T15:59:48.707Z,1629043188.707 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:59:48.707Z,1629043188.707 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:59:48.709Z,1629043188.709 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC,0*21

2021-08-15T15:59:48.709Z,1629043188.709 [Micromodem](ERROR): CFG response from modem unexpected: $CAMSG,BAD_CRC,0*21

2021-08-15T15:59:49.126Z,1629043189.126 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815155948.868892,05,109,14,0119,0150,246,00,00,00,01,0,-01,-01,-1,2,1,1,-999,-99.9,-9.99,-999,-9.99,207,-0.05,-999,25120,4000*64

2021-08-15T15:59:49.126Z,1629043189.126 [Micromodem](ERROR): CFG response from modem unexpected: $CACST,6,1,20210815155948.868892,05,109,14,0119,0150,246,00,00,00,01,0,-01,-01,-1,2,1,1,-999,-99.9,-9.99,-999,-9.99,207,-0.05,-999,25120,4000*64

2021-08-15T15:59:50.330Z,1629043190.330 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2021-08-15T15:59:50.331Z,1629043190.331 [Micromodem](INFO): Nmea out: $CCCLK,2021,08,15,15,59,51*45

2021-08-15T15:59:50.730Z,1629043190.730 [Micromodem](INFO): Nmea in: $CACLK,2021,8,15,15,59,51*77

2021-08-15T15:59:50.768Z,1629043190.768 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:59:50.768Z,1629043190.768 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-15T15:59:50.768Z,1629043190.768 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-15T15:59:50.768Z,1629043190.768 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-15T15:59:50.769Z,1629043190.769 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T15:59:50.769Z,1629043190.769 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-15T15:59:51.146Z,1629043191.146 [Micromodem](INFO): Nmea in: $CATMS,0,2021-08-15T15:59:52Z*74

2021-08-15T15:59:51.555Z,1629043191.555 [Micromodem](INFO): Nmea in: $CATMG,2021-08-15T15:59:52.028900Z,USER_CMD,RTC*10

2021-08-15T15:59:53.321Z,1629043193.321 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:59:54.503Z,1629043194.503 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.205350
2021-08-15T15:59:56.179Z,1629043196.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T15:59:56.509Z,1629043196.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T15:59:56.509Z,1629043196.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T15:59:56.509Z,1629043196.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T15:59:56.510Z,1629043196.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T15:59:56.903Z,1629043196.903 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,186,80,80,72,FF
2021-08-15T15:59:56.904Z,1629043196.904 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T15:59:56.904Z,1629043196.904 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T15:59:56.906Z,1629043196.906 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T15:59:57.510Z,1629043197.510 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,034,000,002E7,184,80,80,72,FF
2021-08-15T15:59:57.510Z,1629043197.510 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T15:59:57.542Z,1629043197.542 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T15:59:57.944Z,1629043197.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.080001 m, bearing: 342.472023 deg, deltaT: 31.265428 s, approachRate: -5.622824 m/s, LOS rate: -0.533743 deg/s, posRepo size: 4
2021-08-15T15:59:57.945Z,1629043197.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 7.08 m.
2021-08-15T15:59:57.947Z,1629043197.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.080001 m,
      bearing: 342.472023 deg,
      approachRate: -5.622824 m/s,
      LOS rate: -0.533743 deg/s,
      cmd update: -2.134973 deg/s,
      cmd heading: 334.541205 deg,
      new cmd heading: 334.229388 deg.

2021-08-15T15:59:58.401Z,1629043198.401 [Micromodem](INFO): Nmea in: $SNTTA,0.027228,,,,155957.90*4E

2021-08-15T15:59:58.428Z,1629043198.428 [PowerOnly](INFO): Powering up loadControl
2021-08-15T15:59:58.496Z,1629043198.496 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T15:59:58.497Z,1629043198.497 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T15:59:58.497Z,1629043198.497 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T15:59:58.497Z,1629043198.497 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T15:59:58.498Z,1629043198.498 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T15:59:58.498Z,1629043198.498 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T15:59:58.805Z,1629043198.805 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T15:59:58.805Z,1629043198.805 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T15:59:58.805Z,1629043198.805 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T15:59:58.805Z,1629043198.805 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T15:59:59.128Z,1629043199.128 [DDM](ERROR): Could not parse whisker state
2021-08-15T16:00:00.552Z,1629043200.552 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:00:00.801Z,1629043200.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:00:00.801Z,1629043200.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:00:00.801Z,1629043200.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:00:00.802Z,1629043200.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:00:01.209Z,1629043201.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
034,000,002E7,184,80,80,72,FF
2021-08-15T16:00:01.209Z,1629043201.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:00:01.209Z,1629043201.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:00:01.211Z,1629043201.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:00:01.617Z,1629043201.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:00:02.022Z,1629043202.022 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC0,000,002C6,185,80,80,74,FF
2021-08-15T16:00:02.046Z,1629043202.046 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:00:02.144Z,1629043202.144 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:00:02.462Z,1629043202.462 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160002.21*58

2021-08-15T16:00:02.529Z,1629043202.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.100000 m, bearing: 341.759307 deg, deltaT: 4.554316 s, approachRate: -0.434753 m/s, LOS rate: -0.156493 deg/s, posRepo size: 4
2021-08-15T16:00:02.530Z,1629043202.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 5.10 m.
2021-08-15T16:00:02.532Z,1629043202.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.100000 m,
      bearing: 341.759307 deg,
      approachRate: -0.434753 m/s,
      LOS rate: -0.156493 deg/s,
      cmd update: -0.625970 deg/s,
      cmd heading: 324.835681 deg,
      new cmd heading: 323.988250 deg.

2021-08-15T16:00:05.050Z,1629043205.050 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:00:05.385Z,1629043205.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:00:05.385Z,1629043205.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:00:05.385Z,1629043205.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:00:05.386Z,1629043205.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:00:05.769Z,1629043205.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC0,000,002C6,185,80,80,74,FF
2021-08-15T16:00:05.769Z,1629043205.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:00:05.769Z,1629043205.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:00:05.771Z,1629043205.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:00:06.382Z,1629043206.382 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08A,000,002C6,186,80,80,74,FF
2021-08-15T16:00:06.382Z,1629043206.382 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:00:06.411Z,1629043206.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:00:06.481Z,1629043206.481 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:00:06.823Z,1629043206.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.100000 m, bearing: 325.496900 deg, deltaT: 4.337072 s, approachRate: 0.000000 m/s, LOS rate: -3.749628 deg/s, posRepo size: 4
2021-08-15T16:00:06.824Z,1629043206.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 5.10 m.
2021-08-15T16:00:06.826Z,1629043206.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.100000 m,
      bearing: 325.496900 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -3.749628 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 322.117489 deg,
      new cmd heading: 321.899323 deg.

2021-08-15T16:00:07.181Z,1629043207.181 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160006.76*5E

2021-08-15T16:00:07.222Z,1629043207.222 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T16:00:09.245Z,1629043209.245 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:00:09.593Z,1629043209.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:00:09.593Z,1629043209.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:00:09.593Z,1629043209.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:00:09.594Z,1629043209.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:00:10.017Z,1629043210.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08A,000,002C6,186,80,80,74,FF
2021-08-15T16:00:10.017Z,1629043210.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:00:10.017Z,1629043210.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:00:10.020Z,1629043210.020 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:00:10.416Z,1629043210.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:00:10.869Z,1629043210.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AD,000,002F6,186,80,80,55,FF
2021-08-15T16:00:10.869Z,1629043210.869 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:00:10.918Z,1629043210.918 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:00:11.317Z,1629043211.317 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160011.02*5B

2021-08-15T16:00:11.354Z,1629043211.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.979999 m, bearing: 315.281860 deg, deltaT: 4.437368 s, approachRate: 0.649033 m/s, LOS rate: -2.302049 deg/s, posRepo size: 4
2021-08-15T16:00:11.355Z,1629043211.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 7.98 m.
2021-08-15T16:00:11.355Z,1629043211.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 7.98 m.
2021-08-15T16:00:11.355Z,1629043211.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-15T16:00:11.369Z,1629043211.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.979999 m,
      bearing: 315.281860 deg,
      approachRate: 0.649033 m/s,
      LOS rate: -2.302049 deg/s,
      cmd update: -9.208197 deg/s,
      cmd heading: 269.170847 deg,
      new cmd heading: 263.565983 deg.

2021-08-15T16:00:13.333Z,1629043213.333 [Micromodem](INFO): Nmea in: $CAERR,160013,DATA_TIMEOUT,1*4B

2021-08-15T16:00:13.766Z,1629043213.766 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:00:14.129Z,1629043214.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:00:14.129Z,1629043214.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:00:14.129Z,1629043214.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:00:14.130Z,1629043214.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:00:14.537Z,1629043214.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AD,000,002F6,186,80,80,55,FF
2021-08-15T16:00:14.537Z,1629043214.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:00:14.537Z,1629043214.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:00:14.539Z,1629043214.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:00:14.936Z,1629043214.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:00:15.333Z,1629043215.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BD3,000,00306,189,80,80,38,FF
2021-08-15T16:00:15.334Z,1629043215.334 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:00:15.365Z,1629043215.365 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:00:15.765Z,1629043215.765 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160015.54*5C

2021-08-15T16:00:15.812Z,1629043215.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.939999 m, bearing: 2.586185 deg, deltaT: 4.446932 s, approachRate: 0.215879 m/s, LOS rate: 10.637518 deg/s, posRepo size: 4
2021-08-15T16:00:15.828Z,1629043215.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.939999 m,
      bearing: 2.586185 deg,
      approachRate: 0.215879 m/s,
      LOS rate: 10.637518 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 227.961485 deg,
      new cmd heading: 223.861876 deg.

2021-08-15T16:00:16.592Z,1629043216.592 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T16:00:18.273Z,1629043218.273 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:00:18.597Z,1629043218.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:00:18.597Z,1629043218.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:00:18.597Z,1629043218.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:00:18.598Z,1629043218.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:00:19.008Z,1629043219.008 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BD3,000,00306,189,80,80,38,FF
2021-08-15T16:00:19.008Z,1629043219.008 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:00:19.008Z,1629043219.008 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:00:19.010Z,1629043219.010 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:00:19.561Z,1629043219.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:00:19.961Z,1629043219.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,011,000,0032E,184,80,80,45,FF
2021-08-15T16:00:19.961Z,1629043219.961 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:00:20.061Z,1629043220.061 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:00:20.377Z,1629043220.377 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160020.01*5A

2021-08-15T16:00:20.449Z,1629043220.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.339997 m, bearing: 288.299225 deg, deltaT: 4.695413 s, approachRate: 0.511137 m/s, LOS rate: -15.821177 deg/s, posRepo size: 4
2021-08-15T16:00:20.450Z,1629043220.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.821177 deg/s. Setting heading cmd to target bearing of 288.299225deg and heading rate command to 0 deg/s.
2021-08-15T16:00:21.244Z,1629043221.244 [DDM](ERROR): Could not parse whisker state
2021-08-15T16:00:22.808Z,1629043222.808 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:00:23.191Z,1629043223.191 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:00:23.191Z,1629043223.191 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:00:23.191Z,1629043223.191 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:00:23.192Z,1629043223.192 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:00:23.589Z,1629043223.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
011,000,0032E,184,80,80,45,FF
2021-08-15T16:00:23.589Z,1629043223.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:00:23.589Z,1629043223.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:00:23.591Z,1629043223.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:00:24.104Z,1629043224.104 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:00:24.521Z,1629043224.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7E,000,00351,186,80,80,78,FF
2021-08-15T16:00:24.521Z,1629043224.521 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:00:24.667Z,1629043224.667 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:00:24.927Z,1629043224.927 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160024.59*53

2021-08-15T16:00:24.987Z,1629043224.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.439999 m, bearing: 294.408447 deg, deltaT: 4.606044 s, approachRate: 0.455923 m/s, LOS rate: 1.326349 deg/s, posRepo size: 4
2021-08-15T16:00:24.988Z,1629043224.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 13.44 m. Rolling out.
2021-08-15T16:00:24.988Z,1629043224.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-15T16:00:27.416Z,1629043227.416 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:00:27.805Z,1629043227.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:00:27.805Z,1629043227.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:00:27.805Z,1629043227.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:00:27.806Z,1629043227.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:00:28.185Z,1629043228.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7E,000,00351,186,80,80,78,FF
2021-08-15T16:00:28.185Z,1629043228.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:00:28.186Z,1629043228.186 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:00:28.187Z,1629043228.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:00:28.593Z,1629043228.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:00:29.004Z,1629043229.004 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EC,000,00374,186,80,80,A3,FF
2021-08-15T16:00:29.005Z,1629043229.005 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:00:29.035Z,1629043229.035 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:00:29.453Z,1629043229.453 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160029.19*5A

2021-08-15T16:00:29.524Z,1629043229.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.540001 m, bearing: 255.984616 deg, deltaT: 4.368994 s, approachRate: 0.480660 m/s, LOS rate: -8.794663 deg/s, posRepo size: 4
2021-08-15T16:00:31.543Z,1629043231.543 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:00:31.881Z,1629043231.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:00:31.881Z,1629043231.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:00:31.882Z,1629043231.882 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:00:31.883Z,1629043231.883 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:00:32.314Z,1629043232.314 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EC,000,00374,186,80,80,A3,FF
2021-08-15T16:00:32.314Z,1629043232.314 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:00:32.314Z,1629043232.314 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:00:32.315Z,1629043232.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:00:32.869Z,1629043232.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:00:33.265Z,1629043233.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1F,000,00390,187,80,80,6F,FF
2021-08-15T16:00:33.266Z,1629043233.266 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:00:33.359Z,1629043233.359 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:00:33.685Z,1629043233.685 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160033.31*5B

2021-08-15T16:00:33.734Z,1629043233.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.219997 m, bearing: 307.058121 deg, deltaT: 4.323142 s, approachRate: 0.388605 m/s, LOS rate: 11.813978 deg/s, posRepo size: 4
2021-08-15T16:00:36.131Z,1629043236.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:00:36.488Z,1629043236.488 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:00:36.488Z,1629043236.488 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:00:36.489Z,1629043236.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:00:36.489Z,1629043236.489 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:00:36.901Z,1629043236.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1F,000,00390,187,80,80,6F,FF
2021-08-15T16:00:36.902Z,1629043236.902 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:00:36.902Z,1629043236.902 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:00:36.903Z,1629043236.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:00:37.502Z,1629043237.502 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDC,000,00390,187,80,80,6F,FF
2021-08-15T16:00:37.503Z,1629043237.503 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:00:37.509Z,1629043237.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:00:37.610Z,1629043237.610 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:00:37.940Z,1629043237.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.219997 m, bearing: 312.498175 deg, deltaT: 4.251245 s, approachRate: 0.000000 m/s, LOS rate: 1.279638 deg/s, posRepo size: 4
2021-08-15T16:00:38.370Z,1629043238.370 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160037.90*54

2021-08-15T16:00:40.544Z,1629043240.544 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:00:40.793Z,1629043240.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:00:40.793Z,1629043240.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:00:40.793Z,1629043240.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:00:40.794Z,1629043240.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:00:41.197Z,1629043241.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDC,000,00390,187,80,80,6F,FF
2021-08-15T16:00:41.197Z,1629043241.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:00:41.197Z,1629043241.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:00:41.199Z,1629043241.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:00:41.612Z,1629043241.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:00:41.624Z,1629043241.624 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-15T16:00:42.003Z,1629043242.003 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1F,000,003D2,187,80,80,69,FF
2021-08-15T16:00:42.004Z,1629043242.004 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:00:42.267Z,1629043242.267 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 101819612A0000005D00000400260000000000000000151D80030C5669C08C799856EEE2DD670351E9D019CF293DA504E5AE06F29CC790167F678900
2021-08-15T16:00:42.292Z,1629043242.292 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-15T16:00:42.442Z,1629043242.442 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:00:42.657Z,1629043242.657 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-15T16:00:42.719Z,1629043242.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.179998 m, bearing: 306.703498 deg, deltaT: 4.831858 s, approachRate: 0.819561 m/s, LOS rate: -1.199265 deg/s, posRepo size: 4
2021-08-15T16:00:43.058Z,1629043243.058 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160042.19*57

2021-08-15T16:00:44.361Z,1629043244.361 [Micromodem](INFO): Nmea in: $CADRQ,160043,1,10,0,64,1*76

2021-08-15T16:00:44.362Z,1629043244.362 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,101819612A0000005D00000400260000000000000000151D80030C5669C08C799856EEE2DD670351E9D019CF293DA504E5AE06F29CC790167F678900*42

2021-08-15T16:00:44.719Z,1629043244.719 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-15T16:00:45.122Z,1629043245.122 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-15T16:00:45.178Z,1629043245.178 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:00:45.529Z,1629043245.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:00:45.529Z,1629043245.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:00:45.529Z,1629043245.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:00:45.530Z,1629043245.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:00:46.074Z,1629043246.074 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1F,000,003D2,187,80,80,69,FF
2021-08-15T16:00:46.074Z,1629043246.074 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:00:46.074Z,1629043246.074 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:00:46.076Z,1629043246.076 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:00:46.479Z,1629043246.479 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-15T16:00:46.479Z,1629043246.479 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-15T16:00:46.875Z,1629043246.875 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,160045.378856,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*54

2021-08-15T16:00:46.875Z,1629043246.875 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210815,160045.378856,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*54

2021-08-15T16:00:47.718Z,1629043247.718 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:00:48.506Z,1629043248.506 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-15T16:00:48.507Z,1629043248.507 [Micromodem](INFO): Sent 52 bytes from file Logs/20210815T133512/Courier0042.lzma.parts
2021-08-15T16:00:48.508Z,1629043248.508 [Micromodem](INFO): Packets left to send: 0
2021-08-15T16:00:48.902Z,1629043248.902 [Micromodem](INFO): Nmea in: $CACST,6,0,20210815160048.241829,06,28194,44,0091,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,18.9,1.70,04,1.30,-01,0.22,47,14500,4000*4D

2021-08-15T16:00:48.902Z,1629043248.902 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210815160048.241829,06,28194,44,0091,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,18.9,1.70,04,1.30,-01,0.22,47,14500,4000*4D

2021-08-15T16:00:49.123Z,1629043249.123 [Micromodem](INFO): Outgoing frame #1, 59 bytes: 101819612D0000005D00000400260000000000000000151D80030C5669C08C799872B55BC135866FAC03D61DCB7BDC625AA71738E93EC68AF83100
2021-08-15T16:00:50.438Z,1629043250.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:00:51.856Z,1629043251.856 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.325883
2021-08-15T16:00:53.274Z,1629043253.274 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:00:53.641Z,1629043253.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:00:53.641Z,1629043253.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:00:53.641Z,1629043253.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:00:53.642Z,1629043253.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:00:54.053Z,1629043254.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1F,000,003D2,187,80,80,69,FF
2021-08-15T16:00:54.053Z,1629043254.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:00:54.053Z,1629043254.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:00:56.143Z,1629043256.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:00:57.354Z,1629043257.354 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:00:57.769Z,1629043257.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:00:57.780Z,1629043257.780 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-15T16:00:58.164Z,1629043258.164 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7B,000,00421,186,80,80,93,FF
2021-08-15T16:00:58.166Z,1629043258.166 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:00:58.168Z,1629043258.168 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-15T16:00:58.291Z,1629043258.291 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:00:58.611Z,1629043258.611 [Micromodem](INFO): Nmea in: $CADRQ,160058,1,10,0,64,1*7C

2021-08-15T16:00:58.611Z,1629043258.611 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,101819612D0000005D00000400260000000000000000151D80030C5669C08C799872B55BC135866FAC03D61DCB7BDC625AA71738E93EC68AF83100*40

2021-08-15T16:00:58.746Z,1629043258.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.919998 m, bearing: 298.812799 deg, deltaT: 15.854222 s, approachRate: 0.298974 m/s, LOS rate: -0.497703 deg/s, posRepo size: 4
2021-08-15T16:00:58.993Z,1629043258.993 [Micromodem](INFO): Nmea in: $SNTTA,,0.055414,,,160058.35*4D

2021-08-15T16:00:58.994Z,1629043258.994 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,,0.055414,,,160058.35*4D

2021-08-15T16:01:00.229Z,1629043260.229 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,59*47

2021-08-15T16:01:00.661Z,1629043260.661 [Micromodem](INFO): Nmea in: $CATXP,59*7E

2021-08-15T16:01:01.030Z,1629043261.030 [Micromodem](INFO): Nmea in: $CATXF,59*68

2021-08-15T16:01:01.048Z,1629043261.048 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:01:01.430Z,1629043261.430 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:01:01.430Z,1629043261.430 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:01:01.430Z,1629043261.430 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:01:01.431Z,1629043261.431 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:01:01.443Z,1629043261.443 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,160059.628824,3,0,200,4000,14500,1,1,10,1,1,1,3,59,14500*56

2021-08-15T16:01:01.833Z,1629043261.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7B,000,00421,186,80,80,93,FF
2021-08-15T16:01:01.833Z,1629043261.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:01:01.833Z,1629043261.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:01:01.835Z,1629043261.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:01:02.275Z,1629043262.275 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:01:03.070Z,1629043263.070 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160102.83*51

2021-08-15T16:01:03.783Z,1629043263.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:01:04.773Z,1629043264.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8D,000,06599,187,80,80,92,FF
2021-08-15T16:01:04.774Z,1629043264.774 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:01:04.878Z,1629043264.878 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:01:05.244Z,1629043265.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1523.040039 m, bearing: 297.365481 deg, deltaT: 6.581518 s, approachRate: 227.473358 m/s, LOS rate: -0.219906 deg/s, posRepo size: 4
2021-08-15T16:01:05.841Z,1629043265.841 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T16:01:05.841Z,1629043265.841 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T16:01:05.842Z,1629043265.842 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T16:01:05.845Z,1629043265.845 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T16:01:05.845Z,1629043265.845 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T16:01:05.846Z,1629043265.846 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T16:01:06.080Z,1629043266.080 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T16:01:06.081Z,1629043266.081 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T16:01:06.081Z,1629043266.081 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T16:01:06.081Z,1629043266.081 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T16:01:07.670Z,1629043267.670 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:01:08.037Z,1629043268.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:01:08.037Z,1629043268.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:01:08.037Z,1629043268.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:01:08.038Z,1629043268.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:01:08.453Z,1629043268.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8D,000,06599,187,80,80,92,FF
2021-08-15T16:01:08.453Z,1629043268.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:01:08.453Z,1629043268.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:01:08.455Z,1629043268.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:01:08.856Z,1629043268.856 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:01:09.257Z,1629043269.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F83,000,00456,186,80,80,92,FF
2021-08-15T16:01:09.257Z,1629043269.257 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:01:09.697Z,1629043269.697 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160109.45*50

2021-08-15T16:01:09.736Z,1629043269.736 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.099998 m, bearing: 297.704341 deg, deltaT: 4.411978 s, approachRate: -338.610046 m/s, LOS rate: 0.076804 deg/s, posRepo size: 4
2021-08-15T16:01:10.409Z,1629043270.409 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T16:01:10.410Z,1629043270.410 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T16:01:10.410Z,1629043270.410 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T16:01:10.410Z,1629043270.410 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T16:01:10.410Z,1629043270.410 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T16:01:10.410Z,1629043270.410 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T16:01:10.618Z,1629043270.618 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T16:01:10.618Z,1629043270.618 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T16:01:10.618Z,1629043270.618 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T16:01:10.619Z,1629043270.619 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T16:01:11.871Z,1629043271.871 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:01:12.197Z,1629043272.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:01:12.197Z,1629043272.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:01:12.197Z,1629043272.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:01:12.198Z,1629043272.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:01:12.785Z,1629043272.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F83,000,00456,186,80,80,92,FF
2021-08-15T16:01:12.786Z,1629043272.786 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:01:12.786Z,1629043272.786 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:01:12.787Z,1629043272.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:01:13.189Z,1629043273.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:01:13.597Z,1629043273.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F36,000,0046F,186,80,80,9C,FF
2021-08-15T16:01:13.598Z,1629043273.598 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:01:13.686Z,1629043273.686 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:01:14.017Z,1629043274.017 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160113.78*55

2021-08-15T16:01:14.040Z,1629043274.040 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.600000 m, bearing: 301.231970 deg, deltaT: 4.395749 s, approachRate: 0.341239 m/s, LOS rate: 0.802509 deg/s, posRepo size: 4
2021-08-15T16:01:16.732Z,1629043276.732 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:01:16.901Z,1629043276.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:01:16.901Z,1629043276.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:01:16.901Z,1629043276.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:01:16.902Z,1629043276.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:01:17.297Z,1629043277.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F36,000,0046F,186,80,80,9C,FF
2021-08-15T16:01:17.297Z,1629043277.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:01:17.297Z,1629043277.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:01:17.299Z,1629043277.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:01:17.704Z,1629043277.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:01:18.114Z,1629043278.114 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF3,000,00481,186,80,80,82,FF
2021-08-15T16:01:18.114Z,1629043278.114 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:01:18.155Z,1629043278.155 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:01:18.557Z,1629043278.557 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160118.30*52

2021-08-15T16:01:18.822Z,1629043278.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.679998 m, bearing: 305.838058 deg, deltaT: 4.469564 s, approachRate: 0.241634 m/s, LOS rate: 1.030545 deg/s, posRepo size: 4
2021-08-15T16:01:20.703Z,1629043280.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:01:21.085Z,1629043281.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:01:21.085Z,1629043281.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:01:21.085Z,1629043281.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:01:21.086Z,1629043281.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:01:21.500Z,1629043281.500 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF3,000,00481,186,80,80,82,FF
2021-08-15T16:01:21.500Z,1629043281.500 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:01:21.500Z,1629043281.500 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:01:21.502Z,1629043281.502 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:01:21.897Z,1629043281.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:01:22.337Z,1629043282.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF5,000,0049B,187,80,80,5B,FF
2021-08-15T16:01:22.338Z,1629043282.338 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:01:22.445Z,1629043282.445 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:01:22.741Z,1629043282.741 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160122.50*5D

2021-08-15T16:01:22.784Z,1629043282.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.239998 m, bearing: 307.114784 deg, deltaT: 4.289827 s, approachRate: 0.363651 m/s, LOS rate: 0.297617 deg/s, posRepo size: 4
2021-08-15T16:01:25.423Z,1629043285.423 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:01:25.593Z,1629043285.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:01:25.593Z,1629043285.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:01:25.593Z,1629043285.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:01:25.594Z,1629043285.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:01:25.999Z,1629043285.999 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF5,000,0049B,187,80,80,5B,FF
2021-08-15T16:01:25.999Z,1629043285.999 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:01:25.999Z,1629043285.999 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:01:26.001Z,1629043286.001 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:01:26.404Z,1629043286.404 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:01:26.805Z,1629043286.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0F,000,004B7,186,80,80,6D,FF
2021-08-15T16:01:26.806Z,1629043286.806 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:01:26.890Z,1629043286.890 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:01:27.249Z,1629043287.249 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160127.00*5D

2021-08-15T16:01:27.279Z,1629043287.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.920002 m, bearing: 306.034166 deg, deltaT: 4.445153 s, approachRate: 0.377941 m/s, LOS rate: -0.243100 deg/s, posRepo size: 4
2021-08-15T16:01:29.916Z,1629043289.916 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:01:30.097Z,1629043290.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:01:30.097Z,1629043290.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:01:30.097Z,1629043290.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:01:30.098Z,1629043290.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:01:30.490Z,1629043290.490 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0F,000,004B7,186,80,80,6D,FF
2021-08-15T16:01:30.490Z,1629043290.490 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:01:30.490Z,1629043290.490 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:01:30.493Z,1629043290.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:01:30.981Z,1629043290.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:01:31.293Z,1629043291.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,163,000,00510,186,80,80,19,FF
2021-08-15T16:01:31.294Z,1629043291.294 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:01:31.409Z,1629043291.409 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:01:31.745Z,1629043291.745 [Micromodem](INFO): Nmea in: $SNTTA,0.038634,,,,160131.49*43

2021-08-15T16:01:31.976Z,1629043291.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.259998 m, bearing: 275.603652 deg, deltaT: 4.519206 s, approachRate: 1.181623 m/s, LOS rate: -6.733597 deg/s, posRepo size: 4
2021-08-15T16:01:32.392Z,1629043292.392 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T16:01:32.393Z,1629043292.393 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T16:01:32.393Z,1629043292.393 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T16:01:32.394Z,1629043292.394 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T16:01:32.394Z,1629043292.394 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T16:01:32.394Z,1629043292.394 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T16:01:32.740Z,1629043292.740 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T16:01:32.740Z,1629043292.740 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T16:01:32.740Z,1629043292.740 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T16:01:32.740Z,1629043292.740 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T16:01:33.124Z,1629043293.124 [PowerOnly](INFO): Powering down loadControl
2021-08-15T16:01:33.911Z,1629043293.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:01:34.333Z,1629043294.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:01:34.334Z,1629043294.334 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:01:34.334Z,1629043294.334 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:01:34.335Z,1629043294.335 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:01:34.712Z,1629043294.712 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
163,000,00510,186,80,80,19,FF
2021-08-15T16:01:34.713Z,1629043294.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:01:34.713Z,1629043294.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:01:34.714Z,1629043294.714 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:01:35.112Z,1629043295.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:01:35.521Z,1629043295.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6D,000,004DE,186,80,80,65,FF
2021-08-15T16:01:35.522Z,1629043295.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:01:35.937Z,1629043295.937 [Micromodem](INFO): Nmea in: $SNTTA,0.042865,,,,160135.71*4B

2021-08-15T16:01:35.988Z,1629043295.988 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.259998 m, bearing: 312.887851 deg, deltaT: 4.151875 s, approachRate: -0.722565 m/s, LOS rate: 8.980087 deg/s, posRepo size: 4
2021-08-15T16:01:36.630Z,1629043296.630 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T16:01:36.630Z,1629043296.630 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T16:01:36.630Z,1629043296.630 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T16:01:36.631Z,1629043296.631 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T16:01:36.631Z,1629043296.631 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T16:01:36.631Z,1629043296.631 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T16:01:36.841Z,1629043296.841 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T16:01:36.842Z,1629043296.842 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T16:01:36.842Z,1629043296.842 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T16:01:36.842Z,1629043296.842 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T16:01:38.094Z,1629043298.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:01:38.433Z,1629043298.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:01:38.433Z,1629043298.433 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:01:38.433Z,1629043298.433 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:01:38.434Z,1629043298.434 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:01:38.917Z,1629043298.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6D,000,004DE,186,80,80,65,FF
2021-08-15T16:01:38.917Z,1629043298.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:01:38.917Z,1629043298.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:01:38.919Z,1629043298.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:01:39.321Z,1629043299.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:01:39.723Z,1629043299.723 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE4,000,004F8,186,80,80,6D,FF
2021-08-15T16:01:39.723Z,1629043299.723 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:01:39.811Z,1629043299.811 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:01:40.181Z,1629043300.181 [Micromodem](INFO): Nmea in: $SNTTA,0.035739,,,,160139.92*4C

2021-08-15T16:01:40.204Z,1629043300.204 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.820000 m, bearing: 306.246039 deg, deltaT: 4.249717 s, approachRate: 0.367084 m/s, LOS rate: -1.562883 deg/s, posRepo size: 4
2021-08-15T16:01:42.634Z,1629043302.634 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:01:42.957Z,1629043302.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:01:42.957Z,1629043302.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:01:42.958Z,1629043302.958 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:01:42.958Z,1629043302.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:01:43.377Z,1629043303.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE4,000,004F8,186,80,80,6D,FF
2021-08-15T16:01:43.377Z,1629043303.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:01:43.377Z,1629043303.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:01:43.379Z,1629043303.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:01:43.784Z,1629043303.784 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:01:44.190Z,1629043304.190 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFF,000,0050D,187,80,80,88,FF
2021-08-15T16:01:44.190Z,1629043304.190 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:01:44.306Z,1629043304.306 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:01:44.629Z,1629043304.629 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160144.38*53

2021-08-15T16:01:44.705Z,1629043304.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.080002 m, bearing: 304.589171 deg, deltaT: 4.494818 s, approachRate: 0.280323 m/s, LOS rate: -0.368617 deg/s, posRepo size: 4
2021-08-15T16:01:45.250Z,1629043305.250 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T16:01:45.250Z,1629043305.250 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T16:01:45.251Z,1629043305.251 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T16:01:45.251Z,1629043305.251 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T16:01:45.251Z,1629043305.251 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T16:01:45.251Z,1629043305.251 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T16:01:45.509Z,1629043305.509 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T16:01:45.510Z,1629043305.510 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T16:01:45.510Z,1629043305.510 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T16:01:45.510Z,1629043305.510 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T16:01:47.074Z,1629043307.074 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:01:47.437Z,1629043307.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:01:47.437Z,1629043307.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:01:47.437Z,1629043307.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:01:47.438Z,1629043307.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:01:47.853Z,1629043307.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFF,000,0050D,187,80,80,88,FF
2021-08-15T16:01:47.853Z,1629043307.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:01:47.853Z,1629043307.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:01:47.855Z,1629043307.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:01:48.276Z,1629043308.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:01:48.663Z,1629043308.663 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC4,000,00522,186,80,80,80,FF
2021-08-15T16:01:48.664Z,1629043308.664 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:01:49.089Z,1629043309.089 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160148.85*59

2021-08-15T16:01:49.141Z,1629043309.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.340000 m, bearing: 307.810371 deg, deltaT: 4.391997 s, approachRate: 0.286885 m/s, LOS rate: 0.733425 deg/s, posRepo size: 4
2021-08-15T16:01:51.761Z,1629043311.761 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:01:51.990Z,1629043311.990 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:01:51.990Z,1629043311.990 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:01:51.991Z,1629043311.991 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:01:51.992Z,1629043311.992 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:01:52.381Z,1629043312.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC4,000,00522,186,80,80,80,FF
2021-08-15T16:01:52.381Z,1629043312.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:01:52.381Z,1629043312.381 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:01:52.383Z,1629043312.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:01:52.799Z,1629043312.799 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:01:53.189Z,1629043313.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0A,000,0053A,186,80,80,87,FF
2021-08-15T16:01:53.190Z,1629043313.190 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:01:53.634Z,1629043313.634 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160153.38*55

2021-08-15T16:01:53.664Z,1629043313.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.780003 m, bearing: 303.691357 deg, deltaT: 4.536215 s, approachRate: 0.317446 m/s, LOS rate: -0.908029 deg/s, posRepo size: 4
2021-08-15T16:01:54.415Z,1629043314.415 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-15T16:01:55.035Z,1629043315.035 [Micromodem](INFO): Outgoing frame #1, 59 bytes: 101819612D0000005D00000400260000000000000000151D80030C5669C08C799872B55BC135866FAC03D61DCB7BDC625AA71738E93EC68AF83100
2021-08-15T16:01:55.035Z,1629043315.035 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-15T16:01:55.295Z,1629043315.295 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-15T16:01:55.689Z,1629043315.689 [Micromodem](INFO): Nmea in: $CADRQ,160155,1,10,0,64,1*70

2021-08-15T16:01:55.689Z,1629043315.689 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,101819612D0000005D00000400260000000000000000151D80030C5669C08C799872B55BC135866FAC03D61DCB7BDC625AA71738E93EC68AF83100*40

2021-08-15T16:01:56.035Z,1629043316.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:01:56.216Z,1629043316.216 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:01:56.217Z,1629043316.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:01:56.217Z,1629043316.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:01:56.219Z,1629043316.219 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:01:56.227Z,1629043316.227 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,59*47

2021-08-15T16:01:56.622Z,1629043316.622 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0A,000,0053A,186,80,80,87,FF
2021-08-15T16:01:56.622Z,1629043316.622 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:01:56.623Z,1629043316.623 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:01:56.644Z,1629043316.644 [Micromodem](INFO): Nmea in: $CATXP,59*7E

2021-08-15T16:01:56.645Z,1629043316.645 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:01:57.822Z,1629043317.822 [Micromodem](INFO): Nmea in: $CATXF,59*68

2021-08-15T16:01:57.822Z,1629043317.822 [Micromodem](ERROR): Response from modem unexpected: $CATXF,59*68

2021-08-15T16:01:58.310Z,1629043318.310 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,160156.706583,3,0,200,4000,14500,1,1,10,1,1,1,3,59,14500*55

2021-08-15T16:01:58.310Z,1629043318.310 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210815,160156.706583,3,0,200,4000,14500,1,1,10,1,1,1,3,59,14500*55

2021-08-15T16:01:58.679Z,1629043318.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:02:01.533Z,1629043321.533 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:02:02.340Z,1629043322.340 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.121225
2021-08-15T16:02:04.079Z,1629043324.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:02:04.421Z,1629043324.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:02:04.421Z,1629043324.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:02:04.421Z,1629043324.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:02:04.422Z,1629043324.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:02:04.973Z,1629043324.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0A,000,0053A,186,80,80,87,FF
2021-08-15T16:02:04.973Z,1629043324.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:02:04.974Z,1629043324.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:02:06.606Z,1629043326.606 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:02:07.983Z,1629043327.983 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:02:08.392Z,1629043328.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:02:08.798Z,1629043328.798 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED4,000,00588,186,80,80,79,FF
2021-08-15T16:02:08.799Z,1629043328.799 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:02:09.314Z,1629043329.314 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160208.98*52

2021-08-15T16:02:09.340Z,1629043329.340 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.459999 m, bearing: 306.807480 deg, deltaT: 15.828777 s, approachRate: 0.295664 m/s, LOS rate: 0.196864 deg/s, posRepo size: 4
2021-08-15T16:02:11.891Z,1629043331.891 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:02:12.313Z,1629043332.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:02:12.314Z,1629043332.314 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:02:12.314Z,1629043332.314 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:02:12.315Z,1629043332.315 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:02:12.677Z,1629043332.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED4,000,00588,186,80,80,79,FF
2021-08-15T16:02:12.677Z,1629043332.677 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:02:12.678Z,1629043332.678 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:02:12.679Z,1629043332.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:02:13.096Z,1629043333.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:02:13.506Z,1629043333.506 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E86,000,005A5,186,80,80,61,FF
2021-08-15T16:02:13.506Z,1629043333.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:02:13.933Z,1629043333.933 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160213.68*57

2021-08-15T16:02:13.974Z,1629043333.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.199993 m, bearing: 311.123122 deg, deltaT: 4.497935 s, approachRate: 0.386843 m/s, LOS rate: 0.959472 deg/s, posRepo size: 4
2021-08-15T16:02:16.062Z,1629043336.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:02:16.373Z,1629043336.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:02:16.373Z,1629043336.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:02:16.373Z,1629043336.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:02:16.374Z,1629043336.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:02:16.770Z,1629043336.770 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E86,000,005A5,186,80,80,61,FF
2021-08-15T16:02:16.770Z,1629043336.770 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:02:16.770Z,1629043336.770 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:02:16.772Z,1629043336.772 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:02:17.203Z,1629043337.203 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:02:17.667Z,1629043337.667 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1E,000,005BF,186,80,80,5E,FF
2021-08-15T16:02:17.667Z,1629043337.667 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:02:18.077Z,1629043338.077 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160217.77*5D

2021-08-15T16:02:18.117Z,1629043338.117 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.760002 m, bearing: 303.192944 deg, deltaT: 4.137233 s, approachRate: 0.377066 m/s, LOS rate: -1.916783 deg/s, posRepo size: 4
2021-08-15T16:02:20.580Z,1629043340.580 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:02:20.909Z,1629043340.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:02:20.909Z,1629043340.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:02:20.909Z,1629043340.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:02:20.910Z,1629043340.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:02:21.309Z,1629043341.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1E,000,005BF,186,80,80,5E,FF
2021-08-15T16:02:21.309Z,1629043341.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:02:21.309Z,1629043341.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:02:21.311Z,1629043341.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:02:21.716Z,1629043341.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:02:22.213Z,1629043342.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE3,000,005D4,186,80,80,90,FF
2021-08-15T16:02:22.214Z,1629043342.214 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:02:22.618Z,1629043342.618 [Micromodem](INFO): Nmea in: $SNTTA,0.055436,,,,160222.31*46

2021-08-15T16:02:22.711Z,1629043342.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.020000 m, bearing: 305.177442 deg, deltaT: 4.622133 s, approachRate: 0.272601 m/s, LOS rate: 0.429347 deg/s, posRepo size: 4
2021-08-15T16:02:25.114Z,1629043345.114 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:02:25.476Z,1629043345.476 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:02:25.477Z,1629043345.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:02:25.477Z,1629043345.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:02:25.478Z,1629043345.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:02:25.859Z,1629043345.859 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE3,000,005D4,186,80,80,90,FF
2021-08-15T16:02:25.859Z,1629043345.859 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:02:25.859Z,1629043345.859 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:02:25.862Z,1629043345.862 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:02:26.303Z,1629043346.303 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:02:26.662Z,1629043346.662 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAF,000,005E9,186,80,80,6C,FF
2021-08-15T16:02:26.662Z,1629043346.662 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:02:27.113Z,1629043347.113 [Micromodem](INFO): Nmea in: $SNTTA,0.053037,,,,160226.86*4D

2021-08-15T16:02:27.175Z,1629043347.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.280003 m, bearing: 307.846243 deg, deltaT: 4.410353 s, approachRate: 0.285692 m/s, LOS rate: 0.605122 deg/s, posRepo size: 4
2021-08-15T16:02:29.658Z,1629043349.658 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:02:30.003Z,1629043350.003 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:02:30.003Z,1629043350.003 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:02:30.004Z,1629043350.004 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:02:30.005Z,1629043350.005 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:02:30.401Z,1629043350.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAF,000,005E9,186,80,80,6C,FF
2021-08-15T16:02:30.401Z,1629043350.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:02:30.402Z,1629043350.402 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:02:30.403Z,1629043350.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:02:31.013Z,1629043351.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:02:31.409Z,1629043351.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF3,000,00603,186,80,80,77,FF
2021-08-15T16:02:31.409Z,1629043351.409 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:02:31.817Z,1629043351.817 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160231.40*5D

2021-08-15T16:02:31.879Z,1629043351.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.840000 m, bearing: 304.869537 deg, deltaT: 4.766493 s, approachRate: 0.327284 m/s, LOS rate: -0.624506 deg/s, posRepo size: 4
2021-08-15T16:02:34.319Z,1629043354.319 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:02:34.633Z,1629043354.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:02:34.633Z,1629043354.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:02:34.633Z,1629043354.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:02:34.634Z,1629043354.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:02:35.121Z,1629043355.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF3,000,00603,186,80,80,77,FF
2021-08-15T16:02:35.121Z,1629043355.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:02:35.122Z,1629043355.122 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:02:35.123Z,1629043355.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:02:35.549Z,1629043355.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:02:35.944Z,1629043355.944 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E84,000,0061A,185,80,80,7B,FF
2021-08-15T16:02:35.945Z,1629043355.945 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:02:36.365Z,1629043356.365 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160236.12*5D

2021-08-15T16:02:36.425Z,1629043356.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.219994 m, bearing: 309.117068 deg, deltaT: 4.517736 s, approachRate: 0.305461 m/s, LOS rate: 0.940190 deg/s, posRepo size: 4
2021-08-15T16:02:38.823Z,1629043358.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:02:39.205Z,1629043359.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:02:39.205Z,1629043359.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:02:39.205Z,1629043359.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:02:39.206Z,1629043359.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:02:39.597Z,1629043359.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E84,000,0061A,185,80,80,7B,FF
2021-08-15T16:02:39.597Z,1629043359.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:02:39.597Z,1629043359.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:02:39.599Z,1629043359.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:02:40.029Z,1629043360.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:02:40.405Z,1629043360.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7D,000,0062F,186,80,80,7A,FF
2021-08-15T16:02:40.406Z,1629043360.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:02:40.854Z,1629043360.854 [Micromodem](INFO): Nmea in: $SNTTA,0.055816,,,,160240.60*48

2021-08-15T16:02:40.897Z,1629043360.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.480007 m, bearing: 309.366042 deg, deltaT: 4.502371 s, approachRate: 0.279856 m/s, LOS rate: 0.055298 deg/s, posRepo size: 4
2021-08-15T16:02:43.543Z,1629043363.543 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:02:43.721Z,1629043363.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:02:43.721Z,1629043363.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:02:43.721Z,1629043363.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:02:43.722Z,1629043363.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:02:44.121Z,1629043364.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7D,000,0062F,186,80,80,7A,FF
2021-08-15T16:02:44.121Z,1629043364.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:02:44.121Z,1629043364.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:02:44.123Z,1629043364.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:02:44.549Z,1629043364.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:02:44.933Z,1629043364.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8E,000,00647,186,80,80,66,FF
2021-08-15T16:02:44.934Z,1629043364.934 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:02:45.365Z,1629043365.365 [Micromodem](INFO): Nmea in: $SNTTA,0.074149,,,,160245.12*48

2021-08-15T16:02:45.388Z,1629043365.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.920006 m, bearing: 310.161977 deg, deltaT: 4.440962 s, approachRate: 0.324254 m/s, LOS rate: 0.179226 deg/s, posRepo size: 4
2021-08-15T16:02:48.046Z,1629043368.046 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:02:48.209Z,1629043368.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:02:48.209Z,1629043368.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:02:48.209Z,1629043368.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:02:48.210Z,1629043368.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:02:48.605Z,1629043368.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8E,000,00647,186,80,80,66,FF
2021-08-15T16:02:48.605Z,1629043368.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:02:48.606Z,1629043368.606 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:02:48.607Z,1629043368.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:02:49.025Z,1629043369.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:02:49.413Z,1629043369.413 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8E,000,0065A,185,80,80,92,FF
2021-08-15T16:02:49.414Z,1629043369.414 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:02:49.857Z,1629043369.857 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160249.60*50

2021-08-15T16:02:50.114Z,1629043370.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.060001 m, bearing: 310.396472 deg, deltaT: 4.577914 s, approachRate: 0.249021 m/s, LOS rate: 0.051223 deg/s, posRepo size: 4
2021-08-15T16:02:52.378Z,1629043372.378 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:02:52.707Z,1629043372.707 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:02:52.707Z,1629043372.707 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:02:52.707Z,1629043372.707 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:02:52.709Z,1629043372.709 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:02:53.101Z,1629043373.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8E,000,0065A,185,80,80,92,FF
2021-08-15T16:02:53.101Z,1629043373.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:02:53.101Z,1629043373.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:02:53.103Z,1629043373.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:02:53.537Z,1629043373.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:02:53.909Z,1629043373.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF0,000,00675,186,80,80,92,FF
2021-08-15T16:02:53.909Z,1629043373.909 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:02:54.391Z,1629043374.391 [Micromodem](INFO): Nmea in: $SNTTA,0.048006,,,,160254.10*4F

2021-08-15T16:02:54.500Z,1629043374.500 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.680000 m, bearing: 304.087180 deg, deltaT: 4.634674 s, approachRate: 0.349539 m/s, LOS rate: -1.361324 deg/s, posRepo size: 4
2021-08-15T16:02:56.923Z,1629043376.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:02:57.289Z,1629043377.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:02:57.289Z,1629043377.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:02:57.289Z,1629043377.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:02:57.290Z,1629043377.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:02:57.709Z,1629043377.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF0,000,00675,186,80,80,92,FF
2021-08-15T16:02:57.709Z,1629043377.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:02:57.709Z,1629043377.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:02:57.711Z,1629043377.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:02:58.113Z,1629043378.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:02:58.545Z,1629043378.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9C,000,0068D,189,80,80,6D,FF
2021-08-15T16:02:58.545Z,1629043378.545 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:02:58.938Z,1629043378.938 [Micromodem](INFO): Nmea in: $SNTTA,0.177476,,,,160258.71*4A

2021-08-15T16:02:58.954Z,1629043378.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.119999 m, bearing: 321.187870 deg, deltaT: 4.473146 s, approachRate: 0.321921 m/s, LOS rate: 3.822967 deg/s, posRepo size: 4
2021-08-15T16:03:00.152Z,1629043380.152 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-15T16:03:00.736Z,1629043380.736 [Micromodem](INFO): Outgoing frame #1, 59 bytes: 101819612D0000005D00000400260000000000000000151D80030C5669C08C799872B55BC135866FAC03D61DCB7BDC625AA71738E93EC68AF83100
2021-08-15T16:03:00.737Z,1629043380.737 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-15T16:03:01.238Z,1629043381.238 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-15T16:03:01.262Z,1629043381.262 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:03:01.649Z,1629043381.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:03:01.649Z,1629043381.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:03:01.649Z,1629043381.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:03:01.650Z,1629043381.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:03:01.658Z,1629043381.658 [Micromodem](INFO): Nmea in: $CADRQ,160301,1,10,0,64,1*73

2021-08-15T16:03:01.660Z,1629043381.660 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,101819612D0000005D00000400260000000000000000151D80030C5669C08C799872B55BC135866FAC03D61DCB7BDC625AA71738E93EC68AF83100*40

2021-08-15T16:03:02.069Z,1629043382.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9C,000,0068D,189,80,80,6D,FF
2021-08-15T16:03:02.069Z,1629043382.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:03:02.069Z,1629043382.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:03:02.070Z,1629043382.070 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,59*47

2021-08-15T16:03:02.072Z,1629043382.072 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:03:02.461Z,1629043382.461 [Micromodem](INFO): Nmea in: $CATXP,59*7E

2021-08-15T16:03:02.462Z,1629043382.462 [Micromodem](ERROR): Response from modem unexpected: $CATXP,59*7E

2021-08-15T16:03:03.694Z,1629043383.694 [Micromodem](INFO): Nmea in: $CATXF,59*68

2021-08-15T16:03:03.694Z,1629043383.694 [Micromodem](ERROR): Response from modem unexpected: $CATXF,59*68

2021-08-15T16:03:04.075Z,1629043384.075 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,160302.677159,3,0,200,4000,14500,1,1,10,1,1,1,3,59,14500*52

2021-08-15T16:03:04.076Z,1629043384.076 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210815,160302.677159,3,0,200,4000,14500,1,1,10,1,1,1,3,59,14500*52

2021-08-15T16:03:04.159Z,1629043384.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:03:06.946Z,1629043386.946 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:03:07.784Z,1629043387.784 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.133745
2021-08-15T16:03:09.676Z,1629043389.676 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:03:09.862Z,1629043389.862 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:03:09.862Z,1629043389.862 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:03:09.863Z,1629043389.863 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:03:09.864Z,1629043389.864 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:03:10.280Z,1629043390.280 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9C,000,0068D,189,80,80,6D,FF
2021-08-15T16:03:10.281Z,1629043390.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:03:10.282Z,1629043390.282 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:03:12.367Z,1629043392.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:03:13.091Z,1629043393.091 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:03:13.509Z,1629043393.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:03:13.893Z,1629043393.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E13,000,006DD,186,80,80,70,FF
2021-08-15T16:03:13.894Z,1629043393.894 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:03:14.373Z,1629043394.373 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160314.09*56

2021-08-15T16:03:14.420Z,1629043394.420 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.920006 m, bearing: 315.880212 deg, deltaT: 15.550279 s, approachRate: 0.308677 m/s, LOS rate: -0.341322 deg/s, posRepo size: 4
2021-08-15T16:03:16.425Z,1629043396.425 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T16:03:16.857Z,1629043396.857 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:03:17.254Z,1629043397.254 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:03:17.254Z,1629043397.254 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:03:17.255Z,1629043397.255 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:03:17.256Z,1629043397.256 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:03:17.617Z,1629043397.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E13,000,006DD,186,80,80,70,FF
2021-08-15T16:03:17.617Z,1629043397.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:03:17.617Z,1629043397.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:03:17.619Z,1629043397.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:03:18.026Z,1629043398.026 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:03:18.418Z,1629043398.418 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4A,000,006F8,186,80,80,77,FF
2021-08-15T16:03:18.418Z,1629043398.418 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:03:18.853Z,1629043398.853 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160318.62*57

2021-08-15T16:03:18.902Z,1629043398.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.540001 m, bearing: 312.506836 deg, deltaT: 4.321075 s, approachRate: 0.374906 m/s, LOS rate: -0.780680 deg/s, posRepo size: 4
2021-08-15T16:03:21.315Z,1629043401.315 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:03:21.698Z,1629043401.698 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:03:21.698Z,1629043401.698 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:03:21.698Z,1629043401.698 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:03:21.699Z,1629043401.699 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:03:22.113Z,1629043402.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4A,000,006F8,186,80,80,77,FF
2021-08-15T16:03:22.113Z,1629043402.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:03:22.113Z,1629043402.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:03:22.115Z,1629043402.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:03:22.537Z,1629043402.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:03:23.026Z,1629043403.026 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDF,000,00712,186,80,80,8D,FF
2021-08-15T16:03:23.027Z,1629043403.027 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:03:23.433Z,1629043403.433 [Micromodem](INFO): Nmea in: $SNTTA,0.072118,,,,160323.11*48

2021-08-15T16:03:23.506Z,1629043403.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.100006 m, bearing: 305.393139 deg, deltaT: 4.531884 s, approachRate: 0.344229 m/s, LOS rate: -1.569700 deg/s, posRepo size: 4
2021-08-15T16:03:25.871Z,1629043405.871 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:03:26.269Z,1629043406.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:03:26.269Z,1629043406.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:03:26.270Z,1629043406.270 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:03:26.271Z,1629043406.271 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:03:26.655Z,1629043406.655 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDF,000,00712,186,80,80,8D,FF
2021-08-15T16:03:26.655Z,1629043406.655 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:03:26.655Z,1629043406.655 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:03:26.657Z,1629043406.657 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:03:27.069Z,1629043407.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:03:27.565Z,1629043407.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFC,000,0072F,186,80,80,7C,FF
2021-08-15T16:03:27.565Z,1629043407.565 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:03:27.981Z,1629043407.981 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160327.65*5C

2021-08-15T16:03:28.015Z,1629043408.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.840004 m, bearing: 304.449535 deg, deltaT: 4.569067 s, approachRate: 0.380821 m/s, LOS rate: -0.206520 deg/s, posRepo size: 4
2021-08-15T16:03:30.562Z,1629043410.562 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:03:30.869Z,1629043410.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:03:30.869Z,1629043410.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:03:30.869Z,1629043410.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:03:30.870Z,1629043410.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:03:31.265Z,1629043411.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFC,000,0072F,186,80,80,7C,FF
2021-08-15T16:03:31.265Z,1629043411.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:03:31.265Z,1629043411.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:03:31.267Z,1629043411.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:03:31.669Z,1629043411.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:03:32.062Z,1629043412.062 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE3,000,00747,186,80,80,8D,FF
2021-08-15T16:03:32.063Z,1629043412.063 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:03:32.513Z,1629043412.513 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160332.26*5F

2021-08-15T16:03:32.569Z,1629043412.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.279999 m, bearing: 304.447486 deg, deltaT: 4.492222 s, approachRate: 0.320553 m/s, LOS rate: -0.000456 deg/s, posRepo size: 4
2021-08-15T16:03:34.642Z,1629043414.642 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:03:34.937Z,1629043414.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:03:34.937Z,1629043414.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:03:34.937Z,1629043414.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:03:34.938Z,1629043414.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:03:35.337Z,1629043415.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE3,000,00747,186,80,80,8D,FF
2021-08-15T16:03:35.337Z,1629043415.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:03:35.337Z,1629043415.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:03:35.339Z,1629043415.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:03:35.934Z,1629043415.934 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:03:36.341Z,1629043416.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEB,000,0075F,186,80,80,93,FF
2021-08-15T16:03:36.342Z,1629043416.342 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:03:36.749Z,1629043416.749 [Micromodem](INFO): Nmea in: $SNTTA,0.056543,,,,160336.34*47

2021-08-15T16:03:36.819Z,1629043416.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.720001 m, bearing: 304.318313 deg, deltaT: 4.294861 s, approachRate: 0.335285 m/s, LOS rate: -0.030076 deg/s, posRepo size: 4
2021-08-15T16:03:39.205Z,1629043419.205 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:03:39.554Z,1629043419.554 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:03:39.554Z,1629043419.554 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:03:39.554Z,1629043419.554 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:03:39.555Z,1629043419.555 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:03:39.971Z,1629043419.971 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEB,000,0075F,186,80,80,93,FF
2021-08-15T16:03:39.971Z,1629043419.971 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:03:39.971Z,1629043419.971 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:03:39.974Z,1629043419.974 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:03:40.581Z,1629043420.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:03:40.985Z,1629043420.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB7,000,00775,186,80,80,8A,FF
2021-08-15T16:03:40.986Z,1629043420.986 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:03:41.401Z,1629043421.401 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160340.97*50

2021-08-15T16:03:41.501Z,1629043421.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.040009 m, bearing: 307.099976 deg, deltaT: 4.646969 s, approachRate: 0.284058 m/s, LOS rate: 0.598597 deg/s, posRepo size: 4
2021-08-15T16:03:43.650Z,1629043423.650 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:03:43.997Z,1629043423.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:03:43.997Z,1629043423.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:03:43.997Z,1629043423.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:03:43.998Z,1629043423.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:03:44.409Z,1629043424.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB7,000,00775,186,80,80,8A,FF
2021-08-15T16:03:44.409Z,1629043424.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:03:44.409Z,1629043424.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:03:44.411Z,1629043424.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:03:44.810Z,1629043424.810 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:03:45.215Z,1629043425.215 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE1,000,00793,186,80,80,7E,FF
2021-08-15T16:03:45.215Z,1629043425.215 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:03:45.654Z,1629043425.654 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160345.41*5E

2021-08-15T16:03:45.708Z,1629043425.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.840004 m, bearing: 305.343525 deg, deltaT: 4.187408 s, approachRate: 0.429859 m/s, LOS rate: -0.419460 deg/s, posRepo size: 4
2021-08-15T16:03:48.139Z,1629043428.139 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:03:48.500Z,1629043428.500 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:03:48.500Z,1629043428.500 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:03:48.500Z,1629043428.500 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:03:48.501Z,1629043428.501 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:03:48.873Z,1629043428.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE1,000,00793,186,80,80,7E,FF
2021-08-15T16:03:48.873Z,1629043428.873 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:03:48.874Z,1629043428.874 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:03:48.875Z,1629043428.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:03:49.429Z,1629043429.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:03:49.834Z,1629043429.834 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3F,000,007AA,186,80,80,77,FF
2021-08-15T16:03:49.834Z,1629043429.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:03:50.260Z,1629043430.260 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160349.87*58

2021-08-15T16:03:50.319Z,1629043430.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.220001 m, bearing: 313.281052 deg, deltaT: 4.626584 s, approachRate: 0.298276 m/s, LOS rate: 1.715634 deg/s, posRepo size: 4
2021-08-15T16:03:52.380Z,1629043432.380 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:03:52.657Z,1629043432.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:03:52.657Z,1629043432.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:03:52.657Z,1629043432.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:03:52.658Z,1629043432.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:03:53.065Z,1629043433.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3F,000,007AA,186,80,80,77,FF
2021-08-15T16:03:53.065Z,1629043433.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:03:53.065Z,1629043433.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:03:53.067Z,1629043433.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:03:53.486Z,1629043433.486 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:03:54.442Z,1629043434.442 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160354.07*5C

2021-08-15T16:03:54.886Z,1629043434.886 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:03:56.490Z,1629043436.490 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,77,FF
2021-08-15T16:03:56.490Z,1629043436.490 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,77,FF
2021-08-15T16:03:56.490Z,1629043436.490 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T16:03:57.731Z,1629043437.731 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:03:58.097Z,1629043438.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:03:58.097Z,1629043438.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:03:58.097Z,1629043438.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:03:58.098Z,1629043438.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:03:58.529Z,1629043438.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,77,FF
2021-08-15T16:03:58.529Z,1629043438.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:03:58.530Z,1629043438.530 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:03:58.531Z,1629043438.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:03:58.912Z,1629043438.912 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:03:59.307Z,1629043439.307 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF7,000,007E5,187,80,80,23,FF
2021-08-15T16:03:59.307Z,1629043439.307 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:03:59.737Z,1629043439.737 [Micromodem](INFO): Nmea in: $SNTTA,0.061884,,,,160359.53*4D

2021-08-15T16:03:59.794Z,1629043439.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.760002 m, bearing: 304.336646 deg, deltaT: 9.463372 s, approachRate: 0.374074 m/s, LOS rate: -0.945161 deg/s, posRepo size: 4
2021-08-15T16:04:02.025Z,1629043442.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:04:02.373Z,1629043442.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:04:02.373Z,1629043442.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:04:02.373Z,1629043442.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:04:02.374Z,1629043442.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:04:02.889Z,1629043442.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF7,000,007E5,187,80,80,23,FF
2021-08-15T16:04:02.889Z,1629043442.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:04:02.889Z,1629043442.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:04:02.891Z,1629043442.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:04:03.296Z,1629043443.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:04:04.114Z,1629043444.114 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160403.89*5F

2021-08-15T16:04:04.603Z,1629043444.603 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:04:06.110Z,1629043446.110 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-15T16:04:06.533Z,1629043446.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
5,187,80,80,23,FF
2021-08-15T16:04:06.533Z,1629043446.533 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
5,187,80,80,23,FF
2021-08-15T16:04:06.533Z,1629043446.533 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T16:04:06.745Z,1629043446.745 [Micromodem](INFO): Outgoing frame #1, 59 bytes: 101819612D0000005D00000400260000000000000000151D80030C5669C08C799872B55BC135866FAC03D61DCB7BDC625AA71738E93EC68AF83100
2021-08-15T16:04:06.745Z,1629043446.745 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-15T16:04:07.042Z,1629043447.042 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-15T16:04:07.302Z,1629043447.302 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:04:07.449Z,1629043447.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:04:07.449Z,1629043447.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:04:07.450Z,1629043447.450 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:04:07.451Z,1629043447.451 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:04:07.459Z,1629043447.459 [Micromodem](INFO): Nmea in: $CADRQ,160407,1,10,0,64,1*72

2021-08-15T16:04:07.462Z,1629043447.462 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,101819612D0000005D00000400260000000000000000151D80030C5669C08C799872B55BC135866FAC03D61DCB7BDC625AA71738E93EC68AF83100*40

2021-08-15T16:04:07.853Z,1629043447.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,187,80,80,23,FF
2021-08-15T16:04:07.853Z,1629043447.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:04:07.854Z,1629043447.854 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:04:07.855Z,1629043447.855 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,59*47

2021-08-15T16:04:07.884Z,1629043447.884 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:04:08.301Z,1629043448.301 [Micromodem](INFO): Nmea in: $CATXP,59*7E

2021-08-15T16:04:08.301Z,1629043448.301 [Micromodem](ERROR): Response from modem unexpected: $CATXP,59*7E

2021-08-15T16:04:09.577Z,1629043449.577 [Micromodem](INFO): Nmea in: $CATXF,59*68

2021-08-15T16:04:09.577Z,1629043449.577 [Micromodem](ERROR): Response from modem unexpected: $CATXF,59*68

2021-08-15T16:04:10.006Z,1629043450.006 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,160408.483686,3,0,200,4000,14500,1,1,10,1,1,1,3,59,14500*53

2021-08-15T16:04:10.006Z,1629043450.006 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210815,160408.483686,3,0,200,4000,14500,1,1,10,1,1,1,3,59,14500*53

2021-08-15T16:04:10.068Z,1629043450.068 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:04:11.598Z,1629043451.598 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-15T16:04:11.599Z,1629043451.599 [Micromodem](INFO): Sent 51 bytes from file Logs/20210815T133512/Courier0045.lzma.parts
2021-08-15T16:04:11.600Z,1629043451.600 [Micromodem](INFO): Packets left to send: 0
2021-08-15T16:04:12.014Z,1629043452.014 [Micromodem](INFO): Nmea in: $CACST,6,0,20210815160411.426625,06,11619,40,0095,0150,37,03,03,00,03,1,010,001,0,4,1,0,150,10.9,3.85,10,-0.85,-01,0.32,44,14500,4000*6C

2021-08-15T16:04:12.014Z,1629043452.014 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210815160411.426625,06,11619,40,0095,0150,37,03,03,00,03,1,010,001,0,4,1,0,150,10.9,3.85,10,-0.85,-01,0.32,44,14500,4000*6C

2021-08-15T16:04:12.338Z,1629043452.338 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-15T16:04:12.338Z,1629043452.338 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-15T16:04:12.338Z,1629043452.338 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-15T16:04:12.339Z,1629043452.339 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T16:04:12.339Z,1629043452.339 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-15T16:04:12.621Z,1629043452.621 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:04:13.989Z,1629043453.989 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.537776
2021-08-15T16:04:15.212Z,1629043455.212 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:04:15.601Z,1629043455.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:04:15.601Z,1629043455.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:04:15.601Z,1629043455.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:04:15.602Z,1629043455.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:04:16.006Z,1629043456.006 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
5,187,80,80,23,FF
2021-08-15T16:04:16.007Z,1629043456.007 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:04:16.007Z,1629043456.007 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:04:18.034Z,1629043458.034 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:04:19.226Z,1629043459.226 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:04:19.628Z,1629043459.628 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:04:20.029Z,1629043460.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,30F,000,00852,189,80,80,68,FF
2021-08-15T16:04:20.030Z,1629043460.030 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:04:20.489Z,1629043460.489 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160420.23*5E

2021-08-15T16:04:20.558Z,1629043460.558 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.299995 m, bearing: 254.938313 deg, deltaT: 20.722498 s, approachRate: 0.315599 m/s, LOS rate: -2.383802 deg/s, posRepo size: 4
2021-08-15T16:04:22.906Z,1629043462.906 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:04:23.261Z,1629043463.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:04:23.261Z,1629043463.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:04:23.261Z,1629043463.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:04:23.262Z,1629043463.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:04:23.670Z,1629043463.670 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
30F,000,00852,189,80,80,68,FF
2021-08-15T16:04:23.670Z,1629043463.670 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:04:23.670Z,1629043463.670 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:04:23.672Z,1629043463.672 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:04:24.072Z,1629043464.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:04:24.485Z,1629043464.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8E,000,00872,185,80,80,62,FF
2021-08-15T16:04:24.487Z,1629043464.487 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:04:24.913Z,1629043464.913 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160424.67*5A

2021-08-15T16:04:24.956Z,1629043464.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.220001 m, bearing: 310.965781 deg, deltaT: 4.535520 s, approachRate: 0.423326 m/s, LOS rate: 12.353042 deg/s, posRepo size: 4
2021-08-15T16:04:27.323Z,1629043467.323 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:04:27.705Z,1629043467.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:04:27.705Z,1629043467.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:04:27.705Z,1629043467.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:04:27.706Z,1629043467.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:04:28.113Z,1629043468.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8E,000,00872,185,80,80,62,FF
2021-08-15T16:04:28.114Z,1629043468.114 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:04:28.114Z,1629043468.114 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:04:28.115Z,1629043468.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:04:28.549Z,1629043468.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:04:28.917Z,1629043468.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E90,000,00889,186,80,80,61,FF
2021-08-15T16:04:28.918Z,1629043468.918 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:04:29.377Z,1629043469.377 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160429.11*56

2021-08-15T16:04:29.400Z,1629043469.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.599998 m, bearing: 310.295330 deg, deltaT: 4.408005 s, approachRate: 0.313066 m/s, LOS rate: -0.152099 deg/s, posRepo size: 4
2021-08-15T16:04:31.754Z,1629043471.754 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:04:31.933Z,1629043471.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:04:31.934Z,1629043471.934 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:04:31.934Z,1629043471.934 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:04:31.935Z,1629043471.935 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:04:32.357Z,1629043472.357 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E90,000,00889,186,80,80,61,FF
2021-08-15T16:04:32.357Z,1629043472.357 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:04:32.358Z,1629043472.358 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:04:32.359Z,1629043472.359 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:04:32.761Z,1629043472.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:04:33.173Z,1629043473.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,301,000,008A1,189,80,80,73,FF
2021-08-15T16:04:33.173Z,1629043473.173 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:04:33.629Z,1629043473.629 [Micromodem](INFO): Nmea in: $SNTTA,0.101610,,,,160433.36*41

2021-08-15T16:04:33.655Z,1629043473.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.040001 m, bearing: 255.450168 deg, deltaT: 4.200030 s, approachRate: 0.342855 m/s, LOS rate: -13.058278 deg/s, posRepo size: 4
2021-08-15T16:04:36.031Z,1629043476.031 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:04:36.401Z,1629043476.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:04:36.401Z,1629043476.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:04:36.401Z,1629043476.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:04:36.402Z,1629043476.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:04:36.801Z,1629043476.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
301,000,008A1,189,80,80,73,FF
2021-08-15T16:04:36.802Z,1629043476.802 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:04:36.802Z,1629043476.802 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:04:36.803Z,1629043476.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:04:37.212Z,1629043477.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:04:37.609Z,1629043477.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F9,000,008BD,189,80,80,75,FF
2021-08-15T16:04:37.610Z,1629043477.610 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:04:38.058Z,1629043478.058 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160437.80*51

2021-08-15T16:04:38.074Z,1629043478.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.720001 m, bearing: 257.689350 deg, deltaT: 4.488242 s, approachRate: 0.374311 m/s, LOS rate: 0.498900 deg/s, posRepo size: 4
2021-08-15T16:04:40.532Z,1629043480.532 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:04:40.837Z,1629043480.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:04:40.837Z,1629043480.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:04:40.837Z,1629043480.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:04:40.838Z,1629043480.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:04:41.253Z,1629043481.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F9,000,008BD,189,80,80,75,FF
2021-08-15T16:04:41.253Z,1629043481.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:04:41.254Z,1629043481.254 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:04:41.255Z,1629043481.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:04:41.649Z,1629043481.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:04:42.051Z,1629043482.051 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E70,000,008DB,186,80,80,7B,FF
2021-08-15T16:04:42.051Z,1629043482.051 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:04:42.509Z,1629043482.509 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160442.25*5C

2021-08-15T16:04:42.516Z,1629043482.516 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T16:04:42.540Z,1629043482.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.520004 m, bearing: 312.764853 deg, deltaT: 4.388721 s, approachRate: 0.410143 m/s, LOS rate: 12.549329 deg/s, posRepo size: 4
2021-08-15T16:04:44.086Z,1629043484.086 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-15T16:04:44.574Z,1629043484.574 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:04:44.885Z,1629043484.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:04:44.885Z,1629043484.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:04:44.885Z,1629043484.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:04:44.886Z,1629043484.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:04:45.294Z,1629043485.294 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E70,000,008DB,186,80,80,7B,FF
2021-08-15T16:04:45.295Z,1629043485.295 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:04:45.295Z,1629043485.295 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:04:45.296Z,1629043485.296 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:04:45.692Z,1629043485.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:04:46.093Z,1629043486.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E34,000,008F0,186,80,80,8E,FF
2021-08-15T16:04:46.094Z,1629043486.094 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:04:46.549Z,1629043486.549 [Micromodem](INFO): Nmea in: $SNTTA,0.075023,,,,160446.30*41

2021-08-15T16:04:46.619Z,1629043486.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.779999 m, bearing: 314.930761 deg, deltaT: 4.072298 s, approachRate: 0.309406 m/s, LOS rate: 0.531864 deg/s, posRepo size: 4
2021-08-15T16:04:48.948Z,1629043488.948 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:04:49.333Z,1629043489.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:04:49.333Z,1629043489.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:04:49.333Z,1629043489.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:04:49.334Z,1629043489.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:04:49.733Z,1629043489.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E34,000,008F0,186,80,80,8E,FF
2021-08-15T16:04:49.733Z,1629043489.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:04:49.733Z,1629043489.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:04:49.735Z,1629043489.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:04:50.140Z,1629043490.140 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:04:50.537Z,1629043490.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDF,000,0090B,186,80,80,61,FF
2021-08-15T16:04:50.537Z,1629043490.537 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:04:51.001Z,1629043491.001 [Micromodem](INFO): Nmea in: $SNTTA,,0.164382,,,160450.74*4F

2021-08-15T16:04:51.024Z,1629043491.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.400009 m, bearing: 306.538972 deg, deltaT: 4.480286 s, approachRate: 0.361586 m/s, LOS rate: -1.873048 deg/s, posRepo size: 4
2021-08-15T16:04:52.583Z,1629043492.583 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T16:04:53.383Z,1629043493.383 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:04:53.765Z,1629043493.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:04:53.765Z,1629043493.765 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:04:53.765Z,1629043493.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:04:53.766Z,1629043493.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:04:54.183Z,1629043494.183 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDF,000,0090B,186,80,80,61,FF
2021-08-15T16:04:54.183Z,1629043494.183 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:04:54.183Z,1629043494.183 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:04:54.185Z,1629043494.185 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:04:54.589Z,1629043494.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:04:54.989Z,1629043494.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D2B,000,00922,189,80,80,37,FF
2021-08-15T16:04:54.990Z,1629043494.990 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:04:55.422Z,1629043495.422 [Micromodem](INFO): Nmea in: $SNTTA,0.093144,,,,160455.18*41

2021-08-15T16:04:55.505Z,1629043495.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.780006 m, bearing: 328.339160 deg, deltaT: 4.406200 s, approachRate: 0.313194 m/s, LOS rate: 4.947617 deg/s, posRepo size: 4
2021-08-15T16:04:57.847Z,1629043497.847 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:04:58.220Z,1629043498.220 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:04:58.220Z,1629043498.220 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:04:58.220Z,1629043498.220 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:04:58.221Z,1629043498.221 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:04:58.621Z,1629043498.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D2B,000,00922,189,80,80,37,FF
2021-08-15T16:04:58.621Z,1629043498.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:04:58.622Z,1629043498.622 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:04:58.623Z,1629043498.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:04:59.033Z,1629043499.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:04:59.421Z,1629043499.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6A,000,00941,186,80,80,74,FF
2021-08-15T16:04:59.422Z,1629043499.422 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:04:59.881Z,1629043499.881 [Micromodem](INFO): Nmea in: $SNTTA,0.083794,,,,160459.62*4A

2021-08-15T16:04:59.907Z,1629043499.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.640007 m, bearing: 313.024592 deg, deltaT: 4.499905 s, approachRate: 0.413342 m/s, LOS rate: -3.403309 deg/s, posRepo size: 4
2021-08-15T16:05:02.341Z,1629043502.341 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-15T16:05:02.358Z,1629043502.358 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:05:02.661Z,1629043502.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:05:02.661Z,1629043502.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:05:02.661Z,1629043502.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:05:02.662Z,1629043502.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:05:03.081Z,1629043503.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6A,000,00941,186,80,80,74,FF
2021-08-15T16:05:03.081Z,1629043503.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:05:03.081Z,1629043503.081 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:05:03.083Z,1629043503.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:05:03.498Z,1629043503.498 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:05:03.881Z,1629043503.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBF,000,00957,189,80,80,45,FF
2021-08-15T16:05:03.881Z,1629043503.881 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:05:04.311Z,1629043504.311 [Micromodem](INFO): Nmea in: $SNTTA,,0.490040,,,160504.09*46

2021-08-15T16:05:04.380Z,1629043504.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.960007 m, bearing: 322.549864 deg, deltaT: 4.406362 s, approachRate: 0.299567 m/s, LOS rate: 2.161709 deg/s, posRepo size: 4
2021-08-15T16:05:06.741Z,1629043506.741 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:05:07.117Z,1629043507.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:05:07.117Z,1629043507.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:05:07.117Z,1629043507.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:05:07.118Z,1629043507.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:05:07.529Z,1629043507.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBF,000,00957,189,80,80,45,FF
2021-08-15T16:05:07.529Z,1629043507.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:05:07.530Z,1629043507.530 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:05:07.531Z,1629043507.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:05:07.930Z,1629043507.930 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:05:08.345Z,1629043508.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E0B,000,00971,187,80,80,83,FF
2021-08-15T16:05:08.346Z,1629043508.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:05:08.749Z,1629043508.749 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160508.53*52

2021-08-15T16:05:08.791Z,1629043508.791 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.520004 m, bearing: 319.003548 deg, deltaT: 4.474192 s, approachRate: 0.348666 m/s, LOS rate: -0.792616 deg/s, posRepo size: 4
2021-08-15T16:05:11.196Z,1629043511.196 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:05:11.542Z,1629043511.542 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:05:11.542Z,1629043511.542 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:05:11.543Z,1629043511.543 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:05:11.545Z,1629043511.545 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:05:11.954Z,1629043511.954 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E0B,000,00971,187,80,80,83,FF
2021-08-15T16:05:11.954Z,1629043511.954 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:05:11.955Z,1629043511.955 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:05:11.958Z,1629043511.958 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:05:12.377Z,1629043512.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:05:12.398Z,1629043512.398 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T16:05:12.759Z,1629043512.759 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBC,000,0098D,189,80,80,43,FF
2021-08-15T16:05:12.760Z,1629043512.760 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:05:13.201Z,1629043513.201 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160512.96*50

2021-08-15T16:05:13.236Z,1629043513.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.200005 m, bearing: 323.490081 deg, deltaT: 4.424167 s, approachRate: 0.379733 m/s, LOS rate: 1.014097 deg/s, posRepo size: 4
2021-08-15T16:05:15.639Z,1629043515.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:05:15.997Z,1629043515.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:05:15.997Z,1629043515.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:05:15.998Z,1629043515.998 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:05:15.998Z,1629043515.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:05:16.402Z,1629043516.402 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBC,000,0098D,189,80,80,43,FF
2021-08-15T16:05:16.402Z,1629043516.402 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:05:16.402Z,1629043516.402 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:05:16.404Z,1629043516.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:05:16.817Z,1629043516.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:05:17.209Z,1629043517.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E16,000,009A8,186,80,80,7D,FF
2021-08-15T16:05:17.209Z,1629043517.209 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:05:17.662Z,1629043517.662 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160517.41*5F

2021-08-15T16:05:17.715Z,1629043517.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.820000 m, bearing: 318.887544 deg, deltaT: 4.448957 s, approachRate: 0.364129 m/s, LOS rate: -1.034520 deg/s, posRepo size: 4
2021-08-15T16:05:20.057Z,1629043520.057 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:05:20.437Z,1629043520.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:05:20.437Z,1629043520.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:05:20.437Z,1629043520.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:05:20.438Z,1629043520.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:05:20.882Z,1629043520.882 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E16,000,009A8,186,80,80,7D,FF
2021-08-15T16:05:20.882Z,1629043520.882 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:05:20.882Z,1629043520.882 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:05:20.886Z,1629043520.886 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:05:21.245Z,1629043521.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:05:21.657Z,1629043521.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E32,000,009C1,187,80,80,76,FF
2021-08-15T16:05:21.658Z,1629043521.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:05:22.075Z,1629043522.075 [Micromodem](INFO): Nmea in: $SNTTA,0.079756,,,,160521.89*4A

2021-08-15T16:05:22.113Z,1629043522.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.320007 m, bearing: 317.107460 deg, deltaT: 4.469689 s, approachRate: 0.335596 m/s, LOS rate: -0.398257 deg/s, posRepo size: 4
2021-08-15T16:05:24.562Z,1629043524.562 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:05:24.873Z,1629043524.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:05:24.873Z,1629043524.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:05:24.873Z,1629043524.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:05:24.874Z,1629043524.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:05:25.289Z,1629043525.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E32,000,009C1,187,80,80,76,FF
2021-08-15T16:05:25.289Z,1629043525.289 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:05:25.289Z,1629043525.289 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:05:25.291Z,1629043525.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:05:25.697Z,1629043525.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:05:26.101Z,1629043526.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E41,000,009DC,187,80,80,84,FF
2021-08-15T16:05:26.101Z,1629043526.101 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:05:26.546Z,1629043526.546 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160526.29*53

2021-08-15T16:05:26.645Z,1629043526.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.940002 m, bearing: 314.762356 deg, deltaT: 4.425858 s, approachRate: 0.366030 m/s, LOS rate: -0.529864 deg/s, posRepo size: 4
2021-08-15T16:05:28.974Z,1629043528.974 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:05:29.325Z,1629043529.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:05:29.325Z,1629043529.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:05:29.325Z,1629043529.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:05:29.326Z,1629043529.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:05:29.732Z,1629043529.732 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E41,000,009DC,187,80,80,84,FF
2021-08-15T16:05:29.732Z,1629043529.732 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:05:29.733Z,1629043529.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:05:29.734Z,1629043529.734 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:05:30.156Z,1629043530.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:05:30.565Z,1629043530.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4E,000,009F6,185,80,80,83,FF
2021-08-15T16:05:30.565Z,1629043530.565 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:05:30.997Z,1629043530.997 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160530.73*5B

2021-08-15T16:05:31.020Z,1629043531.020 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.500000 m, bearing: 314.318202 deg, deltaT: 4.471044 s, approachRate: 0.348911 m/s, LOS rate: -0.099340 deg/s, posRepo size: 4
2021-08-15T16:05:33.398Z,1629043533.398 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:05:33.789Z,1629043533.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:05:33.789Z,1629043533.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:05:33.789Z,1629043533.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:05:33.790Z,1629043533.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:05:34.189Z,1629043534.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4E,000,009F6,185,80,80,83,FF
2021-08-15T16:05:34.189Z,1629043534.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:05:34.189Z,1629043534.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:05:34.191Z,1629043534.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:05:34.633Z,1629043534.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:05:35.026Z,1629043535.026 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3E,000,00A11,187,80,80,63,FF
2021-08-15T16:05:35.026Z,1629043535.026 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:05:35.471Z,1629043535.471 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160535.19*52

2021-08-15T16:05:35.528Z,1629043535.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.119995 m, bearing: 315.756804 deg, deltaT: 4.426369 s, approachRate: 0.365987 m/s, LOS rate: 0.325007 deg/s, posRepo size: 4
2021-08-15T16:05:37.897Z,1629043537.897 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:05:38.273Z,1629043538.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:05:38.273Z,1629043538.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:05:38.274Z,1629043538.274 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:05:38.275Z,1629043538.275 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:05:38.669Z,1629043538.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3E,000,00A11,187,80,80,63,FF
2021-08-15T16:05:38.669Z,1629043538.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:05:38.669Z,1629043538.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:05:38.670Z,1629043538.670 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:05:39.069Z,1629043539.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:05:39.485Z,1629043539.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E13,000,00A29,186,80,80,87,FF
2021-08-15T16:05:39.487Z,1629043539.487 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:05:39.901Z,1629043539.901 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160539.67*57

2021-08-15T16:05:39.935Z,1629043539.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.559998 m, bearing: 319.446527 deg, deltaT: 4.465455 s, approachRate: 0.322476 m/s, LOS rate: 0.826281 deg/s, posRepo size: 4
2021-08-15T16:05:42.409Z,1629043542.409 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:05:42.709Z,1629043542.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:05:42.709Z,1629043542.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:05:42.709Z,1629043542.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:05:42.710Z,1629043542.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:05:43.105Z,1629043543.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E13,000,00A29,186,80,80,87,FF
2021-08-15T16:05:43.105Z,1629043543.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:05:43.105Z,1629043543.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:05:43.107Z,1629043543.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:05:43.544Z,1629043543.544 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:05:43.913Z,1629043543.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E20,000,00417,187,80,80,98,FF
2021-08-15T16:05:43.913Z,1629043543.913 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:05:44.369Z,1629043544.369 [Micromodem](INFO): Nmea in: $SNTTA,0.016394,,,,160544.11*4B

2021-08-15T16:05:44.425Z,1629043544.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.320000 m, bearing: 319.116219 deg, deltaT: 4.392303 s, approachRate: -21.228043 m/s, LOS rate: -0.075202 deg/s, posRepo size: 4
2021-08-15T16:05:44.767Z,1629043544.767 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T16:05:44.768Z,1629043544.768 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T16:05:44.768Z,1629043544.768 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T16:05:44.769Z,1629043544.769 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T16:05:44.769Z,1629043544.769 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T16:05:44.769Z,1629043544.769 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T16:05:45.161Z,1629043545.161 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T16:05:45.161Z,1629043545.161 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T16:05:45.162Z,1629043545.162 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T16:05:45.162Z,1629043545.162 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T16:05:46.789Z,1629043546.789 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:05:47.149Z,1629043547.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:05:47.149Z,1629043547.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:05:47.149Z,1629043547.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:05:47.150Z,1629043547.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:05:47.561Z,1629043547.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E20,000,00417,187,80,80,98,FF
2021-08-15T16:05:47.561Z,1629043547.561 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:05:47.561Z,1629043547.561 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:05:47.563Z,1629043547.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:05:47.961Z,1629043547.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:05:48.377Z,1629043548.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2C,000,00A5F,186,80,80,A2,FF
2021-08-15T16:05:48.378Z,1629043548.378 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:05:48.441Z,1629043548.441 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:05:48.813Z,1629043548.813 [Micromodem](INFO): Nmea in: $SNTTA,0.085544,,,,160548.56*45

2021-08-15T16:05:48.839Z,1629043548.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.800003 m, bearing: 317.678983 deg, deltaT: 4.507469 s, approachRate: 21.404474 m/s, LOS rate: -0.318856 deg/s, posRepo size: 4
2021-08-15T16:05:49.209Z,1629043549.209 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T16:05:49.209Z,1629043549.209 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T16:05:49.210Z,1629043549.210 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T16:05:49.210Z,1629043549.210 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T16:05:49.210Z,1629043549.210 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T16:05:49.210Z,1629043549.210 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T16:05:49.619Z,1629043549.619 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T16:05:49.620Z,1629043549.620 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T16:05:49.620Z,1629043549.620 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T16:05:49.620Z,1629043549.620 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T16:05:51.235Z,1629043551.235 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:05:51.601Z,1629043551.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:05:51.601Z,1629043551.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:05:51.601Z,1629043551.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:05:51.602Z,1629043551.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:05:52.002Z,1629043552.002 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2C,000,00A5F,186,80,80,A2,FF
2021-08-15T16:05:52.002Z,1629043552.002 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:05:52.002Z,1629043552.002 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:05:52.004Z,1629043552.004 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:05:52.405Z,1629043552.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:05:52.485Z,1629043552.485 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout
2021-08-15T16:05:52.485Z,1629043552.485 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-15T16:05:52.485Z,1629043552.485 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-15T16:05:52.658Z,1629043552.658 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-15T16:05:52.809Z,1629043552.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5E,000,00A79,187,80,80,94,FF
2021-08-15T16:05:52.810Z,1629043552.810 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:05:52.880Z,1629043552.880 [RDI_Pathfinder](INFO): Powering down
2021-08-15T16:05:53.237Z,1629043553.237 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160553.00*5A

2021-08-15T16:05:53.277Z,1629043553.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.360001 m, bearing: 314.483001 deg, deltaT: 4.464582 s, approachRate: 0.349416 m/s, LOS rate: -0.715852 deg/s, posRepo size: 4
2021-08-15T16:05:53.788Z,1629043553.788 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-15T16:05:53.788Z,1629043553.788 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-15T16:05:55.692Z,1629043555.692 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:05:56.041Z,1629043556.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:05:56.041Z,1629043556.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:05:56.041Z,1629043556.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:05:56.042Z,1629043556.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:05:56.445Z,1629043556.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5E,000,00A79,187,80,80,94,FF
2021-08-15T16:05:56.445Z,1629043556.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:05:56.445Z,1629043556.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:05:56.447Z,1629043556.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:05:56.857Z,1629043556.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:05:57.257Z,1629043557.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E46,000,00A91,186,80,80,92,FF
2021-08-15T16:05:57.258Z,1629043557.258 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:05:57.689Z,1629043557.689 [Micromodem](INFO): Nmea in: $SNTTA,0.085882,,,,160557.45*4E

2021-08-15T16:05:57.731Z,1629043557.731 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.800003 m, bearing: 315.951519 deg, deltaT: 4.371764 s, approachRate: 0.329387 m/s, LOS rate: 0.335910 deg/s, posRepo size: 4
2021-08-15T16:06:00.113Z,1629043560.113 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:06:00.510Z,1629043560.510 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:06:00.510Z,1629043560.510 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:06:00.511Z,1629043560.511 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:06:00.511Z,1629043560.511 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:06:00.889Z,1629043560.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E46,000,00A91,186,80,80,92,FF
2021-08-15T16:06:00.889Z,1629043560.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:06:00.890Z,1629043560.890 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:06:00.891Z,1629043560.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:06:01.301Z,1629043561.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:06:01.713Z,1629043561.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3A,000,00AAB,187,80,80,89,FF
2021-08-15T16:06:01.713Z,1629043561.713 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:06:02.141Z,1629043562.141 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160601.89*5F

2021-08-15T16:06:02.164Z,1629043562.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.360008 m, bearing: 314.969365 deg, deltaT: 4.469209 s, approachRate: 0.349056 m/s, LOS rate: -0.219760 deg/s, posRepo size: 4
2021-08-15T16:06:04.558Z,1629043564.558 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:06:04.940Z,1629043564.940 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:06:04.940Z,1629043564.940 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:06:04.941Z,1629043564.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:06:04.941Z,1629043564.941 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:06:05.329Z,1629043565.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3A,000,00AAB,187,80,80,89,FF
2021-08-15T16:06:05.329Z,1629043565.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:06:05.329Z,1629043565.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:06:05.331Z,1629043565.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:06:05.745Z,1629043565.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:06:06.145Z,1629043566.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3F,000,00AC2,186,80,80,7B,FF
2021-08-15T16:06:06.146Z,1629043566.146 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:06:06.581Z,1629043566.581 [Micromodem](INFO): Nmea in: $SNTTA,0.084667,,,,160606.33*4C

2021-08-15T16:06:06.619Z,1629043566.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.740005 m, bearing: 315.160556 deg, deltaT: 4.459807 s, approachRate: 0.309430 m/s, LOS rate: 0.042870 deg/s, posRepo size: 4
2021-08-15T16:06:09.003Z,1629043569.003 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:06:09.369Z,1629043569.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:06:09.369Z,1629043569.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:06:09.369Z,1629043569.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:06:09.370Z,1629043569.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:06:09.785Z,1629043569.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3F,000,00AC2,186,80,80,7B,FF
2021-08-15T16:06:09.785Z,1629043569.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:06:09.785Z,1629043569.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:06:09.787Z,1629043569.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:06:10.203Z,1629043570.203 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:06:10.601Z,1629043570.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E53,000,00ADE,186,80,80,44,FF
2021-08-15T16:06:10.601Z,1629043570.601 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:06:11.017Z,1629043571.017 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160610.79*50

2021-08-15T16:06:11.051Z,1629043571.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.419998 m, bearing: 314.331726 deg, deltaT: 4.448144 s, approachRate: 0.377684 m/s, LOS rate: -0.186332 deg/s, posRepo size: 4
2021-08-15T16:06:13.451Z,1629043573.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:06:13.825Z,1629043573.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:06:13.826Z,1629043573.826 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:06:13.826Z,1629043573.826 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:06:13.826Z,1629043573.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:06:14.233Z,1629043574.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E53,000,00ADE,186,80,80,44,FF
2021-08-15T16:06:14.233Z,1629043574.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:06:14.233Z,1629043574.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:06:14.235Z,1629043574.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:06:14.630Z,1629043574.630 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:06:15.033Z,1629043575.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5A,000,00AF5,187,80,80,89,FF
2021-08-15T16:06:15.034Z,1629043575.034 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:06:15.462Z,1629043575.462 [Micromodem](INFO): Nmea in: $SNTTA,0.086677,,,,160615.24*4B

2021-08-15T16:06:15.533Z,1629043575.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.800003 m, bearing: 312.391980 deg, deltaT: 4.423007 s, approachRate: 0.312006 m/s, LOS rate: -0.438558 deg/s, posRepo size: 4
2021-08-15T16:06:17.939Z,1629043577.939 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:06:18.265Z,1629043578.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:06:18.265Z,1629043578.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:06:18.265Z,1629043578.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:06:18.266Z,1629043578.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:06:18.665Z,1629043578.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5A,000,00AF5,187,80,80,89,FF
2021-08-15T16:06:18.665Z,1629043578.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:06:18.665Z,1629043578.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:06:18.669Z,1629043578.669 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:06:19.080Z,1629043579.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:06:19.493Z,1629043579.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E84,000,00B0A,186,80,80,B6,FF
2021-08-15T16:06:19.493Z,1629043579.493 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:06:19.929Z,1629043579.929 [Micromodem](INFO): Nmea in: $SNTTA,0.087521,,,,160619.67*41

2021-08-15T16:06:19.945Z,1629043579.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.059998 m, bearing: 310.243694 deg, deltaT: 4.494906 s, approachRate: 0.280316 m/s, LOS rate: -0.477938 deg/s, posRepo size: 4
2021-08-15T16:06:22.396Z,1629043582.396 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:06:22.709Z,1629043582.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:06:22.709Z,1629043582.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:06:22.709Z,1629043582.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:06:22.710Z,1629043582.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:06:23.109Z,1629043583.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E84,000,00B0A,186,80,80,B6,FF
2021-08-15T16:06:23.109Z,1629043583.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:06:23.109Z,1629043583.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:06:23.111Z,1629043583.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:06:23.536Z,1629043583.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:06:23.921Z,1629043583.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E68,000,00B23,186,80,80,9B,FF
2021-08-15T16:06:23.921Z,1629043583.921 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:06:24.333Z,1629043584.333 [Micromodem](INFO): Nmea in: $SNTTA,0.097161,0.435968,,,160624.11*54

2021-08-15T16:06:24.417Z,1629043584.417 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.560013 m, bearing: 312.688956 deg, deltaT: 4.389084 s, approachRate: 0.341760 m/s, LOS rate: 0.557124 deg/s, posRepo size: 4
2021-08-15T16:06:26.783Z,1629043586.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:06:27.157Z,1629043587.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:06:27.157Z,1629043587.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:06:27.157Z,1629043587.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:06:27.158Z,1629043587.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:06:27.557Z,1629043587.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E68,000,00B23,186,80,80,9B,FF
2021-08-15T16:06:27.558Z,1629043587.558 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:06:27.558Z,1629043587.558 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:06:27.559Z,1629043587.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:06:27.961Z,1629043587.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:06:28.373Z,1629043588.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6D,000,00B3B,186,80,80,92,FF
2021-08-15T16:06:28.374Z,1629043588.374 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:06:28.805Z,1629043588.805 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160628.56*56

2021-08-15T16:06:28.844Z,1629043588.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.000000 m, bearing: 312.122296 deg, deltaT: 4.476965 s, approachRate: 0.321644 m/s, LOS rate: -0.126572 deg/s, posRepo size: 4
2021-08-15T16:06:31.207Z,1629043591.207 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:06:31.601Z,1629043591.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:06:31.601Z,1629043591.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:06:31.601Z,1629043591.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:06:31.602Z,1629043591.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:06:32.001Z,1629043592.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6D,000,00B3B,186,80,80,92,FF
2021-08-15T16:06:32.002Z,1629043592.002 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:06:32.002Z,1629043592.002 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:06:32.003Z,1629043592.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:06:32.424Z,1629043592.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:06:32.813Z,1629043592.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6D,000,00B57,187,80,80,69,FF
2021-08-15T16:06:32.813Z,1629043592.813 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:06:33.241Z,1629043593.241 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160633.01*5E

2021-08-15T16:06:33.277Z,1629043593.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.680008 m, bearing: 311.857230 deg, deltaT: 4.488316 s, approachRate: 0.374307 m/s, LOS rate: -0.059057 deg/s, posRepo size: 4
2021-08-15T16:06:35.686Z,1629043595.686 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:06:36.037Z,1629043596.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:06:36.037Z,1629043596.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:06:36.037Z,1629043596.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:06:36.038Z,1629043596.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:06:36.445Z,1629043596.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6D,000,00B57,187,80,80,69,FF
2021-08-15T16:06:36.445Z,1629043596.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:06:36.445Z,1629043596.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:06:36.447Z,1629043596.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:06:36.860Z,1629043596.860 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:06:37.268Z,1629043597.268 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7C,000,00B71,186,80,80,92,FF
2021-08-15T16:06:37.269Z,1629043597.269 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:06:37.697Z,1629043597.697 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160637.45*5A

2021-08-15T16:06:37.748Z,1629043597.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.240005 m, bearing: 311.369063 deg, deltaT: 4.361652 s, approachRate: 0.357662 m/s, LOS rate: -0.111923 deg/s, posRepo size: 4
2021-08-15T16:06:40.165Z,1629043600.165 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:06:40.505Z,1629043600.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:06:40.505Z,1629043600.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:06:40.505Z,1629043600.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:06:40.506Z,1629043600.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:06:40.889Z,1629043600.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7C,000,00B71,186,80,80,92,FF
2021-08-15T16:06:40.889Z,1629043600.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:06:40.889Z,1629043600.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:06:40.891Z,1629043600.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:06:41.301Z,1629043601.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:06:41.701Z,1629043601.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E78,000,00B82,186,80,80,95,FF
2021-08-15T16:06:41.702Z,1629043601.702 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:06:42.169Z,1629043602.169 [Micromodem](INFO): Nmea in: $SNTTA,0.092308,,,,160641.89*45

2021-08-15T16:06:42.235Z,1629043602.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.259995 m, bearing: 311.973508 deg, deltaT: 4.443621 s, approachRate: 0.229540 m/s, LOS rate: 0.136025 deg/s, posRepo size: 4
2021-08-15T16:06:44.589Z,1629043604.589 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:06:44.941Z,1629043604.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:06:44.941Z,1629043604.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:06:44.941Z,1629043604.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:06:44.942Z,1629043604.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:06:45.329Z,1629043605.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E78,000,00B82,186,80,80,95,FF
2021-08-15T16:06:45.329Z,1629043605.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:06:45.330Z,1629043605.330 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:06:45.331Z,1629043605.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:06:45.737Z,1629043605.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:06:46.189Z,1629043606.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E61,000,00B9A,186,80,80,98,FF
2021-08-15T16:06:46.190Z,1629043606.190 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:06:46.586Z,1629043606.586 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160646.33*5D

2021-08-15T16:06:46.623Z,1629043606.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.699997 m, bearing: 313.049426 deg, deltaT: 4.517380 s, approachRate: 0.318769 m/s, LOS rate: 0.238173 deg/s, posRepo size: 4
2021-08-15T16:06:49.013Z,1629043609.013 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:06:49.383Z,1629043609.383 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:06:49.383Z,1629043609.383 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:06:49.383Z,1629043609.383 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:06:49.385Z,1629043609.385 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:06:49.784Z,1629043609.784 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E61,000,00B9A,186,80,80,98,FF
2021-08-15T16:06:49.784Z,1629043609.784 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:06:49.785Z,1629043609.785 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:06:49.786Z,1629043609.786 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:06:50.193Z,1629043610.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:06:50.594Z,1629043610.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5A,000,00BB6,187,80,80,AB,FF
2021-08-15T16:06:50.594Z,1629043610.594 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:06:51.049Z,1629043611.049 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160650.79*54

2021-08-15T16:06:51.072Z,1629043611.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 142.380005 m, bearing: 312.080113 deg, deltaT: 4.403365 s, approachRate: 0.381528 m/s, LOS rate: -0.220130 deg/s, posRepo size: 4
2021-08-15T16:06:53.498Z,1629043613.498 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:06:53.825Z,1629043613.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:06:53.825Z,1629043613.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:06:53.825Z,1629043613.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:06:53.826Z,1629043613.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:06:54.225Z,1629043614.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5A,000,00BB6,187,80,80,AB,FF
2021-08-15T16:06:54.225Z,1629043614.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:06:54.225Z,1629043614.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:06:54.227Z,1629043614.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:06:54.629Z,1629043614.629 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:06:55.041Z,1629043615.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E51,000,00BC9,186,80,80,90,FF
2021-08-15T16:06:55.042Z,1629043615.042 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:06:55.470Z,1629043615.470 [Micromodem](INFO): Nmea in: $SNTTA,0.095122,,,,160655.23*4D

2021-08-15T16:06:55.545Z,1629043615.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.520004 m, bearing: 311.986321 deg, deltaT: 4.428546 s, approachRate: 0.257421 m/s, LOS rate: -0.021179 deg/s, posRepo size: 4
2021-08-15T16:06:57.899Z,1629043617.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:06:58.265Z,1629043618.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:06:58.265Z,1629043618.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:06:58.265Z,1629043618.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:06:58.266Z,1629043618.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:06:58.669Z,1629043618.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E51,000,00BC9,186,80,80,90,FF
2021-08-15T16:06:58.669Z,1629043618.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:06:58.669Z,1629043618.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:06:58.671Z,1629043618.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:06:59.084Z,1629043619.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:06:59.513Z,1629043619.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E51,000,00BE1,186,80,80,93,FF
2021-08-15T16:06:59.514Z,1629043619.514 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:06:59.925Z,1629043619.925 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160659.67*52

2021-08-15T16:06:59.948Z,1629043619.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.959991 m, bearing: 310.991572 deg, deltaT: 4.482611 s, approachRate: 0.321238 m/s, LOS rate: -0.221913 deg/s, posRepo size: 4
2021-08-15T16:07:02.385Z,1629043622.385 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:07:02.713Z,1629043622.713 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:07:02.713Z,1629043622.713 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:07:02.713Z,1629043622.713 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:07:02.714Z,1629043622.714 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:07:03.113Z,1629043623.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E51,000,00BE1,186,80,80,93,FF
2021-08-15T16:07:03.113Z,1629043623.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:07:03.113Z,1629043623.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:07:03.115Z,1629043623.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:07:03.549Z,1629043623.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:07:03.925Z,1629043623.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E70,000,00BF6,186,80,80,90,FF
2021-08-15T16:07:03.926Z,1629043623.926 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:07:04.373Z,1629043624.373 [Micromodem](INFO): Nmea in: $SNTTA,0.099746,,,,160704.12*42

2021-08-15T16:07:04.434Z,1629043624.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.220001 m, bearing: 310.328088 deg, deltaT: 4.410910 s, approachRate: 0.285658 m/s, LOS rate: -0.150419 deg/s, posRepo size: 4
2021-08-15T16:07:06.789Z,1629043626.789 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:07:07.149Z,1629043627.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:07:07.149Z,1629043627.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:07:07.149Z,1629043627.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:07:07.150Z,1629043627.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:07:07.576Z,1629043627.576 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E70,000,00BF6,186,80,80,90,FF
2021-08-15T16:07:07.576Z,1629043627.576 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:07:07.577Z,1629043627.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:07:07.578Z,1629043627.578 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:07:07.956Z,1629043627.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:07:08.378Z,1629043628.378 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4B,000,00C0D,186,80,80,90,FF
2021-08-15T16:07:08.379Z,1629043628.379 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:07:08.797Z,1629043628.797 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160708.58*5B

2021-08-15T16:07:08.823Z,1629043628.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.600006 m, bearing: 311.780596 deg, deltaT: 4.518057 s, approachRate: 0.305442 m/s, LOS rate: 0.321490 deg/s, posRepo size: 4
2021-08-15T16:07:11.211Z,1629043631.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:07:11.605Z,1629043631.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:07:11.605Z,1629043631.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:07:11.605Z,1629043631.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:07:11.606Z,1629043631.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:07:11.997Z,1629043631.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4B,000,00C0D,186,80,80,90,FF
2021-08-15T16:07:11.997Z,1629043631.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:07:11.997Z,1629043631.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:07:11.999Z,1629043631.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:07:12.447Z,1629043632.447 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:07:12.821Z,1629043632.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1D,000,00C22,187,80,80,9A,FF
2021-08-15T16:07:12.822Z,1629043632.822 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:07:13.254Z,1629043633.254 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160713.00*5C

2021-08-15T16:07:13.297Z,1629043633.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.860001 m, bearing: 313.899047 deg, deltaT: 4.405864 s, approachRate: 0.285981 m/s, LOS rate: 0.480825 deg/s, posRepo size: 4
2021-08-15T16:07:15.695Z,1629043635.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:07:16.056Z,1629043636.056 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:07:16.057Z,1629043636.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:07:16.057Z,1629043636.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:07:16.058Z,1629043636.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:07:16.441Z,1629043636.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1D,000,00C22,187,80,80,9A,FF
2021-08-15T16:07:16.441Z,1629043636.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:07:16.441Z,1629043636.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:07:16.443Z,1629043636.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:07:16.853Z,1629043636.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:07:17.265Z,1629043637.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3C,000,00C36,186,80,80,87,FF
2021-08-15T16:07:17.265Z,1629043637.265 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:07:17.701Z,1629043637.701 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160717.45*59

2021-08-15T16:07:17.727Z,1629043637.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 150.059998 m, bearing: 311.908730 deg, deltaT: 4.394240 s, approachRate: 0.273084 m/s, LOS rate: -0.452938 deg/s, posRepo size: 4
2021-08-15T16:07:20.158Z,1629043640.158 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:07:20.498Z,1629043640.498 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:07:20.498Z,1629043640.498 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:07:20.498Z,1629043640.498 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:07:20.500Z,1629043640.500 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:07:20.890Z,1629043640.890 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3C,000,00C36,186,80,80,87,FF
2021-08-15T16:07:20.890Z,1629043640.890 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:07:20.890Z,1629043640.890 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:07:20.892Z,1629043640.892 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:07:21.292Z,1629043641.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:07:21.698Z,1629043641.698 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E09,000,00C46,187,80,80,87,FF
2021-08-15T16:07:21.698Z,1629043641.698 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:07:22.204Z,1629043642.204 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160721.89*5C

2021-08-15T16:07:22.270Z,1629043642.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.020004 m, bearing: 314.203155 deg, deltaT: 4.468629 s, approachRate: 0.214832 m/s, LOS rate: 0.513452 deg/s, posRepo size: 4
2021-08-15T16:07:24.578Z,1629043644.578 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:07:24.925Z,1629043644.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:07:24.925Z,1629043644.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:07:24.925Z,1629043644.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:07:24.926Z,1629043644.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:07:25.341Z,1629043645.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E09,000,00C46,187,80,80,87,FF
2021-08-15T16:07:25.341Z,1629043645.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:07:25.341Z,1629043645.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:07:25.343Z,1629043645.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:07:25.742Z,1629043645.742 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:07:26.197Z,1629043646.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFE,000,00C5D,187,80,80,79,FF
2021-08-15T16:07:26.198Z,1629043646.198 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:07:26.598Z,1629043646.598 [Micromodem](INFO): Nmea in: $SNTTA,0.103959,,,,160726.35*45

2021-08-15T16:07:26.624Z,1629043646.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.399994 m, bearing: 314.508464 deg, deltaT: 4.546481 s, approachRate: 0.303529 m/s, LOS rate: 0.067153 deg/s, posRepo size: 4
2021-08-15T16:07:29.019Z,1629043649.019 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:07:29.377Z,1629043649.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:07:29.377Z,1629043649.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:07:29.377Z,1629043649.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:07:29.378Z,1629043649.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:07:29.789Z,1629043649.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFE,000,00C5D,187,80,80,79,FF
2021-08-15T16:07:29.789Z,1629043649.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:07:29.789Z,1629043649.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:07:29.791Z,1629043649.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:07:30.205Z,1629043650.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:07:30.589Z,1629043650.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E01,000,00C74,186,80,80,79,FF
2021-08-15T16:07:30.590Z,1629043650.590 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:07:31.025Z,1629043651.025 [Micromodem](INFO): Nmea in: $SNTTA,0.108050,,,,160730.79*41

2021-08-15T16:07:31.056Z,1629043651.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 153.779999 m, bearing: 314.361424 deg, deltaT: 4.348323 s, approachRate: 0.317365 m/s, LOS rate: -0.033815 deg/s, posRepo size: 4
2021-08-15T16:07:33.447Z,1629043653.447 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:07:33.821Z,1629043653.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:07:33.821Z,1629043653.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:07:33.821Z,1629043653.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:07:33.822Z,1629043653.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:07:34.233Z,1629043654.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E01,000,00C74,186,80,80,79,FF
2021-08-15T16:07:34.233Z,1629043654.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:07:34.233Z,1629043654.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:07:34.235Z,1629043654.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:07:34.685Z,1629043654.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:07:35.077Z,1629043655.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEA,000,00C86,188,80,80,5A,FF
2021-08-15T16:07:35.078Z,1629043655.078 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:07:35.509Z,1629043655.509 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160735.24*5E

2021-08-15T16:07:35.555Z,1629043655.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 154.860016 m, bearing: 315.688475 deg, deltaT: 4.440882 s, approachRate: 0.243199 m/s, LOS rate: 0.298826 deg/s, posRepo size: 4
2021-08-15T16:07:36.579Z,1629043656.579 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T16:07:37.762Z,1629043657.762 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:07:38.165Z,1629043658.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:07:38.165Z,1629043658.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:07:38.165Z,1629043658.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:07:38.166Z,1629043658.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:07:38.557Z,1629043658.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEA,000,00C86,188,80,80,5A,FF
2021-08-15T16:07:38.557Z,1629043658.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:07:38.557Z,1629043658.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:07:38.559Z,1629043658.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:07:39.013Z,1629043659.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:07:39.409Z,1629043659.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3F,000,00C9A,185,80,80,84,FF
2021-08-15T16:07:39.410Z,1629043659.410 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:07:39.833Z,1629043659.833 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160739.56*57

2021-08-15T16:07:39.856Z,1629043659.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 156.060013 m, bearing: 311.384281 deg, deltaT: 4.409569 s, approachRate: 0.272135 m/s, LOS rate: -0.976103 deg/s, posRepo size: 4
2021-08-15T16:07:40.145Z,1629043660.145 [CTD_Seabird](ERROR): Failed to parse device response: ,24.0824,4.78069,4725.21
2021-08-15T16:07:42.271Z,1629043662.271 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:07:42.632Z,1629043662.632 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:07:42.632Z,1629043662.632 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:07:42.632Z,1629043662.632 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:07:42.633Z,1629043662.633 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:07:43.045Z,1629043663.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3F,000,00C9A,185,80,80,84,FF
2021-08-15T16:07:43.045Z,1629043663.045 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:07:43.045Z,1629043663.045 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:07:43.047Z,1629043663.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:07:43.466Z,1629043663.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:07:43.842Z,1629043663.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E42,000,00C9A,185,80,80,84,FF
2021-08-15T16:07:43.842Z,1629043663.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:07:44.301Z,1629043664.301 [Micromodem](INFO): Nmea in: $SNTTA,0.107110,,,,160744.05*43

2021-08-15T16:07:44.357Z,1629043664.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 156.060013 m, bearing: 311.708278 deg, deltaT: 4.412421 s, approachRate: 0.000000 m/s, LOS rate: 0.073428 deg/s, posRepo size: 4
2021-08-15T16:07:46.718Z,1629043666.718 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:07:47.077Z,1629043667.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:07:47.078Z,1629043667.078 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:07:47.078Z,1629043667.078 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:07:47.079Z,1629043667.079 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:07:47.521Z,1629043667.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E42,000,00C9A,185,80,80,84,FF
2021-08-15T16:07:47.521Z,1629043667.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:07:47.521Z,1629043667.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:07:47.523Z,1629043667.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:07:47.900Z,1629043667.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:07:48.316Z,1629043668.316 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5B,000,00C9A,185,80,80,84,FF
2021-08-15T16:07:48.317Z,1629043668.317 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:07:48.711Z,1629043668.711 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160748.53*54

2021-08-15T16:07:48.759Z,1629043668.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 156.060013 m, bearing: 309.994692 deg, deltaT: 4.473809 s, approachRate: 0.000000 m/s, LOS rate: -0.383026 deg/s, posRepo size: 4
2021-08-15T16:07:51.147Z,1629043671.147 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:07:51.549Z,1629043671.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:07:51.549Z,1629043671.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:07:51.550Z,1629043671.550 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:07:51.551Z,1629043671.551 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:07:51.925Z,1629043671.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5B,000,00C9A,185,80,80,84,FF
2021-08-15T16:07:51.925Z,1629043671.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:07:51.925Z,1629043671.925 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:07:51.927Z,1629043671.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:07:52.355Z,1629043672.355 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:07:52.738Z,1629043672.738 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E59,000,00CD1,186,80,80,84,FF
2021-08-15T16:07:52.739Z,1629043672.739 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:07:53.182Z,1629043673.182 [Micromodem](INFO): Nmea in: $SNTTA,0.107989,,,,160752.93*43

2021-08-15T16:07:53.224Z,1629043673.224 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 159.360001 m, bearing: 310.472532 deg, deltaT: 4.417762 s, approachRate: 0.746982 m/s, LOS rate: 0.108163 deg/s, posRepo size: 4
2021-08-15T16:07:55.627Z,1629043675.627 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:07:55.974Z,1629043675.974 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:07:55.974Z,1629043675.974 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:07:55.974Z,1629043675.974 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:07:55.975Z,1629043675.975 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:07:56.379Z,1629043676.379 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E59,000,00CD1,186,80,80,84,FF
2021-08-15T16:07:56.396Z,1629043676.396 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:07:56.397Z,1629043676.397 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:07:56.402Z,1629043676.402 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:07:56.821Z,1629043676.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:07:57.650Z,1629043677.650 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160757.41*59

2021-08-15T16:07:58.531Z,1629043678.531 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:08:00.056Z,1629043680.056 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,186,80,80,84,FF
2021-08-15T16:08:00.056Z,1629043680.056 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,186,80,80,84,FF
2021-08-15T16:08:00.056Z,1629043680.056 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T16:08:01.306Z,1629043681.306 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:08:01.661Z,1629043681.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:08:01.661Z,1629043681.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:08:01.661Z,1629043681.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:08:01.662Z,1629043681.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:08:02.090Z,1629043682.090 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,186,80,80,84,FF
2021-08-15T16:08:02.090Z,1629043682.090 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:08:02.091Z,1629043682.091 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:08:02.111Z,1629043682.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:08:02.520Z,1629043682.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:08:03.307Z,1629043683.307 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160803.11*52

2021-08-15T16:08:04.190Z,1629043684.190 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:08:05.709Z,1629043685.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,186,80,80,84,FF
2021-08-15T16:08:05.710Z,1629043685.710 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,186,80,80,84,FF
2021-08-15T16:08:05.710Z,1629043685.710 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T16:08:06.950Z,1629043686.950 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:08:07.341Z,1629043687.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:08:07.341Z,1629043687.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:08:07.341Z,1629043687.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:08:07.342Z,1629043687.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:08:07.737Z,1629043687.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,186,80,80,84,FF
2021-08-15T16:08:07.737Z,1629043687.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:08:07.738Z,1629043687.738 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:08:07.739Z,1629043687.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:08:08.184Z,1629043688.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:08:08.970Z,1629043688.970 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160808.74*5A

2021-08-15T16:08:09.801Z,1629043689.801 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:08:12.620Z,1629043692.620 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:08:13.392Z,1629043693.392 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.049883
2021-08-15T16:08:15.447Z,1629043695.447 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:08:15.809Z,1629043695.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:08:15.809Z,1629043695.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:08:15.809Z,1629043695.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:08:15.810Z,1629043695.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:08:16.214Z,1629043696.214 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,186,80,80,84,FF
2021-08-15T16:08:16.214Z,1629043696.214 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:08:16.214Z,1629043696.214 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:08:16.215Z,1629043696.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:08:16.644Z,1629043696.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:08:17.528Z,1629043697.528 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160817.22*57

2021-08-15T16:08:18.285Z,1629043698.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA8,000,04A1C,186,80,80,84,FF
2021-08-15T16:08:18.286Z,1629043698.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:08:18.738Z,1629043698.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1100.820068 m, bearing: 305.767734 deg, deltaT: 25.679329 s, approachRate: 36.662178 m/s, LOS rate: -0.183213 deg/s, posRepo size: 4
2021-08-15T16:08:21.135Z,1629043701.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:08:21.537Z,1629043701.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:08:21.538Z,1629043701.538 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:08:21.538Z,1629043701.538 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:08:21.539Z,1629043701.539 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:08:21.917Z,1629043701.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA8,000,04A1C,186,80,80,84,FF
2021-08-15T16:08:21.917Z,1629043701.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:08:21.917Z,1629043701.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:08:21.919Z,1629043701.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:08:22.341Z,1629043702.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:08:23.162Z,1629043703.162 [Micromodem](INFO): Nmea in: $SNTTA,0.112662,,,,160822.92*44

2021-08-15T16:08:23.941Z,1629043703.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E97,000,03BA0,185,80,80,5A,FF
2021-08-15T16:08:23.942Z,1629043703.942 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:08:24.407Z,1629043704.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 878.340027 m, bearing: 305.941986 deg, deltaT: 5.500446 s, approachRate: -40.447636 m/s, LOS rate: 0.031680 deg/s, posRepo size: 4
2021-08-15T16:08:26.813Z,1629043706.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:08:27.173Z,1629043707.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:08:27.173Z,1629043707.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:08:27.173Z,1629043707.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:08:27.174Z,1629043707.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:08:27.581Z,1629043707.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E97,000,03BA0,185,80,80,5A,FF
2021-08-15T16:08:27.581Z,1629043707.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:08:27.581Z,1629043707.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:08:27.583Z,1629043707.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:08:27.985Z,1629043707.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:08:28.398Z,1629043708.398 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECF,000,00D60,185,80,80,5A,FF
2021-08-15T16:08:28.398Z,1629043708.398 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:08:28.834Z,1629043708.834 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160828.58*56

2021-08-15T16:08:28.866Z,1629043708.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.940002 m, bearing: 303.209473 deg, deltaT: 4.528429 s, approachRate: -156.875595 m/s, LOS rate: -0.603413 deg/s, posRepo size: 4
2021-08-15T16:08:31.251Z,1629043711.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:08:31.621Z,1629043711.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:08:31.621Z,1629043711.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:08:31.621Z,1629043711.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:08:31.622Z,1629043711.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:08:32.027Z,1629043712.027 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECF,000,00D60,185,80,80,5A,FF
2021-08-15T16:08:32.027Z,1629043712.027 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:08:32.027Z,1629043712.027 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:08:32.029Z,1629043712.029 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:08:32.430Z,1629043712.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:08:32.837Z,1629043712.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE5,000,00D60,185,80,80,5A,FF
2021-08-15T16:08:32.837Z,1629043712.837 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:08:33.277Z,1629043713.277 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160833.03*52

2021-08-15T16:08:33.318Z,1629043713.318 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.940002 m, bearing: 302.329526 deg, deltaT: 4.349331 s, approachRate: 0.000000 m/s, LOS rate: -0.202318 deg/s, posRepo size: 4
2021-08-15T16:08:35.709Z,1629043715.709 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:08:36.071Z,1629043716.071 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:08:36.072Z,1629043716.072 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:08:36.073Z,1629043716.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:08:36.074Z,1629043716.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:08:36.489Z,1629043716.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE5,000,00D60,185,80,80,5A,FF
2021-08-15T16:08:36.490Z,1629043716.490 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:08:36.490Z,1629043716.490 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:08:36.496Z,1629043716.496 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:08:36.877Z,1629043716.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:08:37.291Z,1629043717.291 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F05,000,00D60,185,80,80,5A,FF
2021-08-15T16:08:37.292Z,1629043717.292 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:08:37.701Z,1629043717.701 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160837.50*50

2021-08-15T16:08:37.743Z,1629043717.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.940002 m, bearing: 300.825847 deg, deltaT: 4.449286 s, approachRate: 0.000000 m/s, LOS rate: -0.337960 deg/s, posRepo size: 4
2021-08-15T16:08:40.154Z,1629043720.154 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:08:40.537Z,1629043720.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:08:40.537Z,1629043720.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:08:40.537Z,1629043720.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:08:40.538Z,1629043720.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:08:40.917Z,1629043720.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F05,000,00D60,185,80,80,5A,FF
2021-08-15T16:08:40.917Z,1629043720.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:08:40.918Z,1629043720.918 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:08:40.919Z,1629043720.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:08:41.317Z,1629043721.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:08:41.722Z,1629043721.722 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F15,000,00D60,185,80,80,5A,FF
2021-08-15T16:08:41.722Z,1629043721.722 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:08:42.153Z,1629043722.153 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160841.92*5F

2021-08-15T16:08:42.184Z,1629043722.184 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.940002 m, bearing: 300.153537 deg, deltaT: 4.475434 s, approachRate: 0.000000 m/s, LOS rate: -0.150222 deg/s, posRepo size: 4
2021-08-15T16:08:44.597Z,1629043724.597 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:08:44.949Z,1629043724.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:08:44.949Z,1629043724.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:08:44.949Z,1629043724.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:08:44.950Z,1629043724.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:08:45.362Z,1629043725.362 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F15,000,00D60,185,80,80,5A,FF
2021-08-15T16:08:45.362Z,1629043725.362 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:08:45.362Z,1629043725.362 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:08:45.364Z,1629043725.364 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:08:45.766Z,1629043725.766 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:08:46.166Z,1629043726.166 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1E,000,00D60,185,80,80,5A,FF
2021-08-15T16:08:46.166Z,1629043726.166 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:08:46.605Z,1629043726.605 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160846.37*57

2021-08-15T16:08:46.631Z,1629043726.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.940002 m, bearing: 299.624717 deg, deltaT: 4.439147 s, approachRate: 0.000000 m/s, LOS rate: -0.119127 deg/s, posRepo size: 4
2021-08-15T16:08:49.035Z,1629043729.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:08:49.413Z,1629043729.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:08:49.413Z,1629043729.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:08:49.413Z,1629043729.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:08:49.414Z,1629043729.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:08:49.807Z,1629043729.807 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1E,000,00D60,185,80,80,5A,FF
2021-08-15T16:08:49.807Z,1629043729.807 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:08:49.807Z,1629043729.807 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:08:49.809Z,1629043729.809 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:08:50.208Z,1629043730.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:08:50.614Z,1629043730.614 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F09,000,00D60,185,80,80,5A,FF
2021-08-15T16:08:50.614Z,1629043730.614 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:08:51.105Z,1629043731.105 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160850.81*5D

2021-08-15T16:08:51.202Z,1629043731.202 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.940002 m, bearing: 300.603018 deg, deltaT: 4.445884 s, approachRate: 0.000000 m/s, LOS rate: 0.220047 deg/s, posRepo size: 4
2021-08-15T16:08:52.665Z,1629043732.665 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T16:08:53.569Z,1629043733.569 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:08:53.852Z,1629043733.852 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:08:53.852Z,1629043733.852 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:08:53.853Z,1629043733.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:08:53.853Z,1629043733.853 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:08:54.266Z,1629043734.266 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F09,000,00D60,185,80,80,5A,FF
2021-08-15T16:08:54.266Z,1629043734.266 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:08:54.266Z,1629043734.266 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:08:54.268Z,1629043734.268 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:08:54.657Z,1629043734.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:08:55.070Z,1629043735.070 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F15,000,00D60,185,80,80,5A,FF
2021-08-15T16:08:55.070Z,1629043735.070 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:08:55.541Z,1629043735.541 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160855.27*54

2021-08-15T16:08:55.606Z,1629043735.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.940002 m, bearing: 299.841507 deg, deltaT: 4.487491 s, approachRate: 0.000000 m/s, LOS rate: -0.169696 deg/s, posRepo size: 4
2021-08-15T16:08:57.907Z,1629043737.907 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:08:58.301Z,1629043738.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:08:58.301Z,1629043738.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:08:58.301Z,1629043738.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:08:58.302Z,1629043738.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:08:58.693Z,1629043738.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F15,000,00D60,185,80,80,5A,FF
2021-08-15T16:08:58.693Z,1629043738.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:08:58.694Z,1629043738.694 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:08:58.695Z,1629043738.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:08:58.742Z,1629043738.742 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T16:08:59.147Z,1629043739.147 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:08:59.558Z,1629043739.558 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0E,000,00DD3,186,80,80,9D,FF
2021-08-15T16:08:59.559Z,1629043739.559 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:08:59.945Z,1629043739.945 [Micromodem](INFO): Nmea in: $SNTTA,0.118848,,,,160859.70*48

2021-08-15T16:08:59.991Z,1629043739.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 174.840012 m, bearing: 299.949451 deg, deltaT: 4.423208 s, approachRate: 1.559956 m/s, LOS rate: 0.024404 deg/s, posRepo size: 4
2021-08-15T16:09:02.367Z,1629043742.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:09:02.745Z,1629043742.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:09:02.745Z,1629043742.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:09:02.745Z,1629043742.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:09:02.746Z,1629043742.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:09:03.172Z,1629043743.172 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0E,000,00DD3,186,80,80,9D,FF
2021-08-15T16:09:03.172Z,1629043743.172 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:09:03.172Z,1629043743.172 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:09:03.174Z,1629043743.174 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:09:03.565Z,1629043743.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:09:04.381Z,1629043744.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F21,000,00DE4,186,80,80,7F,FF
2021-08-15T16:09:04.381Z,1629043744.381 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:09:04.384Z,1629043744.384 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160904.18*5D

2021-08-15T16:09:04.827Z,1629043744.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 175.860001 m, bearing: 298.671140 deg, deltaT: 4.814638 s, approachRate: 0.211852 m/s, LOS rate: -0.265505 deg/s, posRepo size: 4
2021-08-15T16:09:07.270Z,1629043747.270 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:09:07.597Z,1629043747.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:09:07.597Z,1629043747.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:09:07.597Z,1629043747.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:09:07.598Z,1629043747.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:09:07.625Z,1629043747.625 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T16:09:08.002Z,1629043748.002 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F21,000,00DE4,186,80,80,7F,FF
2021-08-15T16:09:08.002Z,1629043748.002 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:09:08.002Z,1629043748.002 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:09:08.005Z,1629043748.005 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:09:08.422Z,1629043748.422 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:09:09.245Z,1629043749.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F17,000,00DF4,186,80,80,A4,FF
2021-08-15T16:09:09.245Z,1629043749.245 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:09:09.248Z,1629043749.248 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160909.01*58

2021-08-15T16:09:09.681Z,1629043749.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 176.819992 m, bearing: 299.089093 deg, deltaT: 4.883318 s, approachRate: 0.196586 m/s, LOS rate: 0.085588 deg/s, posRepo size: 4
2021-08-15T16:09:12.091Z,1629043752.091 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:09:12.498Z,1629043752.498 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:09:12.498Z,1629043752.498 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:09:12.498Z,1629043752.498 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:09:12.498Z,1629043752.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:09:12.519Z,1629043752.519 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T16:09:12.853Z,1629043752.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F17,000,00DF4,186,80,80,A4,FF
2021-08-15T16:09:12.853Z,1629043752.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:09:12.853Z,1629043752.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:09:12.855Z,1629043752.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:09:13.264Z,1629043753.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:09:13.662Z,1629043753.662 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F17,000,00DF4,186,80,80,A4,FF
2021-08-15T16:09:13.662Z,1629043753.662 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:09:14.097Z,1629043754.097 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160913.86*5C

2021-08-15T16:09:14.128Z,1629043754.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 176.819992 m, bearing: 298.863916 deg, deltaT: 4.464058 s, approachRate: 0.000000 m/s, LOS rate: -0.050442 deg/s, posRepo size: 4
2021-08-15T16:09:16.538Z,1629043756.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:09:16.889Z,1629043756.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:09:16.889Z,1629043756.889 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:09:16.889Z,1629043756.889 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:09:16.890Z,1629043756.890 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:09:17.302Z,1629043757.302 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F17,000,00DF4,186,80,80,A4,FF
2021-08-15T16:09:17.302Z,1629043757.302 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:09:17.302Z,1629043757.302 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:09:17.304Z,1629043757.304 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:09:17.713Z,1629043757.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:09:18.553Z,1629043758.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F40,000,00E1A,186,80,80,A5,FF
2021-08-15T16:09:18.553Z,1629043758.553 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:09:18.556Z,1629043758.556 [Micromodem](INFO): Nmea in: $SNTTA,0.128089,,,,160918.31*4F

2021-08-15T16:09:18.956Z,1629043758.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 179.100006 m, bearing: 297.115169 deg, deltaT: 4.885777 s, approachRate: 0.466664 m/s, LOS rate: -0.357926 deg/s, posRepo size: 4
2021-08-15T16:09:21.404Z,1629043761.404 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:09:21.737Z,1629043761.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:09:21.737Z,1629043761.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:09:21.737Z,1629043761.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:09:21.738Z,1629043761.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:09:22.150Z,1629043762.150 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F40,000,00E1A,186,80,80,A5,FF
2021-08-15T16:09:22.150Z,1629043762.150 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:09:22.150Z,1629043762.150 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:09:22.151Z,1629043762.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:09:22.560Z,1629043762.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:09:22.587Z,1629043762.587 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T16:09:23.386Z,1629043763.386 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160923.15*55

2021-08-15T16:09:24.161Z,1629043764.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F19,000,03699,187,80,80,9F,FF
2021-08-15T16:09:24.162Z,1629043764.162 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:09:24.623Z,1629043764.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 801.120056 m, bearing: 299.516417 deg, deltaT: 5.572647 s, approachRate: 111.620209 m/s, LOS rate: 0.430899 deg/s, posRepo size: 4
2021-08-15T16:09:27.071Z,1629043767.071 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:09:27.442Z,1629043767.442 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:09:27.442Z,1629043767.442 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:09:27.442Z,1629043767.442 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:09:27.443Z,1629043767.443 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:09:27.593Z,1629043767.593 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T16:09:27.843Z,1629043767.843 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F19,000,03699,187,80,80,9F,FF
2021-08-15T16:09:27.843Z,1629043767.843 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:09:27.844Z,1629043767.844 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:09:27.845Z,1629043767.845 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:09:28.241Z,1629043768.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:09:29.089Z,1629043769.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F30,000,00E46,186,80,80,A3,FF
2021-08-15T16:09:29.089Z,1629043769.089 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:09:29.092Z,1629043769.092 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160928.85*57

2021-08-15T16:09:29.538Z,1629043769.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 181.740005 m, bearing: 298.546558 deg, deltaT: 4.973562 s, approachRate: -124.534500 m/s, LOS rate: -0.195003 deg/s, posRepo size: 4
2021-08-15T16:09:31.895Z,1629043771.895 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:09:32.289Z,1629043772.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:09:32.289Z,1629043772.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:09:32.289Z,1629043772.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:09:32.290Z,1629043772.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:09:32.689Z,1629043772.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F30,000,00E46,186,80,80,A3,FF
2021-08-15T16:09:32.690Z,1629043772.690 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:09:32.690Z,1629043772.690 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:09:32.691Z,1629043772.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:09:32.717Z,1629043772.717 [RDI_PathfinderUp](ERROR): DVL BIT error. See manual. Result code: 57
2021-08-15T16:09:33.098Z,1629043773.098 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:09:33.522Z,1629043773.522 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1C,000,00E57,186,80,80,A3,FF
2021-08-15T16:09:33.522Z,1629043773.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:09:33.937Z,1629043773.937 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160933.69*5F

2021-08-15T16:09:33.956Z,1629043773.956 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 182.760010 m, bearing: 299.266569 deg, deltaT: 4.448740 s, approachRate: 0.229279 m/s, LOS rate: 0.161846 deg/s, posRepo size: 4
2021-08-15T16:09:36.345Z,1629043776.345 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:09:36.732Z,1629043776.732 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:09:36.732Z,1629043776.732 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:09:36.733Z,1629043776.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:09:36.733Z,1629043776.733 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:09:37.169Z,1629043777.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1C,000,00E57,186,80,80,A3,FF
2021-08-15T16:09:37.169Z,1629043777.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:09:37.169Z,1629043777.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:09:37.171Z,1629043777.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:09:37.573Z,1629043777.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:09:37.607Z,1629043777.607 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T16:09:38.386Z,1629043778.386 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F26,000,00E71,186,80,80,9F,FF
2021-08-15T16:09:38.386Z,1629043778.386 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:09:38.389Z,1629043778.389 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160938.18*52

2021-08-15T16:09:38.819Z,1629043778.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 184.320007 m, bearing: 298.901700 deg, deltaT: 4.782818 s, approachRate: 0.326167 m/s, LOS rate: -0.076287 deg/s, posRepo size: 4
2021-08-15T16:09:41.273Z,1629043781.273 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:09:41.609Z,1629043781.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:09:41.609Z,1629043781.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:09:41.610Z,1629043781.610 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:09:41.611Z,1629043781.611 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:09:42.013Z,1629043782.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F26,000,00E71,186,80,80,9F,FF
2021-08-15T16:09:42.013Z,1629043782.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:09:42.013Z,1629043782.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:09:42.015Z,1629043782.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:09:42.417Z,1629043782.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:09:43.237Z,1629043783.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0A,000,00E80,186,80,80,9D,FF
2021-08-15T16:09:43.237Z,1629043783.237 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:09:43.265Z,1629043783.265 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160943.02*55

2021-08-15T16:09:43.678Z,1629043783.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 185.220001 m, bearing: 300.864861 deg, deltaT: 4.918582 s, approachRate: 0.182978 m/s, LOS rate: 0.399131 deg/s, posRepo size: 4
2021-08-15T16:09:46.074Z,1629043786.074 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:09:46.445Z,1629043786.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:09:46.445Z,1629043786.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:09:46.445Z,1629043786.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:09:46.446Z,1629043786.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:09:46.849Z,1629043786.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0A,000,00E80,186,80,80,9D,FF
2021-08-15T16:09:46.849Z,1629043786.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:09:46.849Z,1629043786.849 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:09:46.851Z,1629043786.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:09:47.257Z,1629043787.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:09:48.085Z,1629043788.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F24,000,00E9E,187,80,80,88,FF
2021-08-15T16:09:48.085Z,1629043788.085 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:09:48.088Z,1629043788.088 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160947.85*5E

2021-08-15T16:09:48.534Z,1629043788.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 187.020004 m, bearing: 299.625318 deg, deltaT: 4.810176 s, approachRate: 0.374207 m/s, LOS rate: -0.257692 deg/s, posRepo size: 4
2021-08-15T16:09:50.907Z,1629043790.907 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:09:51.301Z,1629043791.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:09:51.301Z,1629043791.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:09:51.301Z,1629043791.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:09:51.302Z,1629043791.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:09:51.703Z,1629043791.703 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F24,000,00E9E,187,80,80,88,FF
2021-08-15T16:09:51.703Z,1629043791.703 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:09:51.703Z,1629043791.703 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:09:51.705Z,1629043791.705 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:09:52.117Z,1629043792.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:09:52.570Z,1629043792.570 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F33,000,00EA7,186,80,80,81,FF
2021-08-15T16:09:52.570Z,1629043792.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:09:52.961Z,1629043792.961 [Micromodem](INFO): Nmea in: $SNTTA,,,,,160952.71*51

2021-08-15T16:09:52.981Z,1629043792.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 187.559998 m, bearing: 298.475934 deg, deltaT: 4.446999 s, approachRate: 0.121429 m/s, LOS rate: -0.258463 deg/s, posRepo size: 4
2021-08-15T16:09:55.427Z,1629043795.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:09:55.745Z,1629043795.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:09:55.745Z,1629043795.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:09:55.745Z,1629043795.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:09:55.746Z,1629043795.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:09:56.149Z,1629043796.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F33,000,00EA7,186,80,80,81,FF
2021-08-15T16:09:56.149Z,1629043796.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:09:56.149Z,1629043796.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:09:56.151Z,1629043796.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:09:56.556Z,1629043796.556 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:09:57.369Z,1629043797.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F26,000,00EBA,187,80,80,89,FF
2021-08-15T16:09:57.369Z,1629043797.369 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:09:57.373Z,1629043797.373 [Micromodem](INFO): Nmea in: $SNTTA,0.127609,0.388466,,,160957.15*5A

2021-08-15T16:09:57.839Z,1629043797.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 188.699997 m, bearing: 299.206791 deg, deltaT: 4.935315 s, approachRate: 0.230988 m/s, LOS rate: 0.148087 deg/s, posRepo size: 4
2021-08-15T16:10:00.222Z,1629043800.222 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:10:00.597Z,1629043800.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:10:00.597Z,1629043800.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:10:00.597Z,1629043800.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:10:00.598Z,1629043800.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:10:01.005Z,1629043801.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F26,000,00EBA,187,80,80,89,FF
2021-08-15T16:10:01.005Z,1629043801.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:10:01.005Z,1629043801.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:10:01.007Z,1629043801.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:10:01.412Z,1629043801.412 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:10:01.826Z,1629043801.826 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F26,000,00EBA,187,80,80,89,FF
2021-08-15T16:10:01.826Z,1629043801.826 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:10:02.245Z,1629043802.245 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161002.01*5B

2021-08-15T16:10:02.268Z,1629043802.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 188.699997 m, bearing: 299.943331 deg, deltaT: 4.326408 s, approachRate: 0.000000 m/s, LOS rate: 0.170243 deg/s, posRepo size: 4
2021-08-15T16:10:04.661Z,1629043804.661 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:10:05.051Z,1629043805.051 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:10:05.051Z,1629043805.051 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:10:05.051Z,1629043805.051 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:10:05.052Z,1629043805.052 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:10:05.458Z,1629043805.458 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F26,000,00EBA,187,80,80,89,FF
2021-08-15T16:10:05.458Z,1629043805.458 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:10:05.459Z,1629043805.459 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:10:05.466Z,1629043805.466 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:10:05.922Z,1629043805.922 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:10:06.671Z,1629043806.671 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1C,000,00EE2,187,80,80,8C,FF
2021-08-15T16:10:06.671Z,1629043806.671 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:10:06.674Z,1629043806.674 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161006.47*5D

2021-08-15T16:10:07.185Z,1629043807.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 191.099991 m, bearing: 300.681839 deg, deltaT: 4.870835 s, approachRate: 0.492727 m/s, LOS rate: 0.151618 deg/s, posRepo size: 4
2021-08-15T16:10:09.581Z,1629043809.581 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:10:09.886Z,1629043809.886 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:10:09.886Z,1629043809.886 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:10:09.886Z,1629043809.886 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:10:09.887Z,1629043809.887 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:10:10.298Z,1629043810.298 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1C,000,00EE2,187,80,80,8C,FF
2021-08-15T16:10:10.298Z,1629043810.298 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:10:10.298Z,1629043810.298 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:10:10.299Z,1629043810.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:10:10.707Z,1629043810.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:10:11.546Z,1629043811.546 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F31,000,00EF7,186,80,80,90,FF
2021-08-15T16:10:11.546Z,1629043811.546 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:10:11.549Z,1629043811.549 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161011.30*5B

2021-08-15T16:10:11.946Z,1629043811.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 192.359985 m, bearing: 298.893859 deg, deltaT: 4.912772 s, approachRate: 0.256473 m/s, LOS rate: -0.363945 deg/s, posRepo size: 4
2021-08-15T16:10:14.353Z,1629043814.353 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:10:14.746Z,1629043814.746 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:10:14.746Z,1629043814.746 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:10:14.747Z,1629043814.747 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:10:14.747Z,1629043814.747 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:10:15.173Z,1629043815.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F31,000,00EF7,186,80,80,90,FF
2021-08-15T16:10:15.174Z,1629043815.174 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:10:15.174Z,1629043815.174 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:10:15.175Z,1629043815.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:10:15.550Z,1629043815.550 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:10:16.351Z,1629043816.351 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F30,000,00F0A,186,80,80,87,FF
2021-08-15T16:10:16.368Z,1629043816.368 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:10:16.378Z,1629043816.378 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161016.18*56

2021-08-15T16:10:16.806Z,1629043816.806 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 193.499985 m, bearing: 298.457355 deg, deltaT: 4.839049 s, approachRate: 0.235583 m/s, LOS rate: -0.090204 deg/s, posRepo size: 4
2021-08-15T16:10:19.231Z,1629043819.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:10:19.581Z,1629043819.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:10:19.581Z,1629043819.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:10:19.581Z,1629043819.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:10:19.582Z,1629043819.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:10:19.985Z,1629043819.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F30,000,00F0A,186,80,80,87,FF
2021-08-15T16:10:19.985Z,1629043819.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:10:19.985Z,1629043819.985 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:10:19.987Z,1629043819.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:10:20.392Z,1629043820.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:10:21.232Z,1629043821.232 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F36,000,00F21,187,80,80,78,FF
2021-08-15T16:10:21.233Z,1629043821.233 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:10:21.235Z,1629043821.235 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161020.99*5A

2021-08-15T16:10:21.642Z,1629043821.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 194.879990 m, bearing: 298.444323 deg, deltaT: 4.840033 s, approachRate: 0.285123 m/s, LOS rate: -0.002693 deg/s, posRepo size: 4
2021-08-15T16:10:24.043Z,1629043824.043 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:10:24.429Z,1629043824.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:10:24.430Z,1629043824.430 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:10:24.431Z,1629043824.431 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:10:24.432Z,1629043824.432 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:10:24.837Z,1629043824.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F36,000,00F21,187,80,80,78,FF
2021-08-15T16:10:24.837Z,1629043824.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:10:24.837Z,1629043824.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:10:24.839Z,1629043824.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:10:25.249Z,1629043825.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:10:26.069Z,1629043826.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F23,000,00F37,186,80,80,70,FF
2021-08-15T16:10:26.069Z,1629043826.069 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:10:26.072Z,1629043826.072 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161025.84*53

2021-08-15T16:10:26.514Z,1629043826.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 196.199997 m, bearing: 299.875221 deg, deltaT: 4.776335 s, approachRate: 0.276364 m/s, LOS rate: 0.299581 deg/s, posRepo size: 4
2021-08-15T16:10:26.514Z,1629043826.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 196.20 m. Resuming terminal guidance.
2021-08-15T16:10:26.514Z,1629043826.514 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-15T16:10:28.910Z,1629043828.910 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:10:29.277Z,1629043829.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:10:29.277Z,1629043829.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:10:29.277Z,1629043829.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:10:29.278Z,1629043829.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:10:29.685Z,1629043829.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F23,000,00F37,186,80,80,70,FF
2021-08-15T16:10:29.685Z,1629043829.685 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:10:29.686Z,1629043829.686 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:10:29.687Z,1629043829.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:10:30.097Z,1629043830.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:10:30.517Z,1629043830.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,423,000,00F37,186,80,80,70,FF
2021-08-15T16:10:30.518Z,1629043830.518 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:10:30.937Z,1629043830.937 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161030.69*54

2021-08-15T16:10:30.980Z,1629043830.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 196.199997 m, bearing: 235.963420 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-15T16:10:30.981Z,1629043830.981 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 235.963420deg and heading rate command to 0 deg/s.
2021-08-15T16:10:33.363Z,1629043833.363 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:10:33.721Z,1629043833.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:10:33.721Z,1629043833.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:10:33.721Z,1629043833.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:10:33.722Z,1629043833.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:10:34.125Z,1629043834.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
423,000,00F37,186,80,80,70,FF
2021-08-15T16:10:34.125Z,1629043834.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:10:34.125Z,1629043834.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:10:34.127Z,1629043834.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:10:34.549Z,1629043834.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:10:35.368Z,1629043835.368 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20D,000,00F6C,187,80,80,6B,FF
2021-08-15T16:10:35.369Z,1629043835.369 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:10:35.371Z,1629043835.371 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161035.13*5C

2021-08-15T16:10:35.783Z,1629043835.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 199.379990 m, bearing: 257.819478 deg, deltaT: 4.818199 s, approachRate: 0.659996 m/s, LOS rate: 4.536147 deg/s, posRepo size: 2
2021-08-15T16:10:35.786Z,1629043835.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 199.379990 m,
      bearing: 257.819478 deg,
      approachRate: 0.659996 m/s,
      LOS rate: 4.536147 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 235.963420 deg,
      new cmd heading: 235.963420 deg.

2021-08-15T16:10:38.203Z,1629043838.203 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:10:38.596Z,1629043838.596 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:10:38.596Z,1629043838.596 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:10:38.597Z,1629043838.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:10:38.597Z,1629043838.597 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:10:38.977Z,1629043838.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20D,000,00F6C,187,80,80,6B,FF
2021-08-15T16:10:38.977Z,1629043838.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:10:38.978Z,1629043838.978 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:10:38.979Z,1629043838.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:10:39.381Z,1629043839.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:10:40.209Z,1629043840.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9F,000,00F8D,187,80,80,A0,FF
2021-08-15T16:10:40.210Z,1629043840.210 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:10:40.212Z,1629043840.212 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161039.98*53

2021-08-15T16:10:40.651Z,1629043840.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 201.360001 m, bearing: 266.262576 deg, deltaT: 4.856969 s, approachRate: 0.407664 m/s, LOS rate: 1.738347 deg/s, posRepo size: 3
2021-08-15T16:10:40.653Z,1629043840.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 201.360001 m,
      bearing: 266.262576 deg,
      approachRate: 0.407664 m/s,
      LOS rate: 1.738347 deg/s,
      cmd update: 6.953388 deg/s,
      cmd heading: 294.101345 deg,
      new cmd heading: 298.884605 deg.

2021-08-15T16:10:43.035Z,1629043843.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:10:43.426Z,1629043843.426 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:10:43.427Z,1629043843.427 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:10:43.427Z,1629043843.427 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:10:43.428Z,1629043843.428 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:10:43.821Z,1629043843.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9F,000,00F8D,187,80,80,A0,FF
2021-08-15T16:10:43.821Z,1629043843.821 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:10:43.821Z,1629043843.821 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:10:43.823Z,1629043843.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:10:44.228Z,1629043844.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:10:45.069Z,1629043845.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,156,000,00FA9,185,80,80,9D,FF
2021-08-15T16:10:45.069Z,1629043845.069 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:10:45.072Z,1629043845.072 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161044.83*53

2021-08-15T16:10:45.537Z,1629043845.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 203.039978 m, bearing: 228.567732 deg, deltaT: 4.916595 s, approachRate: 0.341695 m/s, LOS rate: -7.666860 deg/s, posRepo size: 4
2021-08-15T16:10:45.539Z,1629043845.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 203.039978 m,
      bearing: 228.567732 deg,
      approachRate: 0.341695 m/s,
      LOS rate: -7.666860 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 328.285868 deg,
      new cmd heading: 330.844729 deg.

2021-08-15T16:10:47.879Z,1629043847.879 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:10:48.273Z,1629043848.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:10:48.273Z,1629043848.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:10:48.274Z,1629043848.274 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:10:48.274Z,1629043848.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:10:48.669Z,1629043848.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
156,000,00FA9,185,80,80,9D,FF
2021-08-15T16:10:48.669Z,1629043848.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:10:48.669Z,1629043848.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:10:48.671Z,1629043848.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:10:49.076Z,1629043849.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:10:49.901Z,1629043849.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A3,000,00FC7,189,80,80,78,FF
2021-08-15T16:10:49.901Z,1629043849.901 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:10:49.904Z,1629043849.904 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161049.68*5B

2021-08-15T16:10:50.324Z,1629043850.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 204.839996 m, bearing: 214.315504 deg, deltaT: 4.738641 s, approachRate: 0.379860 m/s, LOS rate: -3.007661 deg/s, posRepo size: 4
2021-08-15T16:10:50.326Z,1629043850.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.839996 m,
      bearing: 214.315504 deg,
      approachRate: 0.379860 m/s,
      LOS rate: -3.007661 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 271.272234 deg,
      new cmd heading: 266.426766 deg.

2021-08-15T16:10:51.616Z,1629043851.616 [Radio_Surface](INFO): Powering up
2021-08-15T16:10:52.721Z,1629043852.721 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:10:53.148Z,1629043853.148 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:10:53.148Z,1629043853.148 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:10:53.149Z,1629043853.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:10:53.151Z,1629043853.151 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:10:53.553Z,1629043853.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A3,000,00FC7,189,80,80,78,FF
2021-08-15T16:10:53.553Z,1629043853.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:10:53.553Z,1629043853.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:10:53.555Z,1629043853.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:10:53.929Z,1629043853.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:10:54.743Z,1629043854.743 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E13,000,00FEE,187,80,80,34,FF
2021-08-15T16:10:54.744Z,1629043854.744 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:10:54.751Z,1629043854.751 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161054.56*5A

2021-08-15T16:10:55.211Z,1629043855.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 207.179993 m, bearing: 309.686514 deg, deltaT: 4.896252 s, approachRate: 0.477916 m/s, LOS rate: 19.478371 deg/s, posRepo size: 4
2021-08-15T16:10:55.212Z,1629043855.212 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 19.478371 deg/s. Setting heading cmd to target bearing of 309.686514deg and heading rate command to 0 deg/s.
2021-08-15T16:10:57.606Z,1629043857.606 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:10:57.709Z,1629043857.709 [DataOverHttps](INFO): Radio surface powered ON.
2021-08-15T16:10:57.961Z,1629043857.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:10:57.961Z,1629043857.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:10:57.961Z,1629043857.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:10:57.962Z,1629043857.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:10:58.366Z,1629043858.366 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E13,000,00FEE,187,80,80,34,FF
2021-08-15T16:10:58.366Z,1629043858.366 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:10:58.366Z,1629043858.366 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:10:58.368Z,1629043858.368 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:10:58.776Z,1629043858.776 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:10:59.221Z,1629043859.221 [Micromodem](INFO): Nmea in: $SNTTA,0.147066,0.320053,,,161059.37*55

2021-08-15T16:11:00.421Z,1629043860.421 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:11:02.026Z,1629043862.026 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,187,80,80,34,FF
2021-08-15T16:11:02.026Z,1629043862.026 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,187,80,80,34,FF
2021-08-15T16:11:02.026Z,1629043862.026 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T16:11:03.257Z,1629043863.257 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:11:03.637Z,1629043863.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:11:03.637Z,1629043863.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:11:03.637Z,1629043863.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:11:03.638Z,1629043863.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:11:04.021Z,1629043864.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,187,80,80,34,FF
2021-08-15T16:11:04.022Z,1629043864.022 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:11:04.022Z,1629043864.022 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:11:04.023Z,1629043864.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:11:04.444Z,1629043864.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:11:05.241Z,1629043865.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,274,000,01061,189,80,80,49,FF
2021-08-15T16:11:05.241Z,1629043865.241 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:11:05.245Z,1629043865.245 [Micromodem](INFO): Nmea in: $SNTTA,0.452778,0.451166,,,161105.03*55

2021-08-15T16:11:05.676Z,1629043865.676 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 214.080002 m, bearing: 237.688725 deg, deltaT: 10.517746 s, approachRate: 0.656035 m/s, LOS rate: -6.845363 deg/s, posRepo size: 4
2021-08-15T16:11:05.678Z,1629043865.678 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 214.080002 m,
      bearing: 237.688725 deg,
      approachRate: 0.656035 m/s,
      LOS rate: -6.845363 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 309.686514 deg,
      new cmd heading: 309.686514 deg.

2021-08-15T16:11:08.083Z,1629043868.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:11:08.497Z,1629043868.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:11:08.497Z,1629043868.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:11:08.497Z,1629043868.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:11:08.498Z,1629043868.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:11:08.874Z,1629043868.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
274,000,01061,189,80,80,49,FF
2021-08-15T16:11:08.874Z,1629043868.874 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:11:08.874Z,1629043868.874 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:11:08.875Z,1629043868.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:11:09.293Z,1629043869.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:11:10.130Z,1629043870.130 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161109.88*50

2021-08-15T16:11:10.955Z,1629043870.955 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:11:12.537Z,1629043872.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,189,80,80,49,FF
2021-08-15T16:11:12.537Z,1629043872.537 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,189,80,80,49,FF
2021-08-15T16:11:12.537Z,1629043872.537 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T16:11:13.746Z,1629043873.746 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:11:14.153Z,1629043874.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:11:14.153Z,1629043874.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:11:14.153Z,1629043874.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:11:14.154Z,1629043874.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:11:14.537Z,1629043874.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,189,80,80,49,FF
2021-08-15T16:11:14.537Z,1629043874.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:11:14.537Z,1629043874.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:11:14.539Z,1629043874.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:11:14.963Z,1629043874.963 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:11:15.387Z,1629043875.387 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T16:11:15.775Z,1629043875.775 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161115.54*5C

2021-08-15T16:11:16.650Z,1629043876.650 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:11:17.829Z,1629043877.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,189,80,80,49,FF
2021-08-15T16:11:17.830Z,1629043877.830 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,189,80,80,49,FF
2021-08-15T16:11:17.830Z,1629043877.830 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T16:11:19.528Z,1629043879.528 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:11:19.865Z,1629043879.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:11:19.865Z,1629043879.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:11:19.865Z,1629043879.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:11:19.866Z,1629043879.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:11:20.245Z,1629043880.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,189,80,80,49,FF
2021-08-15T16:11:20.245Z,1629043880.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:11:20.245Z,1629043880.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:11:20.247Z,1629043880.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:11:20.661Z,1629043880.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:11:21.489Z,1629043881.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2EE,000,0110D,189,80,80,65,FF
2021-08-15T16:11:21.489Z,1629043881.489 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:11:21.493Z,1629043881.493 [Micromodem](INFO): Nmea in: $SNTTA,,0.338916,,,161121.26*46

2021-08-15T16:11:21.913Z,1629043881.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 224.399994 m, bearing: 234.620276 deg, deltaT: 16.225799 s, approachRate: 0.636024 m/s, LOS rate: -0.189109 deg/s, posRepo size: 4
2021-08-15T16:11:21.915Z,1629043881.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 224.399994 m,
      bearing: 234.620276 deg,
      approachRate: 0.636024 m/s,
      LOS rate: -0.189109 deg/s,
      cmd update: -0.756437 deg/s,
      cmd heading: 114.936828 deg,
      new cmd heading: 110.681820 deg.

2021-08-15T16:11:24.330Z,1629043884.330 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:11:24.706Z,1629043884.706 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:11:24.706Z,1629043884.706 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:11:24.707Z,1629043884.707 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:11:24.708Z,1629043884.708 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:11:25.125Z,1629043885.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2EE,000,0110D,189,80,80,65,FF
2021-08-15T16:11:25.125Z,1629043885.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:11:25.126Z,1629043885.126 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:11:25.131Z,1629043885.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:11:25.548Z,1629043885.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:11:26.311Z,1629043886.311 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,28D,000,01134,188,80,80,55,FF
2021-08-15T16:11:26.313Z,1629043886.313 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:11:26.323Z,1629043886.323 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161126.14*58

2021-08-15T16:11:26.748Z,1629043886.748 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 226.739975 m, bearing: 215.313230 deg, deltaT: 4.815213 s, approachRate: 0.485956 m/s, LOS rate: -4.009593 deg/s, posRepo size: 4
2021-08-15T16:11:26.750Z,1629043886.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 226.739975 m,
      bearing: 215.313230 deg,
      approachRate: 0.485956 m/s,
      LOS rate: -4.009593 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 111.300084 deg,
      new cmd heading: 111.011931 deg.

2021-08-15T16:11:27.828Z,1629043887.828 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T16:11:29.213Z,1629043889.213 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:11:29.564Z,1629043889.564 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:11:29.565Z,1629043889.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:11:29.565Z,1629043889.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:11:29.566Z,1629043889.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:11:29.941Z,1629043889.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
28D,000,01134,188,80,80,55,FF
2021-08-15T16:11:29.942Z,1629043889.942 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:11:29.942Z,1629043889.942 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:11:29.943Z,1629043889.943 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:11:30.356Z,1629043890.356 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:11:31.218Z,1629043891.218 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161130.95*56

2021-08-15T16:11:32.043Z,1629043892.043 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:11:33.598Z,1629043893.598 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,188,80,80,55,FF
2021-08-15T16:11:33.599Z,1629043893.599 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,188,80,80,55,FF
2021-08-15T16:11:33.599Z,1629043893.599 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T16:11:34.849Z,1629043894.849 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:11:35.225Z,1629043895.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:11:35.225Z,1629043895.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:11:35.226Z,1629043895.226 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:11:35.226Z,1629043895.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:11:35.609Z,1629043895.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,188,80,80,55,FF
2021-08-15T16:11:35.609Z,1629043895.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:11:35.609Z,1629043895.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:11:35.611Z,1629043895.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:11:36.022Z,1629043896.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:11:36.854Z,1629043896.854 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0114D,189,80,80,99,FF
2021-08-15T16:11:36.854Z,1629043896.854 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:11:36.859Z,1629043896.859 [Micromodem](INFO): Nmea in: $SNTTA,0.154556,,,,161136.62*40

2021-08-15T16:11:37.299Z,1629043897.299 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 228.239990 m, bearing: 134.163357 deg, deltaT: 10.555071 s, approachRate: 0.142113 m/s, LOS rate: -7.688236 deg/s, posRepo size: 4
2021-08-15T16:11:37.306Z,1629043897.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 228.239990 m,
      bearing: 134.163357 deg,
      approachRate: 0.142113 m/s,
      LOS rate: -7.688236 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 344.541680 deg,
      new cmd heading: 340.105700 deg.

2021-08-15T16:11:39.721Z,1629043899.721 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:11:40.053Z,1629043900.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:11:40.053Z,1629043900.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:11:40.053Z,1629043900.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:11:40.054Z,1629043900.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:11:40.454Z,1629043900.454 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0114D,189,80,80,99,FF
2021-08-15T16:11:40.454Z,1629043900.454 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:11:40.455Z,1629043900.455 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:11:40.457Z,1629043900.457 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:11:40.931Z,1629043900.931 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:11:41.706Z,1629043901.706 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0114B,18A,80,80,93,FF
2021-08-15T16:11:41.706Z,1629043901.706 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:11:41.710Z,1629043901.710 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161141.46*5E

2021-08-15T16:11:42.127Z,1629043902.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 228.119995 m, bearing: 141.267614 deg, deltaT: 4.806165 s, approachRate: -0.024967 m/s, LOS rate: 1.478155 deg/s, posRepo size: 4
2021-08-15T16:11:42.129Z,1629043902.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 228.119995 m,
      bearing: 141.267614 deg,
      approachRate: -0.024967 m/s,
      LOS rate: 1.478155 deg/s,
      cmd update: 5.912620 deg/s,
      cmd heading: 286.907431 deg,
      new cmd heading: 282.180655 deg.

2021-08-15T16:11:44.569Z,1629043904.569 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:11:44.898Z,1629043904.898 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:11:44.898Z,1629043904.898 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:11:44.898Z,1629043904.898 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:11:44.899Z,1629043904.899 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:11:45.305Z,1629043905.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0114B,18A,80,80,93,FF
2021-08-15T16:11:45.305Z,1629043905.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:11:45.305Z,1629043905.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:11:45.307Z,1629043905.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:11:45.754Z,1629043905.754 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:11:46.553Z,1629043906.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,319,000,01144,188,80,80,92,FF
2021-08-15T16:11:46.553Z,1629043906.553 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:11:46.556Z,1629043906.556 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161146.31*59

2021-08-15T16:11:46.996Z,1629043906.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 227.699982 m, bearing: 185.833232 deg, deltaT: 4.919922 s, approachRate: -0.085370 m/s, LOS rate: 9.058196 deg/s, posRepo size: 4
2021-08-15T16:11:46.998Z,1629043906.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 227.699982 m,
      bearing: 185.833232 deg,
      approachRate: -0.085370 m/s,
      LOS rate: 9.058196 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 315.994118 deg,
      new cmd heading: 318.026551 deg.

2021-08-15T16:11:49.439Z,1629043909.439 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:11:49.781Z,1629043909.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:11:49.781Z,1629043909.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:11:49.781Z,1629043909.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:11:49.782Z,1629043909.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:11:50.194Z,1629043910.194 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
319,000,01144,188,80,80,92,FF
2021-08-15T16:11:50.194Z,1629043910.194 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:11:50.194Z,1629043910.194 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:11:50.195Z,1629043910.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:11:50.593Z,1629043910.593 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:11:51.393Z,1629043911.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,298,000,0116F,189,80,80,90,FF
2021-08-15T16:11:51.394Z,1629043911.394 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:11:51.397Z,1629043911.397 [Micromodem](INFO): Nmea in: $SNTTA,0.405917,0.406042,,,161151.20*55

2021-08-15T16:11:51.849Z,1629043911.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 230.279984 m, bearing: 210.955679 deg, deltaT: 4.869400 s, approachRate: 0.529840 m/s, LOS rate: 5.159249 deg/s, posRepo size: 4
2021-08-15T16:11:51.850Z,1629043911.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 230.279984 m,
      bearing: 210.955679 deg,
      approachRate: 0.529840 m/s,
      LOS rate: 5.159249 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 14.367135 deg,
      new cmd heading: 18.348195 deg.

2021-08-15T16:11:54.257Z,1629043914.257 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:11:54.644Z,1629043914.644 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:11:54.644Z,1629043914.644 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:11:54.644Z,1629043914.644 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:11:54.645Z,1629043914.645 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:11:55.037Z,1629043915.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
298,000,0116F,189,80,80,90,FF
2021-08-15T16:11:55.037Z,1629043915.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:11:55.037Z,1629043915.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:11:55.039Z,1629043915.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:11:55.475Z,1629043915.475 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:11:56.278Z,1629043916.278 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161156.04*5E

2021-08-15T16:11:57.100Z,1629043917.100 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:11:58.669Z,1629043918.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,189,80,80,90,FF
2021-08-15T16:11:58.669Z,1629043918.669 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,189,80,80,90,FF
2021-08-15T16:11:58.669Z,1629043918.669 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T16:11:59.919Z,1629043919.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:12:00.304Z,1629043920.304 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:12:00.305Z,1629043920.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:12:00.305Z,1629043920.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:12:00.305Z,1629043920.305 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:12:00.689Z,1629043920.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,189,80,80,90,FF
2021-08-15T16:12:00.689Z,1629043920.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:12:00.689Z,1629043920.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:12:00.691Z,1629043920.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:12:01.120Z,1629043921.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:12:01.934Z,1629043921.934 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161201.70*5C

2021-08-15T16:12:02.746Z,1629043922.746 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:12:02.972Z,1629043922.972 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T16:12:04.333Z,1629043924.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,189,80,80,90,FF
2021-08-15T16:12:04.333Z,1629043924.333 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,189,80,80,90,FF
2021-08-15T16:12:04.333Z,1629043924.333 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T16:12:05.597Z,1629043925.597 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:12:05.941Z,1629043925.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:12:05.941Z,1629043925.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:12:05.941Z,1629043925.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:12:05.942Z,1629043925.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:12:06.349Z,1629043926.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,189,80,80,90,FF
2021-08-15T16:12:06.349Z,1629043926.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:12:06.349Z,1629043926.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:12:06.351Z,1629043926.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:12:06.752Z,1629043926.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:12:07.202Z,1629043927.202 [Micromodem](INFO): Nmea in: $SNTTA,0.288783,0.288508,,,161207.36*59

2021-08-15T16:12:08.390Z,1629043928.390 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:12:09.985Z,1629043929.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,189,80,80,90,FF
2021-08-15T16:12:09.985Z,1629043929.985 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,189,80,80,90,FF
2021-08-15T16:12:09.985Z,1629043929.985 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T16:12:11.250Z,1629043931.250 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:12:11.597Z,1629043931.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:12:11.598Z,1629043931.598 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:12:11.598Z,1629043931.598 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:12:11.600Z,1629043931.600 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:12:12.001Z,1629043932.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,189,80,80,90,FF
2021-08-15T16:12:12.002Z,1629043932.002 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:12:12.002Z,1629043932.002 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:12:12.003Z,1629043932.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:12:12.421Z,1629043932.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:12:13.233Z,1629043933.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E70,000,01244,186,80,80,50,FF
2021-08-15T16:12:13.234Z,1629043933.234 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:12:13.236Z,1629043933.236 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161213.01*59

2021-08-15T16:12:13.652Z,1629043933.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 243.059998 m, bearing: 301.652272 deg, deltaT: 21.809745 s, approachRate: 0.585977 m/s, LOS rate: 4.158535 deg/s, posRepo size: 4
2021-08-15T16:12:13.654Z,1629043933.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 243.059998 m,
      bearing: 301.652272 deg,
      approachRate: 0.585977 m/s,
      LOS rate: 4.158535 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 276.188819 deg,
      new cmd heading: 279.987707 deg.

2021-08-15T16:12:16.063Z,1629043936.063 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:12:16.456Z,1629043936.456 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:12:16.457Z,1629043936.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:12:16.458Z,1629043936.458 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:12:16.459Z,1629043936.459 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:12:16.849Z,1629043936.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E70,000,01244,186,80,80,50,FF
2021-08-15T16:12:16.849Z,1629043936.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:12:16.850Z,1629043936.850 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:12:16.851Z,1629043936.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:12:17.257Z,1629043937.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:12:18.898Z,1629043938.898 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:12:20.489Z,1629043940.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,186,80,80,50,FF
2021-08-15T16:12:20.489Z,1629043940.489 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,186,80,80,50,FF
2021-08-15T16:12:20.490Z,1629043940.490 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T16:12:21.722Z,1629043941.722 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:12:22.105Z,1629043942.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:12:22.105Z,1629043942.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:12:22.105Z,1629043942.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:12:22.106Z,1629043942.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:12:22.518Z,1629043942.518 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,186,80,80,50,FF
2021-08-15T16:12:22.518Z,1629043942.518 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:12:22.518Z,1629043942.518 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:12:22.520Z,1629043942.520 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:12:22.980Z,1629043942.980 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:12:23.779Z,1629043943.779 [Micromodem](INFO): Nmea in: $SNTTA,0.173951,,,,161223.52*4A

2021-08-15T16:12:24.619Z,1629043944.619 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:12:25.802Z,1629043945.802 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,186,80,80,50,FF
2021-08-15T16:12:25.802Z,1629043945.802 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,186,80,80,50,FF
2021-08-15T16:12:25.802Z,1629043945.802 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T16:12:27.535Z,1629043947.535 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:12:27.825Z,1629043947.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:12:27.826Z,1629043947.826 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:12:27.826Z,1629043947.826 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:12:27.827Z,1629043947.827 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:12:28.221Z,1629043948.221 [DUSBL_Hydroid](INFO): DUSBL response received:3,E4
!U1,P
,63,E4
4,186,80,80,50,FF
2021-08-15T16:12:28.221Z,1629043948.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:12:28.221Z,1629043948.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:12:28.223Z,1629043948.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:12:28.628Z,1629043948.628 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:12:29.446Z,1629043949.446 [Micromodem](INFO): Nmea in: $SNTTA,0.392014,0.391889,,,161229.23*5F

2021-08-15T16:12:30.263Z,1629043950.263 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:12:31.853Z,1629043951.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
4,186,80,80,50,FF
2021-08-15T16:12:31.853Z,1629043951.853 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
4,186,80,80,50,FF
2021-08-15T16:12:31.853Z,1629043951.853 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T16:12:33.087Z,1629043953.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:12:33.484Z,1629043953.484 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:12:33.484Z,1629043953.484 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:12:33.485Z,1629043953.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:12:33.486Z,1629043953.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:12:33.873Z,1629043953.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
4,186,80,80,50,FF
2021-08-15T16:12:33.873Z,1629043953.873 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:12:33.873Z,1629043953.873 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:12:33.875Z,1629043953.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:12:34.289Z,1629043954.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:12:35.137Z,1629043955.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E36,000,0131A,187,80,80,61,FF
2021-08-15T16:12:35.138Z,1629043955.138 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:12:35.150Z,1629043955.150 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161234.88*5D

2021-08-15T16:12:35.566Z,1629043955.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 255.899994 m, bearing: 357.242909 deg, deltaT: 21.906005 s, approachRate: 0.586140 m/s, LOS rate: 2.537689 deg/s, posRepo size: 4
2021-08-15T16:12:35.568Z,1629043955.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 255.899994 m,
      bearing: 357.242909 deg,
      approachRate: 0.586140 m/s,
      LOS rate: 2.537689 deg/s,
      cmd update: 10.150757 deg/s,
      cmd heading: 178.965486 deg,
      new cmd heading: 182.935734 deg.

2021-08-15T16:12:37.958Z,1629043957.958 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:12:38.113Z,1629043958.113 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T16:12:38.333Z,1629043958.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:12:38.333Z,1629043958.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:12:38.333Z,1629043958.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:12:38.334Z,1629043958.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:12:38.737Z,1629043958.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E36,000,0131A,187,80,80,61,FF
2021-08-15T16:12:38.737Z,1629043958.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:12:38.737Z,1629043958.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:12:38.739Z,1629043958.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:12:39.198Z,1629043959.198 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:12:39.970Z,1629043959.970 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE0,000,0133D,188,80,80,36,FF
2021-08-15T16:12:39.971Z,1629043959.971 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:12:40.402Z,1629043960.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 258.000000 m, bearing: 26.681316 deg, deltaT: 4.783079 s, approachRate: 0.439049 m/s, LOS rate: 6.154698 deg/s, posRepo size: 4
2021-08-15T16:12:40.405Z,1629043960.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 258.000000 m,
      bearing: 26.681316 deg,
      approachRate: 0.439049 m/s,
      LOS rate: 6.154698 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 227.557222 deg,
      new cmd heading: 231.251976 deg.

2021-08-15T16:12:42.814Z,1629043962.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:12:43.209Z,1629043963.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:12:43.209Z,1629043963.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:12:43.209Z,1629043963.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:12:43.210Z,1629043963.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:12:43.589Z,1629043963.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE0,000,0133D,188,80,80,36,FF
2021-08-15T16:12:43.589Z,1629043963.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:12:43.589Z,1629043963.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:12:43.591Z,1629043963.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:12:43.998Z,1629043963.998 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:12:44.825Z,1629043964.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D6A,000,01359,189,80,80,5E,FF
2021-08-15T16:12:44.825Z,1629043964.825 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:12:44.828Z,1629043964.828 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161244.60*5C

2021-08-15T16:12:45.257Z,1629043965.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 259.679993 m, bearing: 28.060842 deg, deltaT: 4.831308 s, approachRate: 0.347730 m/s, LOS rate: 0.285539 deg/s, posRepo size: 4
2021-08-15T16:12:45.259Z,1629043965.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 259.679993 m,
      bearing: 28.060842 deg,
      approachRate: 0.347730 m/s,
      LOS rate: 0.285539 deg/s,
      cmd update: 1.142155 deg/s,
      cmd heading: 285.561804 deg,
      new cmd heading: 290.405520 deg.

2021-08-15T16:12:47.698Z,1629043967.698 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T16:12:47.741Z,1629043967.741 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:12:48.037Z,1629043968.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:12:48.037Z,1629043968.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:12:48.037Z,1629043968.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:12:48.038Z,1629043968.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:12:48.439Z,1629043968.439 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D6A,000,01359,189,80,80,5E,FF
2021-08-15T16:12:48.439Z,1629043968.439 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:12:48.439Z,1629043968.439 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:12:48.441Z,1629043968.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:12:48.844Z,1629043968.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:12:49.263Z,1629043969.263 [Micromodem](INFO): Nmea in: $SNTTA,0.281715,0.146266,,,161249.45*5F

2021-08-15T16:12:49.654Z,1629043969.654 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,113,000,01376,186,80,80,57,FF
2021-08-15T16:12:49.654Z,1629043969.654 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:12:50.113Z,1629043970.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 261.419983 m, bearing: 334.158454 deg, deltaT: 4.816281 s, approachRate: 0.361273 m/s, LOS rate: -11.191705 deg/s, posRepo size: 4
2021-08-15T16:12:50.115Z,1629043970.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 261.419983 m,
      bearing: 334.158454 deg,
      approachRate: 0.361273 m/s,
      LOS rate: -11.191705 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 291.064587 deg,
      new cmd heading: 291.568691 deg.

2021-08-15T16:12:52.529Z,1629043972.529 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:12:52.877Z,1629043972.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:12:52.877Z,1629043972.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:12:52.877Z,1629043972.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:12:52.878Z,1629043972.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:12:53.281Z,1629043973.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
113,000,01376,186,80,80,57,FF
2021-08-15T16:12:53.281Z,1629043973.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:12:53.281Z,1629043973.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:12:53.283Z,1629043973.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:12:53.698Z,1629043973.698 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:12:54.533Z,1629043974.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBF,000,0139D,187,80,80,67,FF
2021-08-15T16:12:54.534Z,1629043974.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:12:54.541Z,1629043974.541 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161254.29*50

2021-08-15T16:12:54.932Z,1629043974.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 263.759979 m, bearing: 339.976627 deg, deltaT: 4.913309 s, approachRate: 0.476257 m/s, LOS rate: 1.184166 deg/s, posRepo size: 4
2021-08-15T16:12:54.934Z,1629043974.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 263.759979 m,
      bearing: 339.976627 deg,
      approachRate: 0.476257 m/s,
      LOS rate: 1.184166 deg/s,
      cmd update: 4.736664 deg/s,
      cmd heading: 232.296422 deg,
      new cmd heading: 227.945702 deg.

2021-08-15T16:12:57.395Z,1629043977.395 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:12:57.725Z,1629043977.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:12:57.725Z,1629043977.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:12:57.725Z,1629043977.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:12:57.726Z,1629043977.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:12:58.137Z,1629043978.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBF,000,0139D,187,80,80,67,FF
2021-08-15T16:12:58.138Z,1629043978.138 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:12:58.138Z,1629043978.138 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:12:58.139Z,1629043978.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:12:58.556Z,1629043978.556 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:12:59.382Z,1629043979.382 [Micromodem](INFO): Nmea in: $SNTTA,0.179568,,,,161259.14*49

2021-08-15T16:13:00.182Z,1629043980.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:13:01.773Z,1629043981.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
D,187,80,80,67,FF
2021-08-15T16:13:01.773Z,1629043981.773 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
D,187,80,80,67,FF
2021-08-15T16:13:01.773Z,1629043981.773 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T16:13:03.014Z,1629043983.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:13:03.385Z,1629043983.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:13:03.385Z,1629043983.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:13:03.386Z,1629043983.386 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:13:03.386Z,1629043983.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:13:03.801Z,1629043983.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
D,187,80,80,67,FF
2021-08-15T16:13:03.801Z,1629043983.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:13:03.801Z,1629043983.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:13:03.803Z,1629043983.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:13:04.212Z,1629043984.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:13:05.033Z,1629043985.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E47,000,01402,186,80,80,52,FF
2021-08-15T16:13:05.033Z,1629043985.033 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:13:05.037Z,1629043985.037 [Micromodem](INFO): Nmea in: $SNTTA,0.184314,,,,161304.81*43

2021-08-15T16:13:05.505Z,1629043985.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 269.819977 m, bearing: 304.710694 deg, deltaT: 10.522882 s, approachRate: 0.575888 m/s, LOS rate: -3.351357 deg/s, posRepo size: 4
2021-08-15T16:13:05.507Z,1629043985.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 269.819977 m,
      bearing: 304.710694 deg,
      approachRate: 0.575888 m/s,
      LOS rate: -3.351357 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 281.949976 deg,
      new cmd heading: 284.073517 deg.

2021-08-15T16:13:07.869Z,1629043987.869 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:13:08.241Z,1629043988.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:13:08.241Z,1629043988.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:13:08.241Z,1629043988.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:13:08.242Z,1629043988.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:13:08.657Z,1629043988.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E47,000,01402,186,80,80,52,FF
2021-08-15T16:13:08.657Z,1629043988.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:13:08.657Z,1629043988.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:13:08.659Z,1629043988.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:13:09.053Z,1629043989.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:13:09.491Z,1629043989.491 [Micromodem](INFO): Nmea in: $SNTTA,0.174701,0.174688,,,161309.66*52

2021-08-15T16:13:09.861Z,1629043989.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21F,000,0142A,188,80,80,52,FF
2021-08-15T16:13:09.861Z,1629043989.861 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:13:10.322Z,1629043990.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 272.219971 m, bearing: 243.915208 deg, deltaT: 4.799152 s, approachRate: 0.500087 m/s, LOS rate: -12.667965 deg/s, posRepo size: 4
2021-08-15T16:13:10.323Z,1629043990.323 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.667965 deg/s. Setting heading cmd to target bearing of 243.915208deg and heading rate command to 0 deg/s.
2021-08-15T16:13:12.782Z,1629043992.782 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:13:13.085Z,1629043993.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:13:13.085Z,1629043993.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:13:13.085Z,1629043993.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:13:13.086Z,1629043993.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:13:13.264Z,1629043993.264 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T16:13:13.510Z,1629043993.510 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21F,000,0142A,188,80,80,52,FF
2021-08-15T16:13:13.511Z,1629043993.511 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:13:13.511Z,1629043993.511 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:13:13.518Z,1629043993.518 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:13:13.933Z,1629043993.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:13:14.757Z,1629043994.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F5,000,01451,189,80,80,9E,FF
2021-08-15T16:13:14.758Z,1629043994.758 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:13:14.760Z,1629043994.760 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161314.52*59

2021-08-15T16:13:15.235Z,1629043995.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 274.559998 m, bearing: 219.642614 deg, deltaT: 4.906903 s, approachRate: 0.476885 m/s, LOS rate: -4.946622 deg/s, posRepo size: 4
2021-08-15T16:13:15.238Z,1629043995.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 274.559998 m,
      bearing: 219.642614 deg,
      approachRate: 0.476885 m/s,
      LOS rate: -4.946622 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 243.915208 deg,
      new cmd heading: 243.915208 deg.

2021-08-15T16:13:17.629Z,1629043997.629 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:13:17.969Z,1629043997.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:13:17.969Z,1629043997.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:13:17.969Z,1629043997.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:13:17.970Z,1629043997.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:13:18.379Z,1629043998.379 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F5,000,01451,189,80,80,9E,FF
2021-08-15T16:13:18.379Z,1629043998.379 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:13:18.379Z,1629043998.379 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:13:18.382Z,1629043998.382 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:13:18.777Z,1629043998.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:13:19.609Z,1629043999.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D6,000,01470,189,80,80,BD,FF
2021-08-15T16:13:19.610Z,1629043999.610 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:13:19.613Z,1629043999.613 [Micromodem](INFO): Nmea in: $SNTTA,0.271277,,,,161319.39*41

2021-08-15T16:13:20.027Z,1629044000.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 276.419983 m, bearing: 210.114036 deg, deltaT: 4.854971 s, approachRate: 0.383109 m/s, LOS rate: -1.962644 deg/s, posRepo size: 4
2021-08-15T16:13:20.029Z,1629044000.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 276.419983 m,
      bearing: 210.114036 deg,
      approachRate: 0.383109 m/s,
      LOS rate: -1.962644 deg/s,
      cmd update: -7.850575 deg/s,
      cmd heading: 185.666750 deg,
      new cmd heading: 181.367150 deg.

2021-08-15T16:13:22.473Z,1629044002.473 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:13:22.824Z,1629044002.824 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:13:22.824Z,1629044002.824 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:13:22.824Z,1629044002.824 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:13:22.825Z,1629044002.825 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:13:23.218Z,1629044003.218 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D6,000,01470,189,80,80,BD,FF
2021-08-15T16:13:23.218Z,1629044003.218 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:13:23.218Z,1629044003.218 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:13:23.221Z,1629044003.221 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:13:23.652Z,1629044003.652 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:13:24.470Z,1629044004.470 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D9,000,0148C,189,80,80,61,FF
2021-08-15T16:13:24.471Z,1629044004.471 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:13:24.475Z,1629044004.475 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161324.23*5C

2021-08-15T16:13:24.902Z,1629044004.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 278.100006 m, bearing: 191.423660 deg, deltaT: 4.825681 s, approachRate: 0.348142 m/s, LOS rate: -3.873106 deg/s, posRepo size: 4
2021-08-15T16:13:24.909Z,1629044004.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 278.100006 m,
      bearing: 191.423660 deg,
      approachRate: 0.348142 m/s,
      LOS rate: -3.873106 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 147.775573 deg,
      new cmd heading: 144.606673 deg.

2021-08-15T16:13:27.355Z,1629044007.355 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:13:27.671Z,1629044007.671 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:13:27.671Z,1629044007.671 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:13:27.674Z,1629044007.674 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:13:27.689Z,1629044007.689 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:13:28.073Z,1629044008.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D9,000,0148C,189,80,80,61,FF
2021-08-15T16:13:28.073Z,1629044008.073 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:13:28.074Z,1629044008.074 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:13:28.077Z,1629044008.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:13:28.506Z,1629044008.506 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:13:29.283Z,1629044009.283 [Micromodem](INFO): Nmea in: $SNTTA,0.422763,0.421763,,,161329.08*5B

2021-08-15T16:13:30.124Z,1629044010.124 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:13:31.709Z,1629044011.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,189,80,80,61,FF
2021-08-15T16:13:31.709Z,1629044011.709 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,189,80,80,61,FF
2021-08-15T16:13:31.709Z,1629044011.709 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T16:13:32.956Z,1629044012.956 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:13:33.317Z,1629044013.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:13:33.317Z,1629044013.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:13:33.317Z,1629044013.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:13:33.318Z,1629044013.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:13:33.721Z,1629044013.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,189,80,80,61,FF
2021-08-15T16:13:33.721Z,1629044013.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:13:33.722Z,1629044013.722 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:13:33.723Z,1629044013.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:13:34.136Z,1629044014.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:13:34.533Z,1629044014.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0078A,189,80,80,5E,FF
2021-08-15T16:13:34.534Z,1629044014.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:13:34.969Z,1629044014.969 [Micromodem](INFO): Nmea in: $SNTTA,0.187782,,,,161334.73*45

2021-08-15T16:13:35.012Z,1629044015.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.300003 m, bearing: 118.848078 deg, deltaT: 10.055885 s, approachRate: -19.868963 m/s, LOS rate: -7.217224 deg/s, posRepo size: 4
2021-08-15T16:13:35.014Z,1629044015.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.300003 m,
      bearing: 118.848078 deg,
      approachRate: -19.868963 m/s,
      LOS rate: -7.217224 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 27.104770 deg,
      new cmd heading: 21.573946 deg.

2021-08-15T16:13:37.403Z,1629044017.403 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:13:37.765Z,1629044017.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:13:37.765Z,1629044017.765 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:13:37.765Z,1629044017.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:13:37.766Z,1629044017.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:13:38.169Z,1629044018.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0078A,189,80,80,5E,FF
2021-08-15T16:13:38.170Z,1629044018.170 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:13:38.170Z,1629044018.170 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:13:38.171Z,1629044018.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:13:38.576Z,1629044018.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:13:39.409Z,1629044019.409 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,42D,000,0146D,189,80,80,69,FF
2021-08-15T16:13:39.410Z,1629044019.410 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:13:39.413Z,1629044019.413 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161339.18*58

2021-08-15T16:13:39.820Z,1629044019.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 276.239990 m, bearing: 107.196821 deg, deltaT: 5.009525 s, approachRate: 39.512726 m/s, LOS rate: -2.325821 deg/s, posRepo size: 4
2021-08-15T16:13:39.822Z,1629044019.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 276.239990 m,
      bearing: 107.196821 deg,
      approachRate: 39.512726 m/s,
      LOS rate: -2.325821 deg/s,
      cmd update: -9.303284 deg/s,
      cmd heading: 327.037952 deg,
      new cmd heading: 323.876720 deg.

2021-08-15T16:13:42.230Z,1629044022.230 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:13:42.619Z,1629044022.619 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:13:42.619Z,1629044022.619 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:13:42.619Z,1629044022.619 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:13:42.620Z,1629044022.620 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:13:43.021Z,1629044023.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
42D,000,0146D,189,80,80,69,FF
2021-08-15T16:13:43.021Z,1629044023.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:13:43.022Z,1629044023.022 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:13:43.023Z,1629044023.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:13:43.444Z,1629044023.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:13:44.257Z,1629044024.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,47E,000,01451,18A,80,80,89,FF
2021-08-15T16:13:44.257Z,1629044024.257 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:13:44.260Z,1629044024.260 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161344.03*58

2021-08-15T16:13:44.700Z,1629044024.700 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 274.559998 m, bearing: 100.878185 deg, deltaT: 4.715669 s, approachRate: -0.356258 m/s, LOS rate: -1.339923 deg/s, posRepo size: 4
2021-08-15T16:13:44.702Z,1629044024.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 274.559998 m,
      bearing: 100.878185 deg,
      approachRate: -0.356258 m/s,
      LOS rate: -1.339923 deg/s,
      cmd update: -5.359694 deg/s,
      cmd heading: 283.129700 deg,
      new cmd heading: 279.223111 deg.

2021-08-15T16:13:47.162Z,1629044027.162 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:13:47.461Z,1629044027.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:13:47.462Z,1629044027.462 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:13:47.462Z,1629044027.462 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:13:47.463Z,1629044027.463 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:13:47.865Z,1629044027.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
47E,000,01451,18A,80,80,89,FF
2021-08-15T16:13:47.865Z,1629044027.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:13:47.866Z,1629044027.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:13:47.867Z,1629044027.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:13:48.273Z,1629044028.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:13:48.405Z,1629044028.405 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T16:13:49.114Z,1629044029.114 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D45,000,01430,189,80,80,B8,FF
2021-08-15T16:13:49.115Z,1629044029.115 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:13:49.145Z,1629044029.145 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161348.87*58

2021-08-15T16:13:49.564Z,1629044029.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 272.579987 m, bearing: 216.744469 deg, deltaT: 4.948389 s, approachRate: -0.400132 m/s, LOS rate: 23.414952 deg/s, posRepo size: 4
2021-08-15T16:13:49.565Z,1629044029.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 23.414952 deg/s. Setting heading cmd to target bearing of 216.744469deg and heading rate command to 0 deg/s.
2021-08-15T16:13:51.923Z,1629044031.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:13:52.317Z,1629044032.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:13:52.317Z,1629044032.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:13:52.317Z,1629044032.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:13:52.318Z,1629044032.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:13:52.741Z,1629044032.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D45,000,01430,189,80,80,B8,FF
2021-08-15T16:13:52.741Z,1629044032.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:13:52.741Z,1629044032.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:13:52.743Z,1629044032.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:13:53.156Z,1629044033.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:13:53.535Z,1629044033.535 [Micromodem](INFO): Nmea in: $SNTTA,0.131412,0.130605,,,161353.75*5A

2021-08-15T16:13:53.925Z,1629044033.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,01422,189,80,80,94,FF
2021-08-15T16:13:53.926Z,1629044033.926 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:13:54.371Z,1629044034.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 271.739990 m, bearing: 134.513445 deg, deltaT: 4.747600 s, approachRate: -0.176931 m/s, LOS rate: -17.320545 deg/s, posRepo size: 4
2021-08-15T16:13:54.372Z,1629044034.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -17.320545 deg/s. Setting heading cmd to target bearing of 134.513445deg and heading rate command to 0 deg/s.
2021-08-15T16:13:56.768Z,1629044036.768 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T16:13:56.784Z,1629044036.784 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:13:57.193Z,1629044037.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:13:57.193Z,1629044037.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:13:57.193Z,1629044037.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:13:57.194Z,1629044037.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:13:57.561Z,1629044037.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,01422,189,80,80,94,FF
2021-08-15T16:13:57.561Z,1629044037.561 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:13:57.562Z,1629044037.562 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:13:57.563Z,1629044037.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:13:57.968Z,1629044037.968 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:13:58.818Z,1629044038.818 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161358.57*54

2021-08-15T16:13:59.617Z,1629044039.617 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:14:01.205Z,1629044041.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,189,80,80,94,FF
2021-08-15T16:14:01.206Z,1629044041.206 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,189,80,80,94,FF
2021-08-15T16:14:01.206Z,1629044041.206 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T16:14:02.438Z,1629044042.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:14:02.821Z,1629044042.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:14:02.821Z,1629044042.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:14:02.821Z,1629044042.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:14:02.822Z,1629044042.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:14:03.221Z,1629044043.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,189,80,80,94,FF
2021-08-15T16:14:03.221Z,1629044043.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:14:03.222Z,1629044043.222 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:14:03.223Z,1629044043.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:14:03.650Z,1629044043.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:14:04.497Z,1629044044.497 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161404.23*59

2021-08-15T16:14:05.318Z,1629044045.318 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:14:06.865Z,1629044046.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,189,80,80,94,FF
2021-08-15T16:14:06.865Z,1629044046.865 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,189,80,80,94,FF
2021-08-15T16:14:06.865Z,1629044046.865 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T16:14:08.103Z,1629044048.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:14:08.521Z,1629044048.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:14:08.521Z,1629044048.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:14:08.521Z,1629044048.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:14:08.522Z,1629044048.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:14:08.893Z,1629044048.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,189,80,80,94,FF
2021-08-15T16:14:08.893Z,1629044048.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:14:08.893Z,1629044048.893 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:14:08.895Z,1629044048.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:14:09.296Z,1629044049.296 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:14:10.121Z,1629044050.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE4,000,01413,189,80,80,35,FF
2021-08-15T16:14:10.122Z,1629044050.122 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:14:10.124Z,1629044050.124 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161409.90*5C

2021-08-15T16:14:10.567Z,1629044050.567 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 270.839996 m, bearing: 207.196671 deg, deltaT: 16.189115 s, approachRate: -0.055593 m/s, LOS rate: 4.489635 deg/s, posRepo size: 4
2021-08-15T16:14:10.569Z,1629044050.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 270.839996 m,
      bearing: 207.196671 deg,
      approachRate: -0.055593 m/s,
      LOS rate: 4.489635 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 134.513445 deg,
      new cmd heading: 134.513445 deg.

2021-08-15T16:14:12.958Z,1629044052.958 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:14:13.329Z,1629044053.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:14:13.329Z,1629044053.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:14:13.329Z,1629044053.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:14:13.330Z,1629044053.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:14:13.737Z,1629044053.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CE4,000,01413,189,80,80,35,FF
2021-08-15T16:14:13.737Z,1629044053.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:14:13.738Z,1629044053.738 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:14:13.739Z,1629044053.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:14:14.145Z,1629044054.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:14:14.977Z,1629044054.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4B0,000,013EB,189,80,80,67,FF
2021-08-15T16:14:14.978Z,1629044054.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:14:14.981Z,1629044054.981 [Micromodem](INFO): Nmea in: $SNTTA,0.181041,,,,161414.75*48

2021-08-15T16:14:15.389Z,1629044055.389 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T16:14:15.409Z,1629044055.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 268.440002 m, bearing: 90.447346 deg, deltaT: 4.875001 s, approachRate: -0.492306 m/s, LOS rate: -23.948574 deg/s, posRepo size: 4
2021-08-15T16:14:15.410Z,1629044055.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -23.948574 deg/s. Setting heading cmd to target bearing of 90.447346deg and heading rate command to 0 deg/s.
2021-08-15T16:14:17.836Z,1629044057.836 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:14:18.189Z,1629044058.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:14:18.189Z,1629044058.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:14:18.189Z,1629044058.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:14:18.190Z,1629044058.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:14:18.605Z,1629044058.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4B0,000,013EB,189,80,80,67,FF
2021-08-15T16:14:18.605Z,1629044058.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:14:18.605Z,1629044058.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:14:18.607Z,1629044058.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:14:19.005Z,1629044059.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:14:19.821Z,1629044059.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,013BF,18A,80,80,91,FF
2021-08-15T16:14:19.821Z,1629044059.821 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:14:19.825Z,1629044059.825 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161419.62*50

2021-08-15T16:14:20.256Z,1629044060.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 265.799988 m, bearing: 93.129889 deg, deltaT: 4.830923 s, approachRate: -0.546482 m/s, LOS rate: 0.555286 deg/s, posRepo size: 4
2021-08-15T16:14:20.258Z,1629044060.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 265.799988 m,
      bearing: 93.129889 deg,
      approachRate: -0.546482 m/s,
      LOS rate: 0.555286 deg/s,
      cmd update: 2.221143 deg/s,
      cmd heading: 90.447346 deg,
      new cmd heading: 90.447346 deg.

2021-08-15T16:14:22.690Z,1629044062.690 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:14:23.030Z,1629044063.030 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:14:23.030Z,1629044063.030 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:14:23.030Z,1629044063.030 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:14:23.031Z,1629044063.031 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:14:23.450Z,1629044063.450 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,013BF,18A,80,80,91,FF
2021-08-15T16:14:23.450Z,1629044063.450 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:14:23.450Z,1629044063.450 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:14:23.471Z,1629044063.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:14:23.569Z,1629044063.569 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T16:14:23.863Z,1629044063.863 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:14:24.651Z,1629044064.651 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,01398,188,80,80,9C,FF
2021-08-15T16:14:24.653Z,1629044064.653 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:14:24.661Z,1629044064.661 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161424.48*56

2021-08-15T16:14:25.219Z,1629044065.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 263.459991 m, bearing: 102.811136 deg, deltaT: 4.875406 s, approachRate: -0.479959 m/s, LOS rate: 1.985731 deg/s, posRepo size: 4
2021-08-15T16:14:25.232Z,1629044065.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 263.459991 m,
      bearing: 102.811136 deg,
      approachRate: -0.479959 m/s,
      LOS rate: 1.985731 deg/s,
      cmd update: 7.942925 deg/s,
      cmd heading: 101.285479 deg,
      new cmd heading: 102.353631 deg.

2021-08-15T16:14:27.576Z,1629044067.576 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:14:27.881Z,1629044067.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:14:27.881Z,1629044067.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:14:27.881Z,1629044067.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:14:27.882Z,1629044067.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:14:28.295Z,1629044068.295 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,01398,188,80,80,9C,FF
2021-08-15T16:14:28.295Z,1629044068.295 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:14:28.295Z,1629044068.295 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:14:28.298Z,1629044068.298 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:14:28.704Z,1629044068.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:14:29.545Z,1629044069.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3F3,000,01372,18A,80,80,86,FF
2021-08-15T16:14:29.545Z,1629044069.545 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:14:29.548Z,1629044069.548 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161429.31*55

2021-08-15T16:14:29.971Z,1629044069.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 261.179993 m, bearing: 101.040962 deg, deltaT: 4.898464 s, approachRate: -0.465452 m/s, LOS rate: -0.361373 deg/s, posRepo size: 4
2021-08-15T16:14:29.974Z,1629044069.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 261.179993 m,
      bearing: 101.040962 deg,
      approachRate: -0.465452 m/s,
      LOS rate: -0.361373 deg/s,
      cmd update: -1.445493 deg/s,
      cmd heading: 140.160045 deg,
      new cmd heading: 142.837653 deg.

2021-08-15T16:14:31.212Z,1629044071.212 [Radio_Surface](INFO): Powering down
2021-08-15T16:14:32.351Z,1629044072.351 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:14:32.753Z,1629044072.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:14:32.753Z,1629044072.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:14:32.755Z,1629044072.755 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:14:32.757Z,1629044072.757 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:14:33.171Z,1629044073.171 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3F3,000,01372,18A,80,80,86,FF
2021-08-15T16:14:33.172Z,1629044073.172 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:14:33.172Z,1629044073.172 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:14:33.175Z,1629044073.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:14:33.548Z,1629044073.548 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:14:34.351Z,1629044074.351 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,33F,000,01339,189,80,80,64,FF
2021-08-15T16:14:34.353Z,1629044074.353 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:14:34.361Z,1629044074.361 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161434.18*52

2021-08-15T16:14:34.812Z,1629044074.812 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 257.760010 m, bearing: 99.599465 deg, deltaT: 4.788882 s, approachRate: -0.714151 m/s, LOS rate: -0.301009 deg/s, posRepo size: 4
2021-08-15T16:14:34.821Z,1629044074.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 257.760010 m,
      bearing: 99.599465 deg,
      approachRate: -0.714151 m/s,
      LOS rate: -0.301009 deg/s,
      cmd update: -1.204037 deg/s,
      cmd heading: 133.231642 deg,
      new cmd heading: 132.681344 deg.

2021-08-15T16:14:37.303Z,1629044077.303 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:14:37.587Z,1629044077.587 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:14:37.587Z,1629044077.587 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:14:37.587Z,1629044077.587 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:14:37.588Z,1629044077.588 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:14:37.997Z,1629044077.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
33F,000,01339,189,80,80,64,FF
2021-08-15T16:14:37.997Z,1629044077.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:14:37.997Z,1629044077.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:14:37.998Z,1629044077.998 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:14:38.392Z,1629044078.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:14:39.232Z,1629044079.232 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,395,000,01300,189,80,80,49,FF
2021-08-15T16:14:39.233Z,1629044079.233 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:14:39.236Z,1629044079.236 [Micromodem](INFO): Nmea in: $SNTTA,,0.461196,,,161439.01*44

2021-08-15T16:14:39.639Z,1629044079.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 254.339996 m, bearing: 94.747100 deg, deltaT: 4.841624 s, approachRate: -0.706377 m/s, LOS rate: -1.002218 deg/s, posRepo size: 4
2021-08-15T16:14:39.665Z,1629044079.665 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 254.339996 m,
      bearing: 94.747100 deg,
      approachRate: -0.706377 m/s,
      LOS rate: -1.002218 deg/s,
      cmd update: -4.008873 deg/s,
      cmd heading: 127.397334 deg,
      new cmd heading: 126.954566 deg.

2021-08-15T16:14:42.047Z,1629044082.047 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:14:42.429Z,1629044082.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:14:42.429Z,1629044082.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:14:42.429Z,1629044082.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:14:42.430Z,1629044082.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:14:42.829Z,1629044082.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
395,000,01300,189,80,80,49,FF
2021-08-15T16:14:42.829Z,1629044082.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:14:42.830Z,1629044082.830 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:14:42.831Z,1629044082.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:14:43.253Z,1629044083.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:14:44.080Z,1629044084.080 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F0,000,012D6,188,80,80,56,FF
2021-08-15T16:14:44.081Z,1629044084.081 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:14:44.083Z,1629044084.083 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161443.84*57

2021-08-15T16:14:44.511Z,1629044084.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 251.819992 m, bearing: 95.672509 deg, deltaT: 4.827871 s, approachRate: -0.521970 m/s, LOS rate: 0.191680 deg/s, posRepo size: 4
2021-08-15T16:14:44.513Z,1629044084.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 251.819992 m,
      bearing: 95.672509 deg,
      approachRate: -0.521970 m/s,
      LOS rate: 0.191680 deg/s,
      cmd update: 0.766722 deg/s,
      cmd heading: 108.043039 deg,
      new cmd heading: 106.393412 deg.

2021-08-15T16:14:46.899Z,1629044086.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:14:47.282Z,1629044087.282 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:14:47.282Z,1629044087.282 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:14:47.282Z,1629044087.282 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:14:47.283Z,1629044087.283 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:14:47.682Z,1629044087.682 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F0,000,012D6,188,80,80,56,FF
2021-08-15T16:14:47.682Z,1629044087.682 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:14:47.682Z,1629044087.682 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:14:47.684Z,1629044087.684 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:14:48.093Z,1629044088.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:14:48.925Z,1629044088.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,142,000,0128D,186,80,80,74,FF
2021-08-15T16:14:48.925Z,1629044088.925 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:14:48.928Z,1629044088.928 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161448.69*5F

2021-08-15T16:14:49.353Z,1629044089.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 247.440002 m, bearing: 101.526958 deg, deltaT: 4.876679 s, approachRate: -0.898150 m/s, LOS rate: 1.200499 deg/s, posRepo size: 4
2021-08-15T16:14:49.355Z,1629044089.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 247.440002 m,
      bearing: 101.526958 deg,
      approachRate: -0.898150 m/s,
      LOS rate: 1.200499 deg/s,
      cmd update: 4.801997 deg/s,
      cmd heading: 111.760517 deg,
      new cmd heading: 112.070800 deg.

2021-08-15T16:14:51.758Z,1629044091.758 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:14:52.125Z,1629044092.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:14:52.125Z,1629044092.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:14:52.125Z,1629044092.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:14:52.126Z,1629044092.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:14:52.541Z,1629044092.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
142,000,0128D,186,80,80,74,FF
2021-08-15T16:14:52.541Z,1629044092.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:14:52.541Z,1629044092.541 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:14:52.543Z,1629044092.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:14:52.949Z,1629044092.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:14:53.769Z,1629044093.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,173,000,0124B,186,80,80,83,FF
2021-08-15T16:14:53.769Z,1629044093.769 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:14:53.773Z,1629044093.773 [Micromodem](INFO): Nmea in: $SNTTA,0.181601,,,,161453.55*4B

2021-08-15T16:14:54.180Z,1629044094.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 243.479980 m, bearing: 103.118528 deg, deltaT: 4.859649 s, approachRate: -0.814878 m/s, LOS rate: 0.327507 deg/s, posRepo size: 4
2021-08-15T16:14:54.182Z,1629044094.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 243.479980 m,
      bearing: 103.118528 deg,
      approachRate: -0.814878 m/s,
      LOS rate: 0.327507 deg/s,
      cmd update: 1.310029 deg/s,
      cmd heading: 135.192968 deg,
      new cmd heading: 136.884054 deg.

2021-08-15T16:14:56.617Z,1629044096.617 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:14:56.973Z,1629044096.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:14:56.973Z,1629044096.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:14:56.973Z,1629044096.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:14:56.974Z,1629044096.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:14:57.385Z,1629044097.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
173,000,0124B,186,80,80,83,FF
2021-08-15T16:14:57.386Z,1629044097.386 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:14:57.386Z,1629044097.386 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:14:57.387Z,1629044097.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:14:57.823Z,1629044097.823 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:14:58.609Z,1629044098.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,351,000,01211,188,80,80,66,FF
2021-08-15T16:14:58.609Z,1629044098.609 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:14:58.612Z,1629044098.612 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161458.39*5B

2021-08-15T16:14:58.729Z,1629044098.729 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T16:14:59.035Z,1629044099.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 240.000000 m, bearing: 96.669443 deg, deltaT: 4.802664 s, approachRate: -0.724594 m/s, LOS rate: -1.342814 deg/s, posRepo size: 4
2021-08-15T16:14:59.037Z,1629044099.037 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 240.000000 m,
      bearing: 96.669443 deg,
      approachRate: -0.724594 m/s,
      LOS rate: -1.342814 deg/s,
      cmd update: -5.371256 deg/s,
      cmd heading: 141.495095 deg,
      new cmd heading: 142.014508 deg.

2021-08-15T16:14:59.732Z,1629044099.732 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2021-08-15T16:15:01.499Z,1629044101.499 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:15:01.817Z,1629044101.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:15:01.817Z,1629044101.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:15:01.817Z,1629044101.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:15:01.818Z,1629044101.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:15:02.221Z,1629044102.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
351,000,01211,188,80,80,66,FF
2021-08-15T16:15:02.221Z,1629044102.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:15:02.221Z,1629044102.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:15:02.223Z,1629044102.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:15:02.638Z,1629044102.638 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:15:03.443Z,1629044103.443 [Micromodem](INFO): Nmea in: $SNTTA,0.349812,0.349512,,,161503.23*52

2021-08-15T16:15:04.259Z,1629044104.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:15:05.861Z,1629044105.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,188,80,80,66,FF
2021-08-15T16:15:05.862Z,1629044105.862 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,188,80,80,66,FF
2021-08-15T16:15:05.862Z,1629044105.862 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T16:15:07.169Z,1629044107.169 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:15:07.493Z,1629044107.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:15:07.493Z,1629044107.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:15:07.493Z,1629044107.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:15:07.494Z,1629044107.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:15:07.877Z,1629044107.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,188,80,80,66,FF
2021-08-15T16:15:07.877Z,1629044107.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:15:07.877Z,1629044107.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:15:07.879Z,1629044107.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:15:08.293Z,1629044108.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:15:09.124Z,1629044109.124 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27A,000,0119C,189,80,80,7E,FF
2021-08-15T16:15:09.126Z,1629044109.126 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:15:09.149Z,1629044109.149 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161508.89*54

2021-08-15T16:15:09.563Z,1629044109.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 232.979980 m, bearing: 94.513392 deg, deltaT: 10.610995 s, approachRate: -0.661580 m/s, LOS rate: -0.203190 deg/s, posRepo size: 4
2021-08-15T16:15:09.565Z,1629044109.565 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 232.979980 m,
      bearing: 94.513392 deg,
      approachRate: -0.661580 m/s,
      LOS rate: -0.203190 deg/s,
      cmd update: -0.812761 deg/s,
      cmd heading: 84.544651 deg,
      new cmd heading: 82.816078 deg.

2021-08-15T16:15:11.943Z,1629044111.943 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:15:12.329Z,1629044112.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:15:12.329Z,1629044112.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:15:12.329Z,1629044112.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:15:12.330Z,1629044112.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:15:12.725Z,1629044112.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27A,000,0119C,189,80,80,7E,FF
2021-08-15T16:15:12.725Z,1629044112.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:15:12.725Z,1629044112.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:15:12.727Z,1629044112.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:15:13.181Z,1629044113.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:15:13.194Z,1629044113.194 [Micromodem](INFO): Nmea in: 10,,,161513.75*5B

2021-08-15T16:15:13.194Z,1629044113.194 [Micromodem](ERROR): Response from modem failed NMEA checksum: 10,,,161513.75*5B
 expected 0
2021-08-15T16:15:13.945Z,1629044113.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,068,000,0115B,186,80,80,A0,FF
2021-08-15T16:15:13.945Z,1629044113.945 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:15:14.387Z,1629044114.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 229.079987 m, bearing: 102.563821 deg, deltaT: 4.753832 s, approachRate: -0.820390 m/s, LOS rate: 1.693461 deg/s, posRepo size: 4
2021-08-15T16:15:14.389Z,1629044114.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 229.079987 m,
      bearing: 102.563821 deg,
      approachRate: -0.820390 m/s,
      LOS rate: 1.693461 deg/s,
      cmd update: 6.773844 deg/s,
      cmd heading: 80.677548 deg,
      new cmd heading: 80.362374 deg.

2021-08-15T16:15:16.797Z,1629044116.797 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:15:17.205Z,1629044117.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:15:17.205Z,1629044117.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:15:17.205Z,1629044117.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:15:17.206Z,1629044117.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:15:17.577Z,1629044117.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
068,000,0115B,186,80,80,A0,FF
2021-08-15T16:15:17.577Z,1629044117.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:15:17.577Z,1629044117.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:15:17.579Z,1629044117.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:15:17.983Z,1629044117.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:15:18.821Z,1629044118.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4A,000,0111E,186,80,80,7F,FF
2021-08-15T16:15:18.822Z,1629044118.822 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:15:18.825Z,1629044118.825 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161518.59*58

2021-08-15T16:15:19.256Z,1629044119.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 225.419998 m, bearing: 101.092578 deg, deltaT: 4.880134 s, approachRate: -0.749977 m/s, LOS rate: -0.301476 deg/s, posRepo size: 4
2021-08-15T16:15:19.258Z,1629044119.258 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 225.419998 m,
      bearing: 101.092578 deg,
      approachRate: -0.749977 m/s,
      LOS rate: -0.301476 deg/s,
      cmd update: -1.205904 deg/s,
      cmd heading: 113.734789 deg,
      new cmd heading: 116.288305 deg.

2021-08-15T16:15:21.659Z,1629044121.659 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:15:22.025Z,1629044122.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:15:22.025Z,1629044122.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:15:22.026Z,1629044122.026 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:15:22.027Z,1629044122.027 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:15:22.430Z,1629044122.430 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4A,000,0111E,186,80,80,7F,FF
2021-08-15T16:15:22.430Z,1629044122.430 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:15:22.430Z,1629044122.430 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:15:22.435Z,1629044122.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:15:22.858Z,1629044122.858 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:15:23.658Z,1629044123.658 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC5,000,010DE,185,80,80,5F,FF
2021-08-15T16:15:23.658Z,1629044123.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:15:23.663Z,1629044123.663 [Micromodem](INFO): Nmea in: $SNTTA,0.150270,,,,161523.44*43

2021-08-15T16:15:24.080Z,1629044124.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 221.579987 m, bearing: 105.773751 deg, deltaT: 4.858255 s, approachRate: -0.790410 m/s, LOS rate: 0.963550 deg/s, posRepo size: 4
2021-08-15T16:15:24.082Z,1629044124.082 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 221.579987 m,
      bearing: 105.773751 deg,
      approachRate: -0.790410 m/s,
      LOS rate: 0.963550 deg/s,
      cmd update: 3.854201 deg/s,
      cmd heading: 107.876045 deg,
      new cmd heading: 107.463417 deg.

2021-08-15T16:15:26.518Z,1629044126.518 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:15:26.869Z,1629044126.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:15:26.869Z,1629044126.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:15:26.869Z,1629044126.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:15:26.870Z,1629044126.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:15:27.277Z,1629044127.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC5,000,010DE,185,80,80,5F,FF
2021-08-15T16:15:27.277Z,1629044127.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:15:27.277Z,1629044127.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:15:27.279Z,1629044127.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:15:27.680Z,1629044127.680 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:15:28.535Z,1629044128.535 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10D,000,010A0,185,80,80,56,FF
2021-08-15T16:15:28.535Z,1629044128.535 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:15:28.541Z,1629044128.541 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161528.29*5C

2021-08-15T16:15:28.916Z,1629044128.916 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 217.859985 m, bearing: 103.980375 deg, deltaT: 4.873170 s, approachRate: -0.763364 m/s, LOS rate: -0.368010 deg/s, posRepo size: 4
2021-08-15T16:15:28.918Z,1629044128.918 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 217.859985 m,
      bearing: 103.980375 deg,
      approachRate: -0.763364 m/s,
      LOS rate: -0.368010 deg/s,
      cmd update: -1.472040 deg/s,
      cmd heading: 126.655827 deg,
      new cmd heading: 127.834634 deg.

2021-08-15T16:15:31.374Z,1629044131.374 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:15:31.713Z,1629044131.713 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:15:31.713Z,1629044131.713 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:15:31.713Z,1629044131.713 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:15:31.714Z,1629044131.714 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:15:32.121Z,1629044132.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10D,000,010A0,185,80,80,56,FF
2021-08-15T16:15:32.121Z,1629044132.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:15:32.121Z,1629044132.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:15:32.123Z,1629044132.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:15:32.547Z,1629044132.547 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:15:33.361Z,1629044133.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,224,000,01070,188,80,80,5B,FF
2021-08-15T16:15:33.361Z,1629044133.361 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:15:33.365Z,1629044133.365 [Micromodem](INFO): Nmea in: $SNTTA,0.145649,,,,161533.13*4A

2021-08-15T16:15:33.782Z,1629044133.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 214.979996 m, bearing: 101.846003 deg, deltaT: 4.880283 s, approachRate: -0.590128 m/s, LOS rate: -0.437346 deg/s, posRepo size: 4
2021-08-15T16:15:33.800Z,1629044133.800 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 214.979996 m,
      bearing: 101.846003 deg,
      approachRate: -0.590128 m/s,
      LOS rate: -0.437346 deg/s,
      cmd update: -1.749384 deg/s,
      cmd heading: 119.524039 deg,
      new cmd heading: 119.042355 deg.

2021-08-15T16:15:36.201Z,1629044136.201 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:15:36.557Z,1629044136.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:15:36.557Z,1629044136.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:15:36.557Z,1629044136.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:15:36.558Z,1629044136.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:15:36.957Z,1629044136.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
224,000,01070,188,80,80,5B,FF
2021-08-15T16:15:36.957Z,1629044136.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:15:36.958Z,1629044136.958 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:15:36.959Z,1629044136.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:15:37.380Z,1629044137.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:15:38.205Z,1629044138.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21B,000,0103C,187,80,80,78,FF
2021-08-15T16:15:38.205Z,1629044138.205 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:15:38.208Z,1629044138.208 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161537.97*57

2021-08-15T16:15:38.626Z,1629044138.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 211.860001 m, bearing: 98.446658 deg, deltaT: 4.765060 s, approachRate: -0.654765 m/s, LOS rate: -0.713390 deg/s, posRepo size: 4
2021-08-15T16:15:38.644Z,1629044138.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 211.860001 m,
      bearing: 98.446658 deg,
      approachRate: -0.654765 m/s,
      LOS rate: -0.713390 deg/s,
      cmd update: -2.853558 deg/s,
      cmd heading: 111.125116 deg,
      new cmd heading: 110.477613 deg.

2021-08-15T16:15:41.022Z,1629044141.022 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:15:41.409Z,1629044141.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:15:41.409Z,1629044141.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:15:41.409Z,1629044141.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:15:41.410Z,1629044141.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:15:41.813Z,1629044141.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21B,000,0103C,187,80,80,78,FF
2021-08-15T16:15:41.814Z,1629044141.814 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:15:41.814Z,1629044141.814 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:15:41.815Z,1629044141.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:15:42.228Z,1629044142.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:15:43.045Z,1629044143.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15C,000,00FF3,186,80,80,61,FF
2021-08-15T16:15:43.046Z,1629044143.046 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:15:43.048Z,1629044143.048 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161542.82*51

2021-08-15T16:15:43.539Z,1629044143.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 207.479996 m, bearing: 99.472389 deg, deltaT: 4.804247 s, approachRate: -0.911694 m/s, LOS rate: 0.213505 deg/s, posRepo size: 4
2021-08-15T16:15:43.541Z,1629044143.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 207.479996 m,
      bearing: 99.472389 deg,
      approachRate: -0.911694 m/s,
      LOS rate: 0.213505 deg/s,
      cmd update: 0.854020 deg/s,
      cmd heading: 97.404509 deg,
      new cmd heading: 96.049924 deg.

2021-08-15T16:15:45.901Z,1629044145.901 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:15:46.261Z,1629044146.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:15:46.261Z,1629044146.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:15:46.261Z,1629044146.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:15:46.262Z,1629044146.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:15:46.661Z,1629044146.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15C,000,00FF3,186,80,80,61,FF
2021-08-15T16:15:46.661Z,1629044146.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:15:46.662Z,1629044146.662 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:15:46.663Z,1629044146.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:15:47.070Z,1629044147.070 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:15:47.901Z,1629044147.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,089,000,00FB9,186,80,80,90,FF
2021-08-15T16:15:47.901Z,1629044147.901 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:15:47.905Z,1629044147.905 [Micromodem](INFO): Nmea in: $SNTTA,0.128615,,,,161547.67*48

2021-08-15T16:15:48.325Z,1629044148.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 203.999985 m, bearing: 99.253748 deg, deltaT: 4.855913 s, approachRate: -0.716654 m/s, LOS rate: -0.045026 deg/s, posRepo size: 4
2021-08-15T16:15:48.331Z,1629044148.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 203.999985 m,
      bearing: 99.253748 deg,
      approachRate: -0.716654 m/s,
      LOS rate: -0.045026 deg/s,
      cmd update: -0.180103 deg/s,
      cmd heading: 101.551581 deg,
      new cmd heading: 101.896229 deg.

2021-08-15T16:15:50.738Z,1629044150.738 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:15:51.108Z,1629044151.108 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:15:51.109Z,1629044151.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:15:51.109Z,1629044151.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:15:51.111Z,1629044151.111 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:15:51.527Z,1629044151.527 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
089,000,00FB9,186,80,80,90,FF
2021-08-15T16:15:51.527Z,1629044151.527 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:15:51.528Z,1629044151.528 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:15:51.529Z,1629044151.529 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:15:51.923Z,1629044151.923 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:15:52.737Z,1629044152.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06D,000,00F7D,186,80,80,9D,FF
2021-08-15T16:15:52.737Z,1629044152.737 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:15:52.760Z,1629044152.760 [Micromodem](INFO): Nmea in: $SNTTA,0.136110,,,,161552.54*41

2021-08-15T16:15:53.196Z,1629044153.196 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 200.399994 m, bearing: 101.159958 deg, deltaT: 4.907303 s, approachRate: -0.733599 m/s, LOS rate: 0.388444 deg/s, posRepo size: 4
2021-08-15T16:15:53.198Z,1629044153.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.399994 m,
      bearing: 101.159958 deg,
      approachRate: -0.733599 m/s,
      LOS rate: 0.388444 deg/s,
      cmd update: 1.553774 deg/s,
      cmd heading: 100.668496 deg,
      new cmd heading: 100.601424 deg.

2021-08-15T16:15:55.605Z,1629044155.605 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:15:55.957Z,1629044155.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:15:55.958Z,1629044155.958 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:15:55.958Z,1629044155.958 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:15:55.959Z,1629044155.959 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:15:56.361Z,1629044156.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06D,000,00F7D,186,80,80,9D,FF
2021-08-15T16:15:56.361Z,1629044156.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:15:56.361Z,1629044156.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:15:56.363Z,1629044156.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:15:56.769Z,1629044156.769 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:15:57.194Z,1629044157.194 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06D,000,00F7D,186,80,80,9D,FF
2021-08-15T16:15:57.194Z,1629044157.194 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:15:57.609Z,1629044157.609 [Micromodem](INFO): Nmea in: $SNTTA,0.133676,,,,161557.37*43

2021-08-15T16:15:57.664Z,1629044157.664 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 200.399994 m, bearing: 102.683732 deg, deltaT: 4.457566 s, approachRate: 0.000000 m/s, LOS rate: 0.341840 deg/s, posRepo size: 4
2021-08-15T16:15:57.666Z,1629044157.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 200.399994 m,
      bearing: 102.683732 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.341840 deg/s,
      cmd update: 1.367360 deg/s,
      cmd heading: 107.587854 deg,
      new cmd heading: 108.151975 deg.

2021-08-15T16:16:00.019Z,1629044160.019 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:16:00.397Z,1629044160.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:16:00.397Z,1629044160.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:16:00.397Z,1629044160.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:16:00.398Z,1629044160.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:16:00.797Z,1629044160.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06D,000,00F7D,186,80,80,9D,FF
2021-08-15T16:16:00.797Z,1629044160.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:16:00.797Z,1629044160.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:16:00.799Z,1629044160.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:16:01.231Z,1629044161.231 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:16:02.009Z,1629044162.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BA,000,00F0C,185,80,80,A5,FF
2021-08-15T16:16:02.009Z,1629044162.009 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:16:02.455Z,1629044162.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 193.619995 m, bearing: 103.770231 deg, deltaT: 4.741088 s, approachRate: -1.430051 m/s, LOS rate: 0.229167 deg/s, posRepo size: 4
2021-08-15T16:16:02.459Z,1629044162.459 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 193.619995 m,
      bearing: 103.770231 deg,
      approachRate: -1.430051 m/s,
      LOS rate: 0.229167 deg/s,
      cmd update: 0.916666 deg/s,
      cmd heading: 114.082097 deg,
      new cmd heading: 114.667649 deg.

2021-08-15T16:16:04.891Z,1629044164.891 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:16:05.257Z,1629044165.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:16:05.257Z,1629044165.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:16:05.257Z,1629044165.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:16:05.258Z,1629044165.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:16:05.653Z,1629044165.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BA,000,00F0C,185,80,80,A5,FF
2021-08-15T16:16:05.653Z,1629044165.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:16:05.653Z,1629044165.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:16:05.655Z,1629044165.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:16:06.065Z,1629044166.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:16:06.889Z,1629044166.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,176,000,00ED4,186,80,80,A1,FF
2021-08-15T16:16:06.889Z,1629044166.889 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:16:06.892Z,1629044166.892 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161606.66*58

2021-08-15T16:16:07.353Z,1629044167.353 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 190.259995 m, bearing: 100.736472 deg, deltaT: 4.928591 s, approachRate: -0.681737 m/s, LOS rate: -0.615543 deg/s, posRepo size: 4
2021-08-15T16:16:07.355Z,1629044167.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.259995 m,
      bearing: 100.736472 deg,
      approachRate: -0.681737 m/s,
      LOS rate: -0.615543 deg/s,
      cmd update: -2.462171 deg/s,
      cmd heading: 118.596272 deg,
      new cmd heading: 118.960166 deg.

2021-08-15T16:16:09.736Z,1629044169.736 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:16:10.101Z,1629044170.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:16:10.101Z,1629044170.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:16:10.101Z,1629044170.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:16:10.102Z,1629044170.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:16:10.521Z,1629044170.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
176,000,00ED4,186,80,80,A1,FF
2021-08-15T16:16:10.521Z,1629044170.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:16:10.521Z,1629044170.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:16:10.523Z,1629044170.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:16:10.924Z,1629044170.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:16:11.723Z,1629044171.723 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DE,000,00E98,187,80,80,78,FF
2021-08-15T16:16:11.724Z,1629044171.724 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:16:11.727Z,1629044171.727 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161611.53*58

2021-08-15T16:16:12.148Z,1629044172.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 186.660004 m, bearing: 97.603069 deg, deltaT: 4.826892 s, approachRate: -0.745820 m/s, LOS rate: -0.649156 deg/s, posRepo size: 4
2021-08-15T16:16:12.150Z,1629044172.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.660004 m,
      bearing: 97.603069 deg,
      approachRate: -0.745820 m/s,
      LOS rate: -0.649156 deg/s,
      cmd update: -2.596622 deg/s,
      cmd heading: 106.722421 deg,
      new cmd heading: 105.800091 deg.

2021-08-15T16:16:14.569Z,1629044174.569 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:16:14.954Z,1629044174.954 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:16:14.955Z,1629044174.955 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:16:14.955Z,1629044174.955 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:16:14.956Z,1629044174.956 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:16:15.354Z,1629044175.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DE,000,00E98,187,80,80,78,FF
2021-08-15T16:16:15.354Z,1629044175.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:16:15.354Z,1629044175.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:16:15.355Z,1629044175.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:16:15.767Z,1629044175.767 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:16:16.575Z,1629044176.575 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161616.37*5D

2021-08-15T16:16:17.482Z,1629044177.482 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:16:18.993Z,1629044178.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,187,80,80,78,FF
2021-08-15T16:16:18.994Z,1629044178.994 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,187,80,80,78,FF
2021-08-15T16:16:18.994Z,1629044178.994 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T16:16:20.214Z,1629044180.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:16:20.602Z,1629044180.602 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:16:20.602Z,1629044180.602 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:16:20.602Z,1629044180.602 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:16:20.603Z,1629044180.603 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:16:21.001Z,1629044181.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,187,80,80,78,FF
2021-08-15T16:16:21.001Z,1629044181.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:16:21.001Z,1629044181.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:16:21.003Z,1629044181.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:16:21.408Z,1629044181.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:16:21.818Z,1629044181.818 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8B,0003,E4
8,187,80,80,78,FF
2021-08-15T16:16:21.818Z,1629044181.818 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,F8B,0003,E4
8,187,80,80,78,FF
2021-08-15T16:16:22.237Z,1629044182.237 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161622.01*5F

2021-08-15T16:16:23.070Z,1629044183.070 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:16:25.575Z,1629044185.575 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:16:26.676Z,1629044186.676 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.072611
2021-08-15T16:16:28.304Z,1629044188.304 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:16:28.681Z,1629044188.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:16:28.682Z,1629044188.682 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:16:28.682Z,1629044188.682 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:16:28.683Z,1629044188.683 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:16:29.085Z,1629044189.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8B,0003,E4
8,187,80,80,78,FF
2021-08-15T16:16:29.085Z,1629044189.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:16:29.085Z,1629044189.085 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:16:29.087Z,1629044189.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:16:29.532Z,1629044189.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:16:29.901Z,1629044189.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D81,000,,E4
8,187,80,80,78,FF
2021-08-15T16:16:29.902Z,1629044189.902 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,D81,000,,E4
8,187,80,80,78,FF
2021-08-15T16:16:30.318Z,1629044190.318 [Micromodem](INFO): Nmea in: $SNTTA,0.117917,,,,161630.10*4A

2021-08-15T16:16:31.174Z,1629044191.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:16:33.951Z,1629044193.951 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:16:34.748Z,1629044194.748 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.065432
2021-08-15T16:16:36.794Z,1629044196.794 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:16:37.197Z,1629044197.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:16:37.197Z,1629044197.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:16:37.197Z,1629044197.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:16:37.198Z,1629044197.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:16:37.573Z,1629044197.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D81,000,,E4
8,187,80,80,78,FF
2021-08-15T16:16:37.574Z,1629044197.574 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:16:37.574Z,1629044197.574 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:16:37.575Z,1629044197.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:16:37.972Z,1629044197.972 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:16:38.374Z,1629044198.374 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B31,000,,E4
8,187,80,80,78,FF
2021-08-15T16:16:38.374Z,1629044198.374 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,B31,000,,E4
8,187,80,80,78,FF
2021-08-15T16:16:38.802Z,1629044198.802 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161638.59*59

2021-08-15T16:16:39.630Z,1629044199.630 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:16:42.494Z,1629044202.494 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:16:43.240Z,1629044203.240 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.041863
2021-08-15T16:16:45.287Z,1629044205.287 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:16:45.645Z,1629044205.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:16:45.645Z,1629044205.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:16:45.645Z,1629044205.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:16:45.646Z,1629044205.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:16:46.049Z,1629044206.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B31,000,,E4
8,187,80,80,78,FF
2021-08-15T16:16:46.049Z,1629044206.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:16:46.049Z,1629044206.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:16:46.051Z,1629044206.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:16:46.489Z,1629044206.489 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:16:46.857Z,1629044206.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6B,000,00D48,187,80,80,78,FF
2021-08-15T16:16:46.858Z,1629044206.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:16:47.297Z,1629044207.297 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161647.06*5B

2021-08-15T16:16:47.364Z,1629044207.364 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.500015 m, bearing: 55.393589 deg, deltaT: 35.133718 s, approachRate: -0.573807 m/s, LOS rate: -1.201395 deg/s, posRepo size: 4
2021-08-15T16:16:47.366Z,1629044207.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.500015 m,
      bearing: 55.393589 deg,
      approachRate: -0.573807 m/s,
      LOS rate: -1.201395 deg/s,
      cmd update: -4.805581 deg/s,
      cmd heading: 15.482725 deg,
      new cmd heading: 14.316029 deg.

2021-08-15T16:16:49.714Z,1629044209.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:16:50.097Z,1629044210.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:16:50.097Z,1629044210.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:16:50.098Z,1629044210.098 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:16:50.098Z,1629044210.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:16:50.529Z,1629044210.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6B,000,00D48,187,80,80,78,FF
2021-08-15T16:16:50.529Z,1629044210.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:16:50.529Z,1629044210.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:16:50.531Z,1629044210.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:16:50.908Z,1629044210.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:16:51.707Z,1629044211.707 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E01,000,00D3A,185,80,80,C4,FF
2021-08-15T16:16:51.708Z,1629044211.708 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:16:51.714Z,1629044211.714 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161651.54*5B

2021-08-15T16:16:52.159Z,1629044212.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 165.660019 m, bearing: 47.177862 deg, deltaT: 4.866972 s, approachRate: -0.172591 m/s, LOS rate: -1.688057 deg/s, posRepo size: 4
2021-08-15T16:16:52.161Z,1629044212.161 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.660019 m,
      bearing: 47.177862 deg,
      approachRate: -0.172591 m/s,
      LOS rate: -1.688057 deg/s,
      cmd update: -6.752229 deg/s,
      cmd heading: 352.073785 deg,
      new cmd heading: 350.261985 deg.

2021-08-15T16:16:53.749Z,1629044213.749 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-15T16:16:54.580Z,1629044214.580 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:16:54.949Z,1629044214.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:16:54.949Z,1629044214.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:16:54.950Z,1629044214.950 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:16:54.951Z,1629044214.951 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:16:55.349Z,1629044215.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E01,000,00D3A,185,80,80,C4,FF
2021-08-15T16:16:55.349Z,1629044215.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:16:55.349Z,1629044215.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:16:55.351Z,1629044215.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:16:55.909Z,1629044215.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:16:56.310Z,1629044216.310 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BE3,000,00D46,189,80,80,80,FF
2021-08-15T16:16:56.310Z,1629044216.310 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:16:56.725Z,1629044216.725 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161656.36*58

2021-08-15T16:16:56.751Z,1629044216.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.380005 m, bearing: 56.612983 deg, deltaT: 4.546429 s, approachRate: 0.158363 m/s, LOS rate: 2.075282 deg/s, posRepo size: 4
2021-08-15T16:16:56.773Z,1629044216.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.380005 m,
      bearing: 56.612983 deg,
      approachRate: 0.158363 m/s,
      LOS rate: 2.075282 deg/s,
      cmd update: 8.301127 deg/s,
      cmd heading: 321.377497 deg,
      new cmd heading: 318.525964 deg.

2021-08-15T16:16:59.224Z,1629044219.224 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:16:59.530Z,1629044219.530 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:16:59.530Z,1629044219.530 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:16:59.531Z,1629044219.531 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:16:59.532Z,1629044219.532 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:16:59.950Z,1629044219.950 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BE3,000,00D46,189,80,80,80,FF
2021-08-15T16:16:59.950Z,1629044219.950 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:16:59.950Z,1629044219.950 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:16:59.951Z,1629044219.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:17:00.349Z,1629044220.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:17:00.758Z,1629044220.758 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C3A,000,00D46,189,80,80,80,FF
2021-08-15T16:17:00.758Z,1629044220.758 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:17:01.205Z,1629044221.205 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161700.96*50

2021-08-15T16:17:01.255Z,1629044221.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.380005 m, bearing: 37.207165 deg, deltaT: 4.492851 s, approachRate: 0.000000 m/s, LOS rate: -4.319266 deg/s, posRepo size: 4
2021-08-15T16:17:01.257Z,1629044221.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.380005 m,
      bearing: 37.207165 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -4.319266 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 358.605876 deg,
      new cmd heading: 2.276867 deg.

2021-08-15T16:17:03.630Z,1629044223.630 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:17:03.987Z,1629044223.987 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:17:03.987Z,1629044223.987 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:17:03.987Z,1629044223.987 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:17:03.988Z,1629044223.988 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:17:04.381Z,1629044224.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C3A,000,00D46,189,80,80,80,FF
2021-08-15T16:17:04.381Z,1629044224.381 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:17:04.382Z,1629044224.382 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:17:04.383Z,1629044224.383 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:17:04.789Z,1629044224.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:17:05.207Z,1629044225.207 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,084,000,00D83,186,80,80,80,FF
2021-08-15T16:17:05.207Z,1629044225.207 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:17:05.636Z,1629044225.636 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161705.40*5E

2021-08-15T16:17:05.679Z,1629044225.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 170.039993 m, bearing: 338.789595 deg, deltaT: 4.449355 s, approachRate: 0.822589 m/s, LOS rate: -13.129445 deg/s, posRepo size: 4
2021-08-15T16:17:05.680Z,1629044225.680 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.129445 deg/s. Setting heading cmd to target bearing of 338.789595deg and heading rate command to 0 deg/s.
2021-08-15T16:17:08.075Z,1629044228.075 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:17:08.426Z,1629044228.426 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:17:08.427Z,1629044228.427 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:17:08.427Z,1629044228.427 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:17:08.428Z,1629044228.428 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:17:08.829Z,1629044228.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
084,000,00D83,186,80,80,80,FF
2021-08-15T16:17:08.829Z,1629044228.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:17:08.829Z,1629044228.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:17:08.831Z,1629044228.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:17:09.236Z,1629044229.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:17:09.638Z,1629044229.638 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F5,000,00D83,186,80,80,80,FF
2021-08-15T16:17:09.638Z,1629044229.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:17:10.073Z,1629044230.073 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161709.84*5A

2021-08-15T16:17:10.108Z,1629044230.108 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 170.039993 m, bearing: 332.593384 deg, deltaT: 4.435926 s, approachRate: 0.000000 m/s, LOS rate: -1.396825 deg/s, posRepo size: 4
2021-08-15T16:17:10.110Z,1629044230.110 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.039993 m,
      bearing: 332.593384 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.396825 deg/s,
      cmd update: -5.587299 deg/s,
      cmd heading: 338.789595 deg,
      new cmd heading: 338.789595 deg.

2021-08-15T16:17:12.526Z,1629044232.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:17:12.879Z,1629044232.879 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:17:12.879Z,1629044232.879 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:17:12.879Z,1629044232.879 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:17:12.883Z,1629044232.883 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:17:13.282Z,1629044233.282 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F5,000,00D83,186,80,80,80,FF
2021-08-15T16:17:13.282Z,1629044233.282 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:17:13.282Z,1629044233.282 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:17:13.284Z,1629044233.284 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:17:13.681Z,1629044233.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:17:14.090Z,1629044234.090 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,260,000,00D83,186,80,80,80,FF
2021-08-15T16:17:14.090Z,1629044234.090 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:17:14.549Z,1629044234.549 [Micromodem](INFO): Nmea in: $SNTTA,0.117407,,,,161714.29*4B

2021-08-15T16:17:14.595Z,1629044234.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 170.039993 m, bearing: 305.604438 deg, deltaT: 4.434722 s, approachRate: 0.000000 m/s, LOS rate: -6.085826 deg/s, posRepo size: 4
2021-08-15T16:17:14.602Z,1629044234.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.039993 m,
      bearing: 305.604438 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -6.085826 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 314.149166 deg,
      new cmd heading: 311.452255 deg.

2021-08-15T16:17:16.933Z,1629044236.933 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:17:17.309Z,1629044237.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:17:17.310Z,1629044237.310 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:17:17.310Z,1629044237.310 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:17:17.311Z,1629044237.311 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:17:17.717Z,1629044237.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
260,000,00D83,186,80,80,80,FF
2021-08-15T16:17:17.717Z,1629044237.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:17:17.717Z,1629044237.717 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:17:17.719Z,1629044237.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:17:18.125Z,1629044238.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:17:18.546Z,1629044238.546 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBF,000,00DD7,187,80,80,80,FF
2021-08-15T16:17:18.547Z,1629044238.547 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:17:18.965Z,1629044238.965 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161718.73*52

2021-08-15T16:17:19.001Z,1629044239.001 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 175.080002 m, bearing: 342.115597 deg, deltaT: 4.487719 s, approachRate: 1.123067 m/s, LOS rate: 8.135794 deg/s, posRepo size: 4
2021-08-15T16:17:19.003Z,1629044239.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.080002 m,
      bearing: 342.115597 deg,
      approachRate: 1.123067 m/s,
      LOS rate: 8.135794 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 260.069892 deg,
      new cmd heading: 255.491988 deg.

2021-08-15T16:17:21.412Z,1629044241.412 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:17:21.753Z,1629044241.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:17:21.754Z,1629044241.754 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:17:21.754Z,1629044241.754 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:17:21.755Z,1629044241.755 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:17:22.161Z,1629044242.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBF,000,00DD7,187,80,80,80,FF
2021-08-15T16:17:22.162Z,1629044242.162 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:17:22.162Z,1629044242.162 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:17:22.163Z,1629044242.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:17:22.573Z,1629044242.573 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:17:22.966Z,1629044242.966 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBF,000,00DD7,187,80,80,80,FF
2021-08-15T16:17:22.966Z,1629044242.966 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:17:23.423Z,1629044243.423 [Micromodem](INFO): Nmea in: $SNTTA,0.120801,,,,161723.17*4C

2021-08-15T16:17:23.541Z,1629044243.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 175.080002 m, bearing: 324.466306 deg, deltaT: 4.388675 s, approachRate: 0.000000 m/s, LOS rate: -4.021553 deg/s, posRepo size: 4
2021-08-15T16:17:23.543Z,1629044243.543 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 175.080002 m,
      bearing: 324.466306 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -4.021553 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 312.500942 deg,
      new cmd heading: 319.134638 deg.

2021-08-15T16:17:25.867Z,1629044245.867 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:17:26.212Z,1629044246.212 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:17:26.213Z,1629044246.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:17:26.213Z,1629044246.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:17:26.214Z,1629044246.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:17:26.621Z,1629044246.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBF,000,00DD7,187,80,80,80,FF
2021-08-15T16:17:26.621Z,1629044246.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:17:26.621Z,1629044246.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:17:26.623Z,1629044246.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:17:27.015Z,1629044247.015 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:17:27.841Z,1629044247.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C3,000,00FF0,186,80,80,84,FF
2021-08-15T16:17:27.842Z,1629044247.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:17:27.845Z,1629044247.845 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161727.63*5F

2021-08-15T16:17:28.276Z,1629044248.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 207.300003 m, bearing: 272.486818 deg, deltaT: 4.883703 s, approachRate: 6.597453 m/s, LOS rate: -10.643458 deg/s, posRepo size: 4
2021-08-15T16:17:28.278Z,1629044248.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 207.300003 m,
      bearing: 272.486818 deg,
      approachRate: 6.597453 m/s,
      LOS rate: -10.643458 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 253.546249 deg,
      new cmd heading: 249.098653 deg.

2021-08-15T16:17:30.709Z,1629044250.709 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:17:31.061Z,1629044251.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:17:31.061Z,1629044251.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:17:31.061Z,1629044251.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:17:31.062Z,1629044251.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:17:31.493Z,1629044251.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C3,000,00FF0,186,80,80,84,FF
2021-08-15T16:17:31.493Z,1629044251.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:17:31.493Z,1629044251.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:17:31.495Z,1629044251.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:17:31.933Z,1629044251.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:17:32.742Z,1629044252.742 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161732.50*5B

2021-08-15T16:17:33.246Z,1629044253.246 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:17:34.778Z,1629044254.778 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,6,00FF0,186,80,80,84,FF
2021-08-15T16:17:34.778Z,1629044254.778 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,6,00FF0,186,80,80,84,FF
2021-08-15T16:17:34.778Z,1629044254.778 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T16:17:35.983Z,1629044255.983 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:17:36.389Z,1629044256.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:17:36.389Z,1629044256.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:17:36.389Z,1629044256.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:17:36.390Z,1629044256.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:17:36.773Z,1629044256.773 [DUSBL_Hydroid](INFO): DUSBL response received:3,E4
!U1,P
,6,00FF0,186,80,80,84,FF
2021-08-15T16:17:36.773Z,1629044256.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:17:36.774Z,1629044256.774 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:17:36.775Z,1629044256.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:17:37.212Z,1629044257.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:17:38.021Z,1629044258.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E58,000,00E96,186,80,80,6F,FF
2021-08-15T16:17:38.021Z,1629044258.021 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:17:38.025Z,1629044258.025 [Micromodem](INFO): Nmea in: $SNTTA,0.129092,,,,161737.78*4B

2021-08-15T16:17:38.429Z,1629044258.429 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 186.540009 m, bearing: 293.593496 deg, deltaT: 10.178584 s, approachRate: -2.039576 m/s, LOS rate: 2.073636 deg/s, posRepo size: 4
2021-08-15T16:17:38.434Z,1629044258.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 186.540009 m,
      bearing: 293.593496 deg,
      approachRate: -2.039576 m/s,
      LOS rate: 2.073636 deg/s,
      cmd update: 8.294544 deg/s,
      cmd heading: 131.454969 deg,
      new cmd heading: 127.233489 deg.

2021-08-15T16:17:40.862Z,1629044260.862 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:17:41.234Z,1629044261.234 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:17:41.234Z,1629044261.234 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:17:41.235Z,1629044261.235 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:17:41.236Z,1629044261.236 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:17:41.622Z,1629044261.622 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E58,000,00E96,186,80,80,6F,FF
2021-08-15T16:17:41.622Z,1629044261.622 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:17:41.622Z,1629044261.622 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:17:41.623Z,1629044261.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:17:42.047Z,1629044262.047 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:17:42.901Z,1629044262.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,35F,000,00EBE,189,80,80,B6,FF
2021-08-15T16:17:42.902Z,1629044262.902 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:17:42.908Z,1629044262.908 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161742.64*5B

2021-08-15T16:17:43.289Z,1629044263.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 188.939987 m, bearing: 212.217365 deg, deltaT: 4.882812 s, approachRate: 0.491516 m/s, LOS rate: -16.665834 deg/s, posRepo size: 4
2021-08-15T16:17:43.290Z,1629044263.290 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.665834 deg/s. Setting heading cmd to target bearing of 212.217365deg and heading rate command to 0 deg/s.
2021-08-15T16:17:45.698Z,1629044265.698 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:17:46.067Z,1629044266.067 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:17:46.067Z,1629044266.067 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:17:46.068Z,1629044266.068 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:17:46.069Z,1629044266.069 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:17:46.494Z,1629044266.494 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
35F,000,00EBE,189,80,80,B6,FF
2021-08-15T16:17:46.494Z,1629044266.494 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:17:46.494Z,1629044266.494 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:17:46.495Z,1629044266.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:17:46.891Z,1629044266.891 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:17:47.719Z,1629044267.719 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,174,000,00EDA,185,80,80,AF,FF
2021-08-15T16:17:47.719Z,1629044267.719 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:17:47.732Z,1629044267.732 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161747.50*59

2021-08-15T16:17:48.137Z,1629044268.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 190.619995 m, bearing: 216.748417 deg, deltaT: 4.846151 s, approachRate: 0.346669 m/s, LOS rate: 0.934979 deg/s, posRepo size: 4
2021-08-15T16:17:48.141Z,1629044268.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 190.619995 m,
      bearing: 216.748417 deg,
      approachRate: 0.346669 m/s,
      LOS rate: 0.934979 deg/s,
      cmd update: 3.739918 deg/s,
      cmd heading: 212.217365 deg,
      new cmd heading: 212.217365 deg.

2021-08-15T16:17:50.560Z,1629044270.560 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:17:50.913Z,1629044270.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:17:50.914Z,1629044270.914 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:17:50.914Z,1629044270.914 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:17:50.915Z,1629044270.915 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:17:51.321Z,1629044271.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
174,000,00EDA,185,80,80,AF,FF
2021-08-15T16:17:51.322Z,1629044271.322 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:17:51.322Z,1629044271.322 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:17:51.323Z,1629044271.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:17:51.746Z,1629044271.746 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:17:52.561Z,1629044272.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,448,000,00EE7,189,80,80,75,FF
2021-08-15T16:17:52.562Z,1629044272.562 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:17:52.565Z,1629044272.565 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161752.33*58

2021-08-15T16:17:52.991Z,1629044272.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 191.399994 m, bearing: 161.432382 deg, deltaT: 4.842039 s, approachRate: 0.161089 m/s, LOS rate: -11.424121 deg/s, posRepo size: 4
2021-08-15T16:17:52.993Z,1629044272.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 191.399994 m,
      bearing: 161.432382 deg,
      approachRate: 0.161089 m/s,
      LOS rate: -11.424121 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 230.327693 deg,
      new cmd heading: 231.629383 deg.

2021-08-15T16:17:55.423Z,1629044275.423 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:17:55.765Z,1629044275.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:17:55.765Z,1629044275.765 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:17:55.765Z,1629044275.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:17:55.766Z,1629044275.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:17:56.177Z,1629044276.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
448,000,00EE7,189,80,80,75,FF
2021-08-15T16:17:56.178Z,1629044276.178 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:17:56.178Z,1629044276.178 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:17:56.179Z,1629044276.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:17:56.577Z,1629044276.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:17:57.402Z,1629044277.402 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,119,000,00EF1,186,80,80,A4,FF
2021-08-15T16:17:57.402Z,1629044277.402 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:17:57.406Z,1629044277.406 [Micromodem](INFO): Nmea in: $SNTTA,0.140387,,,,161757.19*42

2021-08-15T16:17:57.834Z,1629044277.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 191.999985 m, bearing: 206.253572 deg, deltaT: 4.878946 s, approachRate: 0.122976 m/s, LOS rate: 9.186654 deg/s, posRepo size: 4
2021-08-15T16:17:57.836Z,1629044277.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 191.999985 m,
      bearing: 206.253572 deg,
      approachRate: 0.122976 m/s,
      LOS rate: 9.186654 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 171.732195 deg,
      new cmd heading: 168.033951 deg.

2021-08-15T16:18:00.238Z,1629044280.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:18:00.622Z,1629044280.622 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:18:00.622Z,1629044280.622 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:18:00.622Z,1629044280.622 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:18:00.623Z,1629044280.623 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:18:01.018Z,1629044281.018 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
119,000,00EF1,186,80,80,A4,FF
2021-08-15T16:18:01.018Z,1629044281.018 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:18:01.018Z,1629044281.018 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:18:01.020Z,1629044281.020 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:18:01.439Z,1629044281.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:18:02.250Z,1629044282.250 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00EF5,189,80,80,8E,FF
2021-08-15T16:18:02.250Z,1629044282.250 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:18:02.254Z,1629044282.254 [Micromodem](INFO): Nmea in: $SNTTA,0.130096,,,,161802.03*42

2021-08-15T16:18:02.689Z,1629044282.689 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 192.240005 m, bearing: 141.800191 deg, deltaT: 4.783190 s, approachRate: 0.050180 m/s, LOS rate: -13.474978 deg/s, posRepo size: 4
2021-08-15T16:18:02.690Z,1629044282.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.474978 deg/s. Setting heading cmd to target bearing of 141.800191deg and heading rate command to 0 deg/s.
2021-08-15T16:18:05.159Z,1629044285.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:18:05.487Z,1629044285.487 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:18:05.487Z,1629044285.487 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:18:05.487Z,1629044285.487 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:18:05.487Z,1629044285.487 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:18:05.877Z,1629044285.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00EF5,189,80,80,8E,FF
2021-08-15T16:18:05.877Z,1629044285.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:18:05.877Z,1629044285.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:18:05.878Z,1629044285.878 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:18:06.273Z,1629044286.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:18:07.110Z,1629044287.110 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,47E,000,00EF1,18A,80,80,7B,FF
2021-08-15T16:18:07.111Z,1629044287.111 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:18:07.144Z,1629044287.144 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161806.89*57

2021-08-15T16:18:07.168Z,1629044287.168 [RDI_Pathfinder](ERROR): only read 0 of 4 data items
2021-08-15T16:18:07.555Z,1629044287.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 191.999985 m, bearing: 137.496544 deg, deltaT: 4.893387 s, approachRate: -0.049050 m/s, LOS rate: -0.879482 deg/s, posRepo size: 4
2021-08-15T16:18:07.561Z,1629044287.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 191.999985 m,
      bearing: 137.496544 deg,
      approachRate: -0.049050 m/s,
      LOS rate: -0.879482 deg/s,
      cmd update: -3.517929 deg/s,
      cmd heading: 141.800191 deg,
      new cmd heading: 141.800191 deg.

2021-08-15T16:18:09.936Z,1629044289.936 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:18:10.310Z,1629044290.310 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:18:10.310Z,1629044290.310 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:18:10.310Z,1629044290.310 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:18:10.311Z,1629044290.311 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:18:10.714Z,1629044290.714 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
47E,000,00EF1,18A,80,80,7B,FF
2021-08-15T16:18:10.714Z,1629044290.714 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:18:10.714Z,1629044290.714 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:18:10.716Z,1629044290.716 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:18:11.159Z,1629044291.159 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:18:11.538Z,1629044291.538 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,57E,000,00EF1,18A,80,80,7B,FF
2021-08-15T16:18:11.538Z,1629044291.538 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:18:11.957Z,1629044291.957 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161811.73*54

2021-08-15T16:18:11.989Z,1629044291.989 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 191.999985 m, bearing: 117.792951 deg, deltaT: 4.409266 s, approachRate: 0.000000 m/s, LOS rate: -4.468679 deg/s, posRepo size: 4
2021-08-15T16:18:11.991Z,1629044291.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 191.999985 m,
      bearing: 117.792951 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -4.468679 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 126.273859 deg,
      new cmd heading: 124.949545 deg.

2021-08-15T16:18:14.392Z,1629044294.392 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:18:14.753Z,1629044294.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:18:14.754Z,1629044294.754 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:18:14.754Z,1629044294.754 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:18:14.755Z,1629044294.755 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:18:15.197Z,1629044295.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
57E,000,00EF1,18A,80,80,7B,FF
2021-08-15T16:18:15.197Z,1629044295.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:18:15.197Z,1629044295.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:18:15.199Z,1629044295.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:18:15.565Z,1629044295.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:18:16.376Z,1629044296.376 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00ECE,189,80,80,A2,FF
2021-08-15T16:18:16.377Z,1629044296.377 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:18:16.384Z,1629044296.384 [Micromodem](INFO): Nmea in: $SNTTA,0.136412,,,,161816.21*49

2021-08-15T16:18:16.839Z,1629044296.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 189.899994 m, bearing: 102.782005 deg, deltaT: 4.863395 s, approachRate: -0.431795 m/s, LOS rate: -3.086516 deg/s, posRepo size: 4
2021-08-15T16:18:16.846Z,1629044296.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 189.899994 m,
      bearing: 102.782005 deg,
      approachRate: -0.431795 m/s,
      LOS rate: -3.086516 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 68.373545 deg,
      new cmd heading: 63.543244 deg.

2021-08-15T16:18:19.243Z,1629044299.243 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:18:19.617Z,1629044299.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:18:19.617Z,1629044299.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:18:19.617Z,1629044299.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:18:19.618Z,1629044299.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:18:20.005Z,1629044300.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00ECE,189,80,80,A2,FF
2021-08-15T16:18:20.005Z,1629044300.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:18:20.005Z,1629044300.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:18:20.007Z,1629044300.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:18:20.422Z,1629044300.422 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:18:21.241Z,1629044301.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,36D,000,00EA5,189,80,80,AC,FF
2021-08-15T16:18:21.242Z,1629044301.242 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:18:21.269Z,1629044301.269 [Micromodem](INFO): Nmea in: $SNTTA,0.127022,,,,161821.02*4B

2021-08-15T16:18:21.658Z,1629044301.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 187.440002 m, bearing: 104.342751 deg, deltaT: 4.847517 s, approachRate: -0.507475 m/s, LOS rate: 0.321968 deg/s, posRepo size: 4
2021-08-15T16:18:21.677Z,1629044301.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 187.440002 m,
      bearing: 104.342751 deg,
      approachRate: -0.507475 m/s,
      LOS rate: 0.321968 deg/s,
      cmd update: 1.287873 deg/s,
      cmd heading: 9.695056 deg,
      new cmd heading: 5.716995 deg.

2021-08-15T16:18:24.067Z,1629044304.067 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:18:24.469Z,1629044304.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:18:24.470Z,1629044304.470 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:18:24.470Z,1629044304.470 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:18:24.474Z,1629044304.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:18:24.853Z,1629044304.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
36D,000,00EA5,189,80,80,AC,FF
2021-08-15T16:18:24.853Z,1629044304.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:18:24.853Z,1629044304.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:18:24.855Z,1629044304.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:18:25.265Z,1629044305.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:18:26.090Z,1629044306.090 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,263,000,00E78,188,80,80,9F,FF
2021-08-15T16:18:26.090Z,1629044306.090 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:18:26.093Z,1629044306.093 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161825.87*58

2021-08-15T16:18:26.528Z,1629044306.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 184.739990 m, bearing: 99.032347 deg, deltaT: 4.782202 s, approachRate: -0.564596 m/s, LOS rate: -1.110452 deg/s, posRepo size: 4
2021-08-15T16:18:26.530Z,1629044306.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.739990 m,
      bearing: 99.032347 deg,
      approachRate: -0.564596 m/s,
      LOS rate: -1.110452 deg/s,
      cmd update: -4.441806 deg/s,
      cmd heading: 15.853660 deg,
      new cmd heading: 16.393043 deg.

2021-08-15T16:18:28.933Z,1629044308.933 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:18:29.301Z,1629044309.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:18:29.301Z,1629044309.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:18:29.301Z,1629044309.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:18:29.302Z,1629044309.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:18:29.701Z,1629044309.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
263,000,00E78,188,80,80,9F,FF
2021-08-15T16:18:29.701Z,1629044309.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:18:29.701Z,1629044309.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:18:29.703Z,1629044309.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:18:30.117Z,1629044310.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:18:30.526Z,1629044310.526 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,081,000,00E78,188,80,80,9F,FF
2021-08-15T16:18:30.526Z,1629044310.526 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:18:31.013Z,1629044311.013 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161830.72*56

2021-08-15T16:18:31.053Z,1629044311.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 184.739990 m, bearing: 107.255424 deg, deltaT: 4.478492 s, approachRate: 0.000000 m/s, LOS rate: 1.836126 deg/s, posRepo size: 4
2021-08-15T16:18:31.055Z,1629044311.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.739990 m,
      bearing: 107.255424 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.836126 deg/s,
      cmd update: 7.344505 deg/s,
      cmd heading: 355.960119 deg,
      new cmd heading: 353.894479 deg.

2021-08-15T16:18:33.394Z,1629044313.394 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:18:33.741Z,1629044313.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:18:33.741Z,1629044313.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:18:33.742Z,1629044313.742 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:18:33.742Z,1629044313.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:18:34.158Z,1629044314.158 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
081,000,00E78,188,80,80,9F,FF
2021-08-15T16:18:34.158Z,1629044314.158 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:18:34.158Z,1629044314.158 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:18:34.160Z,1629044314.160 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:18:34.550Z,1629044314.550 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:18:34.970Z,1629044314.970 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F1F,000,00E78,188,80,80,9F,FF
2021-08-15T16:18:34.970Z,1629044314.970 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:18:35.365Z,1629044315.365 [Micromodem](INFO): Nmea in: $SNTTA,0.122566,0.379755,,,161835.17*5E

2021-08-15T16:18:35.414Z,1629044315.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 184.739990 m, bearing: 108.926627 deg, deltaT: 4.455039 s, approachRate: 0.000000 m/s, LOS rate: 0.375127 deg/s, posRepo size: 4
2021-08-15T16:18:35.416Z,1629044315.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.739990 m,
      bearing: 108.926627 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.375127 deg/s,
      cmd update: 1.500507 deg/s,
      cmd heading: 28.650269 deg,
      new cmd heading: 31.408703 deg.

2021-08-15T16:18:37.818Z,1629044317.818 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:18:38.194Z,1629044318.194 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:18:38.194Z,1629044318.194 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:18:38.194Z,1629044318.194 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:18:38.195Z,1629044318.195 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:18:38.593Z,1629044318.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F1F,000,00E78,188,80,80,9F,FF
2021-08-15T16:18:38.593Z,1629044318.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:18:38.593Z,1629044318.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:18:38.595Z,1629044318.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:18:39.003Z,1629044319.003 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:18:39.401Z,1629044319.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D8F,000,00E78,188,80,80,9F,FF
2021-08-15T16:18:39.402Z,1629044319.402 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:18:39.406Z,1629044319.406 [Micromodem](INFO): Nmea in: $SNTTA,0.161898,0.162066,,,161839.61*57

2021-08-15T16:18:39.849Z,1629044319.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 184.739990 m, bearing: 111.905095 deg, deltaT: 4.503836 s, approachRate: 0.000000 m/s, LOS rate: 0.661318 deg/s, posRepo size: 4
2021-08-15T16:18:39.850Z,1629044319.850 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.739990 m,
      bearing: 111.905095 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.661318 deg/s,
      cmd update: 2.645272 deg/s,
      cmd heading: 35.408463 deg,
      new cmd heading: 35.867407 deg.

2021-08-15T16:18:42.271Z,1629044322.271 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:18:42.625Z,1629044322.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:18:42.625Z,1629044322.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:18:42.625Z,1629044322.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:18:42.626Z,1629044322.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:18:43.035Z,1629044323.035 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D8F,000,00E78,188,80,80,9F,FF
2021-08-15T16:18:43.035Z,1629044323.035 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:18:43.035Z,1629044323.035 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:18:43.037Z,1629044323.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:18:43.456Z,1629044323.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:18:43.850Z,1629044323.850 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BCD,000,00E78,188,80,80,9F,FF
2021-08-15T16:18:43.851Z,1629044323.851 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:18:44.285Z,1629044324.285 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161844.05*55

2021-08-15T16:18:44.304Z,1629044324.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 184.739990 m, bearing: 118.717553 deg, deltaT: 4.376067 s, approachRate: 0.000000 m/s, LOS rate: 1.556754 deg/s, posRepo size: 4
2021-08-15T16:18:44.306Z,1629044324.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 184.739990 m,
      bearing: 118.717553 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.556754 deg/s,
      cmd update: 6.227014 deg/s,
      cmd heading: 46.984317 deg,
      new cmd heading: 48.004307 deg.

2021-08-15T16:18:46.708Z,1629044326.708 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:18:47.074Z,1629044327.074 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:18:47.074Z,1629044327.074 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:18:47.075Z,1629044327.075 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:18:47.075Z,1629044327.075 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:18:47.493Z,1629044327.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BCD,000,00E78,188,80,80,9F,FF
2021-08-15T16:18:47.493Z,1629044327.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:18:47.493Z,1629044327.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:18:47.495Z,1629044327.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:18:47.885Z,1629044327.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:18:48.705Z,1629044328.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00D91,189,80,80,C0,FF
2021-08-15T16:18:48.705Z,1629044328.705 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:18:48.708Z,1629044328.708 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161848.51*58

2021-08-15T16:18:49.175Z,1629044329.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 170.879990 m, bearing: 119.255240 deg, deltaT: 4.848269 s, approachRate: -2.858752 m/s, LOS rate: 0.110903 deg/s, posRepo size: 4
2021-08-15T16:18:49.181Z,1629044329.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.879990 m,
      bearing: 119.255240 deg,
      approachRate: -2.858752 m/s,
      LOS rate: 0.110903 deg/s,
      cmd update: 0.443611 deg/s,
      cmd heading: 77.130756 deg,
      new cmd heading: 79.717116 deg.

2021-08-15T16:18:51.567Z,1629044331.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:18:51.925Z,1629044331.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:18:51.925Z,1629044331.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:18:51.925Z,1629044331.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:18:51.926Z,1629044331.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:18:52.325Z,1629044332.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00D91,189,80,80,C0,FF
2021-08-15T16:18:52.325Z,1629044332.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:18:52.325Z,1629044332.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:18:52.327Z,1629044332.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:18:52.732Z,1629044332.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:18:53.177Z,1629044333.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CB3,000,00D69,189,80,80,D0,FF
2021-08-15T16:18:53.178Z,1629044333.178 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:18:53.573Z,1629044333.573 [Micromodem](INFO): Nmea in: $SNTTA,0.334279,,,,161853.34*47

2021-08-15T16:18:53.630Z,1629044333.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 168.479996 m, bearing: 109.802900 deg, deltaT: 4.444186 s, approachRate: -0.540030 m/s, LOS rate: -2.126900 deg/s, posRepo size: 4
2021-08-15T16:18:53.634Z,1629044333.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.479996 m,
      bearing: 109.802900 deg,
      approachRate: -0.540030 m/s,
      LOS rate: -2.126900 deg/s,
      cmd update: -8.507601 deg/s,
      cmd heading: 79.107101 deg,
      new cmd heading: 79.290864 deg.

2021-08-15T16:18:55.994Z,1629044335.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:18:56.365Z,1629044336.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:18:56.365Z,1629044336.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:18:56.365Z,1629044336.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:18:56.366Z,1629044336.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:18:56.769Z,1629044336.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CB3,000,00D69,189,80,80,D0,FF
2021-08-15T16:18:56.769Z,1629044336.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:18:56.769Z,1629044336.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:18:56.771Z,1629044336.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:18:57.197Z,1629044337.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:18:57.574Z,1629044337.574 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17B,000,00D69,189,80,80,D0,FF
2021-08-15T16:18:57.574Z,1629044337.574 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:18:58.045Z,1629044338.045 [Micromodem](INFO): Nmea in: $SNTTA,0.112725,,,,161857.78*41

2021-08-15T16:18:58.092Z,1629044338.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 168.479996 m, bearing: 63.005749 deg, deltaT: 4.423535 s, approachRate: 0.000000 m/s, LOS rate: -10.579130 deg/s, posRepo size: 4
2021-08-15T16:18:58.094Z,1629044338.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 168.479996 m,
      bearing: 63.005749 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -10.579130 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 41.507274 deg,
      new cmd heading: 37.614426 deg.

2021-08-15T16:19:00.438Z,1629044340.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:19:00.809Z,1629044340.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:19:00.809Z,1629044340.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:19:00.809Z,1629044340.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:19:00.810Z,1629044340.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:19:01.221Z,1629044341.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
17B,000,00D69,189,80,80,D0,FF
2021-08-15T16:19:01.221Z,1629044341.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:19:01.221Z,1629044341.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:19:01.223Z,1629044341.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:19:01.621Z,1629044341.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:19:02.046Z,1629044342.046 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C2B,000,00D12,189,80,80,D0,FF
2021-08-15T16:19:02.046Z,1629044342.046 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:19:02.497Z,1629044342.497 [Micromodem](INFO): Nmea in: $SNTTA,0.120095,,,,161902.23*43

2021-08-15T16:19:02.548Z,1629044342.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.259995 m, bearing: 123.336824 deg, deltaT: 4.427739 s, approachRate: -1.178932 m/s, LOS rate: 13.625707 deg/s, posRepo size: 4
2021-08-15T16:19:02.549Z,1629044342.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.625707 deg/s. Setting heading cmd to target bearing of 123.336824deg and heading rate command to 0 deg/s.
2021-08-15T16:19:04.882Z,1629044344.882 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:19:05.257Z,1629044345.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:19:05.257Z,1629044345.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:19:05.257Z,1629044345.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:19:05.258Z,1629044345.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:19:05.657Z,1629044345.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C2B,000,00D12,189,80,80,D0,FF
2021-08-15T16:19:05.657Z,1629044345.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:19:05.657Z,1629044345.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:19:05.659Z,1629044345.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:19:06.068Z,1629044346.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:19:06.493Z,1629044346.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B00,000,00CEF,189,80,80,B7,FF
2021-08-15T16:19:06.494Z,1629044346.494 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:19:06.906Z,1629044346.906 [Micromodem](INFO): Nmea in: $SNTTA,0.136793,,,,161906.67*41

2021-08-15T16:19:06.928Z,1629044346.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 161.160004 m, bearing: 121.547533 deg, deltaT: 4.454697 s, approachRate: -0.471410 m/s, LOS rate: -0.401664 deg/s, posRepo size: 4
2021-08-15T16:19:06.930Z,1629044346.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.160004 m,
      bearing: 121.547533 deg,
      approachRate: -0.471410 m/s,
      LOS rate: -0.401664 deg/s,
      cmd update: -1.606656 deg/s,
      cmd heading: 123.336824 deg,
      new cmd heading: 123.336824 deg.

2021-08-15T16:19:09.347Z,1629044349.347 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:19:09.701Z,1629044349.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:19:09.701Z,1629044349.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:19:09.701Z,1629044349.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:19:09.702Z,1629044349.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:19:10.133Z,1629044350.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B00,000,00CEF,189,80,80,B7,FF
2021-08-15T16:19:10.133Z,1629044350.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:19:10.133Z,1629044350.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:19:10.135Z,1629044350.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:19:10.537Z,1629044350.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:19:10.922Z,1629044350.922 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00CEF,189,80,80,B7,FF
2021-08-15T16:19:10.922Z,1629044350.922 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:19:11.331Z,1629044351.331 [Micromodem](INFO): Nmea in: $SNTTA,,0.431039,,,161911.15*47

2021-08-15T16:19:11.382Z,1629044351.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 161.160004 m, bearing: 105.719478 deg, deltaT: 4.451053 s, approachRate: 0.000000 m/s, LOS rate: -3.556025 deg/s, posRepo size: 4
2021-08-15T16:19:11.384Z,1629044351.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.160004 m,
      bearing: 105.719478 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -3.556025 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 116.192801 deg,
      new cmd heading: 115.526863 deg.

2021-08-15T16:19:13.793Z,1629044353.793 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:19:14.145Z,1629044354.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:19:14.145Z,1629044354.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:19:14.145Z,1629044354.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:19:14.146Z,1629044354.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:19:14.553Z,1629044354.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00CEF,189,80,80,B7,FF
2021-08-15T16:19:14.553Z,1629044354.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:19:14.553Z,1629044354.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:19:14.555Z,1629044354.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:19:14.953Z,1629044354.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:19:15.354Z,1629044355.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00CCF,189,80,80,B7,FF
2021-08-15T16:19:15.355Z,1629044355.355 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:19:15.359Z,1629044355.359 [Micromodem](INFO): Nmea in: $SNTTA,0.221294,0.221663,,,161915.57*5B

2021-08-15T16:19:15.798Z,1629044355.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 159.240005 m, bearing: 109.142024 deg, deltaT: 4.512003 s, approachRate: -0.425531 m/s, LOS rate: 0.758543 deg/s, posRepo size: 4
2021-08-15T16:19:15.819Z,1629044355.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.240005 m,
      bearing: 109.142024 deg,
      approachRate: -0.425531 m/s,
      LOS rate: 0.758543 deg/s,
      cmd update: 3.034170 deg/s,
      cmd heading: 62.192055 deg,
      new cmd heading: 58.223283 deg.

2021-08-15T16:19:18.203Z,1629044358.203 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:19:18.597Z,1629044358.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:19:18.597Z,1629044358.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:19:18.597Z,1629044358.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:19:18.598Z,1629044358.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:19:18.997Z,1629044358.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00CCF,189,80,80,B7,FF
2021-08-15T16:19:18.998Z,1629044358.998 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:19:18.998Z,1629044358.998 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:19:18.999Z,1629044358.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:19:19.405Z,1629044359.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:19:19.417Z,1629044359.417 [Micromodem](INFO): Nmea in: ,2.1.4000*27

2021-08-15T16:19:19.418Z,1629044359.418 [Micromodem](ERROR): Response from modem failed NMEA checksum: ,2.1.4000*27
 expected 0
2021-08-15T16:19:19.798Z,1629044359.798 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00CBF,189,80,80,B7,FF
2021-08-15T16:19:19.798Z,1629044359.798 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:19:20.238Z,1629044360.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.279999 m, bearing: 125.433678 deg, deltaT: 4.370301 s, approachRate: -0.219666 m/s, LOS rate: 3.727811 deg/s, posRepo size: 4
2021-08-15T16:19:20.239Z,1629044360.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.279999 m,
      bearing: 125.433678 deg,
      approachRate: -0.219666 m/s,
      LOS rate: 3.727811 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 75.490823 deg,
      new cmd heading: 76.665927 deg.

2021-08-15T16:19:22.659Z,1629044362.659 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:19:23.045Z,1629044363.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:19:23.045Z,1629044363.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:19:23.045Z,1629044363.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:19:23.046Z,1629044363.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:19:23.434Z,1629044363.434 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00CBF,189,80,80,B7,FF
2021-08-15T16:19:23.434Z,1629044363.434 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:19:23.435Z,1629044363.435 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:19:23.441Z,1629044363.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:19:23.841Z,1629044363.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:19:24.674Z,1629044364.674 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161924.45*56

2021-08-15T16:19:25.562Z,1629044365.562 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:19:27.081Z,1629044367.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,189,80,80,B7,FF
2021-08-15T16:19:27.081Z,1629044367.081 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,189,80,80,B7,FF
2021-08-15T16:19:27.081Z,1629044367.081 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T16:19:28.314Z,1629044368.314 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:19:28.701Z,1629044368.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:19:28.701Z,1629044368.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:19:28.701Z,1629044368.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:19:28.702Z,1629044368.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:19:29.117Z,1629044369.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,189,80,80,B7,FF
2021-08-15T16:19:29.117Z,1629044369.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:19:29.118Z,1629044369.118 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:19:29.123Z,1629044369.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:19:29.528Z,1629044369.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:19:29.898Z,1629044369.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,80,80,63,E4
F,189,80,80,B7,FF
2021-08-15T16:19:29.898Z,1629044369.898 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,80,80,63,E4
F,189,80,80,B7,FF
2021-08-15T16:19:30.327Z,1629044370.327 [Micromodem](INFO): Nmea in: $SNTTA,0.153934,,,,161930.14*40

2021-08-15T16:19:31.201Z,1629044371.201 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:19:33.966Z,1629044373.966 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:19:34.764Z,1629044374.764 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.061861
2021-08-15T16:19:34.783Z,1629044374.783 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T16:19:36.831Z,1629044376.831 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:19:37.201Z,1629044377.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:19:37.201Z,1629044377.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:19:37.202Z,1629044377.202 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:19:37.203Z,1629044377.203 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:19:37.583Z,1629044377.583 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,189,80,80,B7,FF
2021-08-15T16:19:37.583Z,1629044377.583 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:19:37.583Z,1629044377.583 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:19:37.585Z,1629044377.585 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:19:38.001Z,1629044378.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:19:38.387Z,1629044378.387 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14F,000,00C04,186,80,80,B7,FF
2021-08-15T16:19:38.387Z,1629044378.387 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:19:38.818Z,1629044378.818 [Micromodem](INFO): Nmea in: $SNTTA,0.100789,,,,161938.60*45

2021-08-15T16:19:38.845Z,1629044378.845 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.059998 m, bearing: 116.019096 deg, deltaT: 18.643243 s, approachRate: -0.601827 m/s, LOS rate: -0.504986 deg/s, posRepo size: 4
2021-08-15T16:19:38.849Z,1629044378.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.059998 m,
      bearing: 116.019096 deg,
      approachRate: -0.601827 m/s,
      LOS rate: -0.504986 deg/s,
      cmd update: -2.019945 deg/s,
      cmd heading: 299.154487 deg,
      new cmd heading: 303.419059 deg.

2021-08-15T16:19:41.276Z,1629044381.276 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:19:41.609Z,1629044381.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:19:41.609Z,1629044381.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:19:41.609Z,1629044381.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:19:41.610Z,1629044381.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:19:42.081Z,1629044382.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14F,000,00C04,186,80,80,B7,FF
2021-08-15T16:19:42.081Z,1629044382.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:19:42.082Z,1629044382.082 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:19:42.083Z,1629044382.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:19:42.431Z,1629044382.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:19:43.239Z,1629044383.239 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,321,000,00BD6,189,80,80,B1,FF
2021-08-15T16:19:43.240Z,1629044383.240 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:19:43.656Z,1629044383.656 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161943.10*57

2021-08-15T16:19:43.682Z,1629044383.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.300003 m, bearing: 112.859819 deg, deltaT: 4.847575 s, approachRate: -0.569356 m/s, LOS rate: -0.651723 deg/s, posRepo size: 4
2021-08-15T16:19:43.684Z,1629044383.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.300003 m,
      bearing: 112.859819 deg,
      approachRate: -0.569356 m/s,
      LOS rate: -0.651723 deg/s,
      cmd update: -2.606892 deg/s,
      cmd heading: 289.345536 deg,
      new cmd heading: 288.665031 deg.

2021-08-15T16:19:46.089Z,1629044386.089 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:19:46.472Z,1629044386.472 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:19:46.473Z,1629044386.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:19:46.474Z,1629044386.474 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:19:46.475Z,1629044386.475 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:19:46.873Z,1629044386.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
321,000,00BD6,189,80,80,B1,FF
2021-08-15T16:19:46.873Z,1629044386.873 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:19:46.874Z,1629044386.874 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:19:46.875Z,1629044386.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:19:47.289Z,1629044387.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:19:47.693Z,1629044387.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00BB2,189,80,80,B0,FF
2021-08-15T16:19:47.693Z,1629044387.693 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:19:48.122Z,1629044388.122 [Micromodem](INFO): Nmea in: $SNTTA,0.104424,,,,161947.89*4A

2021-08-15T16:19:48.150Z,1629044388.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 142.139999 m, bearing: 104.898783 deg, deltaT: 4.394633 s, approachRate: -0.491509 m/s, LOS rate: -1.811536 deg/s, posRepo size: 4
2021-08-15T16:19:48.154Z,1629044388.154 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.139999 m,
      bearing: 104.898783 deg,
      approachRate: -0.491509 m/s,
      LOS rate: -1.811536 deg/s,
      cmd update: -7.246144 deg/s,
      cmd heading: 277.888784 deg,
      new cmd heading: 276.823024 deg.

2021-08-15T16:19:50.561Z,1629044390.561 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:19:50.913Z,1629044390.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:19:50.913Z,1629044390.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:19:50.913Z,1629044390.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:19:50.914Z,1629044390.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:19:51.314Z,1629044391.314 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00BB2,189,80,80,B0,FF
2021-08-15T16:19:51.314Z,1629044391.314 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:19:51.314Z,1629044391.314 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:19:51.315Z,1629044391.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:19:51.717Z,1629044391.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:19:52.125Z,1629044392.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D3B,000,00B9C,189,80,80,B1,FF
2021-08-15T16:19:52.126Z,1629044392.126 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:19:52.565Z,1629044392.565 [Micromodem](INFO): Nmea in: $SNTTA,,,,,161952.33*56

2021-08-15T16:19:52.603Z,1629044392.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.820007 m, bearing: 226.135515 deg, deltaT: 4.402666 s, approachRate: -0.299817 m/s, LOS rate: 27.537118 deg/s, posRepo size: 4
2021-08-15T16:19:52.603Z,1629044392.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 27.537118 deg/s. Setting heading cmd to target bearing of 226.135515deg and heading rate command to 0 deg/s.
2021-08-15T16:19:54.963Z,1629044394.963 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:19:55.349Z,1629044395.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:19:55.349Z,1629044395.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:19:55.349Z,1629044395.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:19:55.350Z,1629044395.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:19:55.749Z,1629044395.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D3B,000,00B9C,189,80,80,B1,FF
2021-08-15T16:19:55.749Z,1629044395.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:19:55.750Z,1629044395.750 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:19:55.751Z,1629044395.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:19:56.166Z,1629044396.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:19:56.574Z,1629044396.574 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00B91,189,80,80,9D,FF
2021-08-15T16:19:56.574Z,1629044396.574 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:19:57.009Z,1629044397.009 [Micromodem](INFO): Nmea in: $SNTTA,,0.097784,,,161956.77*49

2021-08-15T16:19:57.052Z,1629044397.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.160004 m, bearing: 145.093490 deg, deltaT: 4.459999 s, approachRate: -0.147983 m/s, LOS rate: -18.170861 deg/s, posRepo size: 4
2021-08-15T16:19:57.053Z,1629044397.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.170861 deg/s. Setting heading cmd to target bearing of 145.093490deg and heading rate command to 0 deg/s.
2021-08-15T16:19:59.481Z,1629044399.481 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:19:59.802Z,1629044399.802 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:19:59.802Z,1629044399.802 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:19:59.802Z,1629044399.802 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:19:59.803Z,1629044399.803 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:20:00.197Z,1629044400.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00B91,189,80,80,9D,FF
2021-08-15T16:20:00.197Z,1629044400.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:20:00.198Z,1629044400.198 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:20:00.199Z,1629044400.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:20:00.613Z,1629044400.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:20:01.010Z,1629044401.010 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,111,000,00B98,186,80,80,73,FF
2021-08-15T16:20:01.010Z,1629044401.010 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:20:01.450Z,1629044401.450 [Micromodem](INFO): Nmea in: $SNTTA,,0.399177,,,162001.21*45

2021-08-15T16:20:01.535Z,1629044401.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.580002 m, bearing: 212.082018 deg, deltaT: 4.424297 s, approachRate: 0.094930 m/s, LOS rate: 15.141056 deg/s, posRepo size: 4
2021-08-15T16:20:01.535Z,1629044401.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.141056 deg/s. Setting heading cmd to target bearing of 212.082018deg and heading rate command to 0 deg/s.
2021-08-15T16:20:03.851Z,1629044403.851 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:20:04.237Z,1629044404.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:20:04.237Z,1629044404.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:20:04.237Z,1629044404.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:20:04.238Z,1629044404.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:20:04.645Z,1629044404.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
111,000,00B98,186,80,80,73,FF
2021-08-15T16:20:04.646Z,1629044404.646 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:20:04.646Z,1629044404.646 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:20:04.647Z,1629044404.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:20:05.048Z,1629044405.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:20:05.466Z,1629044405.466 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4AC,000,00BA5,189,80,80,90,FF
2021-08-15T16:20:05.467Z,1629044405.467 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:20:05.885Z,1629044405.885 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162005.66*5E

2021-08-15T16:20:05.932Z,1629044405.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.360001 m, bearing: 157.332342 deg, deltaT: 4.530475 s, approachRate: 0.172167 m/s, LOS rate: -12.084754 deg/s, posRepo size: 4
2021-08-15T16:20:05.933Z,1629044405.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.084754 deg/s. Setting heading cmd to target bearing of 157.332342deg and heading rate command to 0 deg/s.
2021-08-15T16:20:08.310Z,1629044408.310 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:20:08.681Z,1629044408.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:20:08.681Z,1629044408.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:20:08.681Z,1629044408.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:20:08.682Z,1629044408.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:20:09.096Z,1629044409.096 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4AC,000,00BA5,189,80,80,90,FF
2021-08-15T16:20:09.097Z,1629044409.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:20:09.097Z,1629044409.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:20:09.103Z,1629044409.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:20:09.525Z,1629044409.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:20:09.897Z,1629044409.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,401,000,00BA6,189,80,80,90,FF
2021-08-15T16:20:09.898Z,1629044409.898 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:20:10.349Z,1629044410.349 [Micromodem](INFO): Nmea in: $SNTTA,0.102299,,,,162010.12*46

2021-08-15T16:20:10.372Z,1629044410.372 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.420013 m, bearing: 151.895949 deg, deltaT: 4.392634 s, approachRate: 0.013662 m/s, LOS rate: -1.237616 deg/s, posRepo size: 4
2021-08-15T16:20:10.374Z,1629044410.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.420013 m,
      bearing: 151.895949 deg,
      approachRate: 0.013662 m/s,
      LOS rate: -1.237616 deg/s,
      cmd update: -4.950463 deg/s,
      cmd heading: 157.332342 deg,
      new cmd heading: 157.332342 deg.

2021-08-15T16:20:12.770Z,1629044412.770 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:20:13.154Z,1629044413.154 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:20:13.154Z,1629044413.154 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:20:13.154Z,1629044413.154 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:20:13.155Z,1629044413.155 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:20:13.537Z,1629044413.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
401,000,00BA6,189,80,80,90,FF
2021-08-15T16:20:13.537Z,1629044413.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:20:13.537Z,1629044413.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:20:13.539Z,1629044413.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:20:13.937Z,1629044413.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:20:14.766Z,1629044414.766 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162014.55*5E

2021-08-15T16:20:15.283Z,1629044415.283 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:20:17.203Z,1629044417.203 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,189,80,80,90,FF
2021-08-15T16:20:17.205Z,1629044417.205 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,189,80,80,90,FF
2021-08-15T16:20:17.206Z,1629044417.206 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T16:20:18.042Z,1629044418.042 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:20:18.392Z,1629044418.392 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:20:18.392Z,1629044418.392 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:20:18.393Z,1629044418.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:20:18.393Z,1629044418.393 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:20:18.781Z,1629044418.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,189,80,80,90,FF
2021-08-15T16:20:18.781Z,1629044418.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:20:18.781Z,1629044418.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:20:18.783Z,1629044418.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:20:19.213Z,1629044419.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:20:19.603Z,1629044419.603 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00B8E,189,80,80,61,FF
2021-08-15T16:20:19.604Z,1629044419.604 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:20:20.035Z,1629044420.035 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162019.80*5B

2021-08-15T16:20:20.056Z,1629044420.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.980011 m, bearing: 107.756425 deg, deltaT: 9.703059 s, approachRate: -0.148407 m/s, LOS rate: -4.549032 deg/s, posRepo size: 4
2021-08-15T16:20:20.058Z,1629044420.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.980011 m,
      bearing: 107.756425 deg,
      approachRate: -0.148407 m/s,
      LOS rate: -4.549032 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 109.278638 deg,
      new cmd heading: 107.281814 deg.

2021-08-15T16:20:22.492Z,1629044422.492 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:20:22.821Z,1629044422.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:20:22.821Z,1629044422.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:20:22.821Z,1629044422.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:20:22.822Z,1629044422.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:20:23.237Z,1629044423.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00B8E,189,80,80,61,FF
2021-08-15T16:20:23.237Z,1629044423.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:20:23.237Z,1629044423.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:20:23.239Z,1629044423.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:20:23.641Z,1629044423.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:20:24.053Z,1629044424.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A9,000,00B70,188,80,80,8B,FF
2021-08-15T16:20:24.053Z,1629044424.053 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:20:24.482Z,1629044424.482 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162024.25*5A

2021-08-15T16:20:24.533Z,1629044424.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.179993 m, bearing: 105.732141 deg, deltaT: 4.417454 s, approachRate: -0.407479 m/s, LOS rate: -0.458247 deg/s, posRepo size: 4
2021-08-15T16:20:24.535Z,1629044424.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.179993 m,
      bearing: 105.732141 deg,
      approachRate: -0.407479 m/s,
      LOS rate: -0.458247 deg/s,
      cmd update: -1.832987 deg/s,
      cmd heading: 56.263801 deg,
      new cmd heading: 50.763889 deg.

2021-08-15T16:20:26.879Z,1629044426.879 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:20:27.281Z,1629044427.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:20:27.281Z,1629044427.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:20:27.281Z,1629044427.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:20:27.282Z,1629044427.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:20:27.665Z,1629044427.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A9,000,00B70,188,80,80,8B,FF
2021-08-15T16:20:27.665Z,1629044427.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:20:27.666Z,1629044427.666 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:20:27.667Z,1629044427.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:20:28.096Z,1629044428.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:20:28.509Z,1629044428.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CE,000,00B43,189,80,80,9B,FF
2021-08-15T16:20:28.510Z,1629044428.510 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:20:28.925Z,1629044428.925 [Micromodem](INFO): Nmea in: $SNTTA,0.090071,,,,162028.68*4E

2021-08-15T16:20:28.948Z,1629044428.948 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.479996 m, bearing: 99.784836 deg, deltaT: 4.549957 s, approachRate: -0.593412 m/s, LOS rate: -1.307112 deg/s, posRepo size: 4
2021-08-15T16:20:28.950Z,1629044428.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.479996 m,
      bearing: 99.784836 deg,
      approachRate: -0.593412 m/s,
      LOS rate: -1.307112 deg/s,
      cmd update: -5.228450 deg/s,
      cmd heading: 47.925270 deg,
      new cmd heading: 47.323836 deg.

2021-08-15T16:20:31.388Z,1629044431.388 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:20:31.713Z,1629044431.713 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:20:31.713Z,1629044431.713 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:20:31.713Z,1629044431.713 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:20:31.714Z,1629044431.714 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:20:32.122Z,1629044432.122 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CE,000,00B43,189,80,80,9B,FF
2021-08-15T16:20:32.122Z,1629044432.122 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:20:32.122Z,1629044432.122 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:20:32.125Z,1629044432.125 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:20:32.536Z,1629044432.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:20:32.926Z,1629044432.926 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,119,000,00B14,186,80,80,A3,FF
2021-08-15T16:20:32.926Z,1629044432.926 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:20:33.357Z,1629044433.357 [Micromodem](INFO): Nmea in: $SNTTA,0.436466,,,,162033.14*45

2021-08-15T16:20:33.407Z,1629044433.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.660004 m, bearing: 105.953719 deg, deltaT: 4.361526 s, approachRate: -0.646561 m/s, LOS rate: 1.414387 deg/s, posRepo size: 4
2021-08-15T16:20:33.410Z,1629044433.410 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.660004 m,
      bearing: 105.953719 deg,
      approachRate: -0.646561 m/s,
      LOS rate: 1.414387 deg/s,
      cmd update: 5.657546 deg/s,
      cmd heading: 25.138071 deg,
      new cmd heading: 22.891620 deg.

2021-08-15T16:20:35.797Z,1629044435.797 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:20:36.150Z,1629044436.150 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:20:36.150Z,1629044436.150 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:20:36.150Z,1629044436.150 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:20:36.151Z,1629044436.151 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:20:36.565Z,1629044436.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
119,000,00B14,186,80,80,A3,FF
2021-08-15T16:20:36.565Z,1629044436.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:20:36.565Z,1629044436.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:20:36.567Z,1629044436.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:20:36.981Z,1629044436.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:20:37.369Z,1629044437.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7B,000,00AE1,187,80,80,AA,FF
2021-08-15T16:20:37.370Z,1629044437.370 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:20:37.373Z,1629044437.373 [Micromodem](INFO): Nmea in: $SNTTA,0.213988,0.214757,,,162037.58*59

2021-08-15T16:20:37.852Z,1629044437.852 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.600006 m, bearing: 109.472564 deg, deltaT: 4.512097 s, approachRate: -0.678176 m/s, LOS rate: 0.779869 deg/s, posRepo size: 4
2021-08-15T16:20:37.854Z,1629044437.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.600006 m,
      bearing: 109.472564 deg,
      approachRate: -0.678176 m/s,
      LOS rate: 0.779869 deg/s,
      cmd update: 3.119477 deg/s,
      cmd heading: 50.637937 deg,
      new cmd heading: 52.690597 deg.

2021-08-15T16:20:40.211Z,1629044440.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:20:40.605Z,1629044440.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:20:40.605Z,1629044440.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:20:40.606Z,1629044440.606 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:20:40.607Z,1629044440.607 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:20:41.001Z,1629044441.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7B,000,00AE1,187,80,80,AA,FF
2021-08-15T16:20:41.001Z,1629044441.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:20:41.001Z,1629044441.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:20:41.003Z,1629044441.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:20:41.420Z,1629044441.420 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:20:41.813Z,1629044441.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD2,000,00AAE,188,80,80,A8,FF
2021-08-15T16:20:41.813Z,1629044441.813 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:20:42.257Z,1629044442.257 [Micromodem](INFO): Nmea in: $SNTTA,0.107036,,,,162042.02*42

2021-08-15T16:20:42.279Z,1629044442.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.540009 m, bearing: 115.190908 deg, deltaT: 4.372680 s, approachRate: -0.699799 m/s, LOS rate: 1.307743 deg/s, posRepo size: 4
2021-08-15T16:20:42.282Z,1629044442.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.540009 m,
      bearing: 115.190908 deg,
      approachRate: -0.699799 m/s,
      LOS rate: 1.307743 deg/s,
      cmd update: 5.230974 deg/s,
      cmd heading: 64.271875 deg,
      new cmd heading: 65.594289 deg.

2021-08-15T16:20:44.673Z,1629044444.673 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:20:45.041Z,1629044445.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:20:45.041Z,1629044445.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:20:45.041Z,1629044445.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:20:45.042Z,1629044445.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:20:45.461Z,1629044445.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD2,000,00AAE,188,80,80,A8,FF
2021-08-15T16:20:45.461Z,1629044445.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:20:45.462Z,1629044445.462 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:20:45.480Z,1629044445.480 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:20:45.849Z,1629044445.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:20:46.258Z,1629044446.258 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CD9,000,00A7E,189,80,80,AD,FF
2021-08-15T16:20:46.258Z,1629044446.258 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:20:46.682Z,1629044446.682 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162046.49*54

2021-08-15T16:20:46.724Z,1629044446.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.660004 m, bearing: 114.320100 deg, deltaT: 4.409709 s, approachRate: -0.653105 m/s, LOS rate: -0.197475 deg/s, posRepo size: 4
2021-08-15T16:20:46.726Z,1629044446.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.660004 m,
      bearing: 114.320100 deg,
      approachRate: -0.653105 m/s,
      LOS rate: -0.197475 deg/s,
      cmd update: -0.789901 deg/s,
      cmd heading: 87.396294 deg,
      new cmd heading: 89.716671 deg.

2021-08-15T16:20:49.172Z,1629044449.172 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:20:49.525Z,1629044449.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:20:49.525Z,1629044449.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:20:49.525Z,1629044449.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:20:49.526Z,1629044449.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:20:49.889Z,1629044449.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CD9,000,00A7E,189,80,80,AD,FF
2021-08-15T16:20:49.889Z,1629044449.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:20:49.889Z,1629044449.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:20:49.891Z,1629044449.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:20:50.297Z,1629044450.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:20:50.706Z,1629044450.706 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A1,000,00A52,186,80,80,A5,FF
2021-08-15T16:20:50.706Z,1629044450.706 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:20:51.165Z,1629044451.165 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162050.90*57

2021-08-15T16:20:51.210Z,1629044451.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.019997 m, bearing: 62.134258 deg, deltaT: 4.457337 s, approachRate: -0.592283 m/s, LOS rate: -11.707852 deg/s, posRepo size: 4
2021-08-15T16:20:51.211Z,1629044451.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.707852 deg/s. Setting heading cmd to target bearing of 62.134258deg and heading rate command to 0 deg/s.
2021-08-15T16:20:53.594Z,1629044453.594 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:20:53.925Z,1629044453.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:20:53.925Z,1629044453.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:20:53.925Z,1629044453.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:20:53.926Z,1629044453.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:20:54.329Z,1629044454.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A1,000,00A52,186,80,80,A5,FF
2021-08-15T16:20:54.329Z,1629044454.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:20:54.329Z,1629044454.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:20:54.331Z,1629044454.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:20:54.741Z,1629044454.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:20:55.177Z,1629044455.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBF,000,00A22,189,80,80,96,FF
2021-08-15T16:20:55.178Z,1629044455.178 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:20:55.589Z,1629044455.589 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162055.34*5C

2021-08-15T16:20:55.614Z,1629044455.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.139999 m, bearing: 121.388663 deg, deltaT: 4.513737 s, approachRate: -0.638052 m/s, LOS rate: 13.127572 deg/s, posRepo size: 4
2021-08-15T16:20:55.615Z,1629044455.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.127572 deg/s. Setting heading cmd to target bearing of 121.388663deg and heading rate command to 0 deg/s.
2021-08-15T16:20:57.994Z,1629044457.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:20:58.377Z,1629044458.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:20:58.377Z,1629044458.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:20:58.377Z,1629044458.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:20:58.378Z,1629044458.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:20:58.781Z,1629044458.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBF,000,00A22,189,80,80,96,FF
2021-08-15T16:20:58.781Z,1629044458.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:20:58.781Z,1629044458.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:20:58.783Z,1629044458.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:20:59.205Z,1629044459.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:20:59.593Z,1629044459.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A7,000,009F0,186,80,80,97,FF
2021-08-15T16:20:59.594Z,1629044459.594 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:21:00.030Z,1629044460.030 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162059.80*5F

2021-08-15T16:21:00.052Z,1629044460.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.139999 m, bearing: 59.503631 deg, deltaT: 4.395514 s, approachRate: -0.682514 m/s, LOS rate: -14.079134 deg/s, posRepo size: 4
2021-08-15T16:21:00.053Z,1629044460.053 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.079134 deg/s. Setting heading cmd to target bearing of 59.503631deg and heading rate command to 0 deg/s.
2021-08-15T16:21:02.471Z,1629044462.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:21:02.813Z,1629044462.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:21:02.813Z,1629044462.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:21:02.813Z,1629044462.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:21:02.814Z,1629044462.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:21:03.217Z,1629044463.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A7,000,009F0,186,80,80,97,FF
2021-08-15T16:21:03.217Z,1629044463.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:21:03.217Z,1629044463.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:21:03.219Z,1629044463.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:21:03.624Z,1629044463.624 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:21:04.025Z,1629044464.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18D,000,009C4,186,80,80,8E,FF
2021-08-15T16:21:04.026Z,1629044464.026 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:21:04.486Z,1629044464.486 [Micromodem](INFO): Nmea in: $SNTTA,0.110785,,,,162104.23*4B

2021-08-15T16:21:04.517Z,1629044464.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.500008 m, bearing: 66.460001 deg, deltaT: 4.399403 s, approachRate: -0.600080 m/s, LOS rate: 1.581208 deg/s, posRepo size: 4
2021-08-15T16:21:04.519Z,1629044464.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.500008 m,
      bearing: 66.460001 deg,
      approachRate: -0.600080 m/s,
      LOS rate: 1.581208 deg/s,
      cmd update: 6.324831 deg/s,
      cmd heading: 59.503631 deg,
      new cmd heading: 59.503631 deg.

2021-08-15T16:21:06.896Z,1629044466.896 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:21:07.257Z,1629044467.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:21:07.257Z,1629044467.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:21:07.257Z,1629044467.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:21:07.258Z,1629044467.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:21:07.661Z,1629044467.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18D,000,009C4,186,80,80,8E,FF
2021-08-15T16:21:07.661Z,1629044467.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:21:07.661Z,1629044467.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:21:07.663Z,1629044467.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:21:08.074Z,1629044468.074 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:21:08.489Z,1629044468.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF4,000,00992,187,80,80,71,FF
2021-08-15T16:21:08.489Z,1629044468.489 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:21:08.913Z,1629044468.913 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162108.68*5C

2021-08-15T16:21:08.936Z,1629044468.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.500000 m, bearing: 123.426095 deg, deltaT: 4.494569 s, approachRate: -0.667474 m/s, LOS rate: 12.674429 deg/s, posRepo size: 4
2021-08-15T16:21:08.937Z,1629044468.937 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.674429 deg/s. Setting heading cmd to target bearing of 123.426095deg and heading rate command to 0 deg/s.
2021-08-15T16:21:11.361Z,1629044471.361 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:21:11.701Z,1629044471.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:21:11.701Z,1629044471.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:21:11.701Z,1629044471.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:21:11.702Z,1629044471.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:21:12.105Z,1629044472.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF4,000,00992,187,80,80,71,FF
2021-08-15T16:21:12.105Z,1629044472.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:21:12.105Z,1629044472.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:21:12.107Z,1629044472.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:21:12.537Z,1629044472.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:21:12.913Z,1629044472.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,203,000,0095D,187,80,80,9C,FF
2021-08-15T16:21:12.914Z,1629044472.914 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:21:13.354Z,1629044473.354 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162113.12*5B

2021-08-15T16:21:13.390Z,1629044473.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.320007 m, bearing: 59.650535 deg, deltaT: 4.422303 s, approachRate: -0.719081 m/s, LOS rate: -14.421345 deg/s, posRepo size: 4
2021-08-15T16:21:13.390Z,1629044473.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.421345 deg/s. Setting heading cmd to target bearing of 59.650535deg and heading rate command to 0 deg/s.
2021-08-15T16:21:15.763Z,1629044475.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:21:16.155Z,1629044476.155 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:21:16.155Z,1629044476.155 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:21:16.155Z,1629044476.155 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:21:16.156Z,1629044476.156 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:21:16.553Z,1629044476.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
203,000,0095D,187,80,80,9C,FF
2021-08-15T16:21:16.553Z,1629044476.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:21:16.553Z,1629044476.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:21:16.555Z,1629044476.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:21:16.960Z,1629044476.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:21:17.369Z,1629044477.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA7,000,00929,189,80,80,C6,FF
2021-08-15T16:21:17.370Z,1629044477.370 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:21:17.801Z,1629044477.801 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162117.57*5E

2021-08-15T16:21:17.847Z,1629044477.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.200005 m, bearing: 123.920300 deg, deltaT: 4.516365 s, approachRate: -0.690822 m/s, LOS rate: 14.230418 deg/s, posRepo size: 4
2021-08-15T16:21:17.847Z,1629044477.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.230418 deg/s. Setting heading cmd to target bearing of 123.920300deg and heading rate command to 0 deg/s.
2021-08-15T16:21:20.214Z,1629044480.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:21:20.597Z,1629044480.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:21:20.597Z,1629044480.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:21:20.597Z,1629044480.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:21:20.598Z,1629044480.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:21:21.012Z,1629044481.012 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA7,000,00929,189,80,80,C6,FF
2021-08-15T16:21:21.013Z,1629044481.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:21:21.013Z,1629044481.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:21:21.014Z,1629044481.014 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:21:21.432Z,1629044481.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:21:21.813Z,1629044481.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7F,000,008F8,186,80,80,A6,FF
2021-08-15T16:21:21.813Z,1629044481.813 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:21:22.236Z,1629044482.236 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.260002 m, bearing: 118.838994 deg, deltaT: 4.420084 s, approachRate: -0.665146 m/s, LOS rate: -1.149595 deg/s, posRepo size: 4
2021-08-15T16:21:22.238Z,1629044482.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.260002 m,
      bearing: 118.838994 deg,
      approachRate: -0.665146 m/s,
      LOS rate: -1.149595 deg/s,
      cmd update: -4.598379 deg/s,
      cmd heading: 123.920300 deg,
      new cmd heading: 123.920300 deg.

2021-08-15T16:21:24.678Z,1629044484.678 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:21:25.042Z,1629044485.042 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:21:25.042Z,1629044485.042 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:21:25.042Z,1629044485.042 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:21:25.043Z,1629044485.043 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:21:25.455Z,1629044485.455 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7F,000,008F8,186,80,80,A6,FF
2021-08-15T16:21:25.456Z,1629044485.456 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:21:25.456Z,1629044485.456 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:21:25.463Z,1629044485.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:21:25.875Z,1629044485.875 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:21:26.249Z,1629044486.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6A,000,008C4,186,80,80,B4,FF
2021-08-15T16:21:26.250Z,1629044486.250 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:21:26.665Z,1629044486.665 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162126.48*52

2021-08-15T16:21:26.723Z,1629044486.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.139999 m, bearing: 120.945657 deg, deltaT: 4.399265 s, approachRate: -0.709210 m/s, LOS rate: 0.478867 deg/s, posRepo size: 4
2021-08-15T16:21:26.726Z,1629044486.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.139999 m,
      bearing: 120.945657 deg,
      approachRate: -0.709210 m/s,
      LOS rate: 0.478867 deg/s,
      cmd update: 1.915468 deg/s,
      cmd heading: 103.709650 deg,
      new cmd heading: 101.720111 deg.

2021-08-15T16:21:29.167Z,1629044489.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:21:29.497Z,1629044489.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:21:29.497Z,1629044489.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:21:29.497Z,1629044489.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:21:29.498Z,1629044489.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:21:29.882Z,1629044489.882 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6A,000,008C4,186,80,80,B4,FF
2021-08-15T16:21:29.883Z,1629044489.883 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:21:29.883Z,1629044489.883 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:21:29.885Z,1629044489.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:21:30.289Z,1629044490.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:21:30.690Z,1629044490.690 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8B,000,00890,187,80,80,9C,FF
2021-08-15T16:21:30.691Z,1629044490.691 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:21:31.165Z,1629044491.165 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162130.90*50

2021-08-15T16:21:31.208Z,1629044491.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.019997 m, bearing: 118.498113 deg, deltaT: 4.512328 s, approachRate: -0.691440 m/s, LOS rate: -0.542413 deg/s, posRepo size: 4
2021-08-15T16:21:31.210Z,1629044491.210 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.019997 m,
      bearing: 118.498113 deg,
      approachRate: -0.691440 m/s,
      LOS rate: -0.542413 deg/s,
      cmd update: -2.169651 deg/s,
      cmd heading: 112.345074 deg,
      new cmd heading: 113.128397 deg.

2021-08-15T16:21:33.560Z,1629044493.560 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:21:33.921Z,1629044493.921 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:21:33.921Z,1629044493.921 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:21:33.921Z,1629044493.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:21:33.922Z,1629044493.922 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:21:34.325Z,1629044494.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8B,000,00890,187,80,80,9C,FF
2021-08-15T16:21:34.325Z,1629044494.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:21:34.326Z,1629044494.326 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:21:34.327Z,1629044494.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:21:34.737Z,1629044494.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:21:35.185Z,1629044495.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF1,000,0085D,183,80,80,A7,FF
2021-08-15T16:21:35.185Z,1629044495.185 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:21:35.570Z,1629044495.570 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162135.34*5B

2021-08-15T16:21:35.610Z,1629044495.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.959999 m, bearing: 118.355103 deg, deltaT: 4.434397 s, approachRate: -0.690059 m/s, LOS rate: -0.032250 deg/s, posRepo size: 4
2021-08-15T16:21:35.641Z,1629044495.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.959999 m,
      bearing: 118.355103 deg,
      approachRate: -0.690059 m/s,
      LOS rate: -0.032250 deg/s,
      cmd update: -0.129001 deg/s,
      cmd heading: 102.706195 deg,
      new cmd heading: 101.909089 deg.

2021-08-15T16:21:37.992Z,1629044497.992 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:21:38.365Z,1629044498.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:21:38.365Z,1629044498.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:21:38.365Z,1629044498.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:21:38.366Z,1629044498.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:21:38.765Z,1629044498.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF1,000,0085D,183,80,80,A7,FF
2021-08-15T16:21:38.765Z,1629044498.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:21:38.766Z,1629044498.766 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:21:38.767Z,1629044498.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:21:39.205Z,1629044499.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:21:39.577Z,1629044499.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F55,000,00826,186,80,80,BA,FF
2021-08-15T16:21:39.578Z,1629044499.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:21:40.021Z,1629044500.021 [Micromodem](INFO): Nmea in: $SNTTA,0.069240,,,,162139.78*48

2021-08-15T16:21:40.044Z,1629044500.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.659996 m, bearing: 120.165758 deg, deltaT: 4.398091 s, approachRate: -0.750326 m/s, LOS rate: 0.411691 deg/s, posRepo size: 4
2021-08-15T16:21:40.046Z,1629044500.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.659996 m,
      bearing: 120.165758 deg,
      approachRate: -0.750326 m/s,
      LOS rate: 0.411691 deg/s,
      cmd update: 1.646765 deg/s,
      cmd heading: 102.139908 deg,
      new cmd heading: 102.086737 deg.

2021-08-15T16:21:42.479Z,1629044502.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:21:42.809Z,1629044502.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:21:42.809Z,1629044502.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:21:42.809Z,1629044502.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:21:42.810Z,1629044502.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:21:43.217Z,1629044503.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F55,000,00826,186,80,80,BA,FF
2021-08-15T16:21:43.217Z,1629044503.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:21:43.217Z,1629044503.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:21:43.219Z,1629044503.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:21:43.261Z,1629044503.261 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T16:21:43.621Z,1629044503.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:21:44.025Z,1629044504.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F36,000,007F3,186,80,80,AC,FF
2021-08-15T16:21:44.026Z,1629044504.026 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:21:44.482Z,1629044504.482 [Micromodem](INFO): Nmea in: $SNTTA,0.086242,,,,162144.23*4F

2021-08-15T16:21:44.533Z,1629044504.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.599998 m, bearing: 120.030671 deg, deltaT: 4.402552 s, approachRate: -0.695051 m/s, LOS rate: -0.030684 deg/s, posRepo size: 4
2021-08-15T16:21:44.541Z,1629044504.541 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.599998 m,
      bearing: 120.030671 deg,
      approachRate: -0.695051 m/s,
      LOS rate: -0.030684 deg/s,
      cmd update: -0.122736 deg/s,
      cmd heading: 109.403413 deg,
      new cmd heading: 110.190136 deg.

2021-08-15T16:21:46.896Z,1629044506.896 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:21:47.257Z,1629044507.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:21:47.257Z,1629044507.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:21:47.257Z,1629044507.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:21:47.258Z,1629044507.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:21:47.661Z,1629044507.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F36,000,007F3,186,80,80,AC,FF
2021-08-15T16:21:47.661Z,1629044507.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:21:47.662Z,1629044507.662 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:21:47.663Z,1629044507.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:21:48.065Z,1629044508.065 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:21:48.480Z,1629044508.480 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAC,000,007BE,185,80,80,C5,FF
2021-08-15T16:21:48.481Z,1629044508.481 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:21:48.905Z,1629044508.905 [Micromodem](INFO): Nmea in: $SNTTA,0.104368,,,,162148.68*4E

2021-08-15T16:21:48.935Z,1629044508.935 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.419998 m, bearing: 118.513863 deg, deltaT: 4.494779 s, approachRate: -0.707488 m/s, LOS rate: -0.337460 deg/s, posRepo size: 4
2021-08-15T16:21:48.938Z,1629044508.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.419998 m,
      bearing: 118.513863 deg,
      approachRate: -0.707488 m/s,
      LOS rate: -0.337460 deg/s,
      cmd update: -1.349839 deg/s,
      cmd heading: 108.851768 deg,
      new cmd heading: 108.802829 deg.

2021-08-15T16:21:51.345Z,1629044511.345 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:21:51.701Z,1629044511.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:21:51.701Z,1629044511.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:21:51.701Z,1629044511.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:21:51.702Z,1629044511.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:21:52.113Z,1629044512.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAC,000,007BE,185,80,80,C5,FF
2021-08-15T16:21:52.113Z,1629044512.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:21:52.113Z,1629044512.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:21:52.115Z,1629044512.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:21:52.532Z,1629044512.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:21:52.909Z,1629044512.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7E,000,00787,186,80,80,BB,FF
2021-08-15T16:21:52.910Z,1629044512.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:21:53.349Z,1629044513.349 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162153.13*5E

2021-08-15T16:21:53.366Z,1629044513.366 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T16:21:53.387Z,1629044513.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.119995 m, bearing: 120.707474 deg, deltaT: 4.389668 s, approachRate: -0.751766 m/s, LOS rate: 0.499721 deg/s, posRepo size: 4
2021-08-15T16:21:53.390Z,1629044513.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.119995 m,
      bearing: 120.707474 deg,
      approachRate: -0.751766 m/s,
      LOS rate: 0.499721 deg/s,
      cmd update: 1.998885 deg/s,
      cmd heading: 102.926245 deg,
      new cmd heading: 102.304085 deg.

2021-08-15T16:21:55.780Z,1629044515.780 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:21:56.141Z,1629044516.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:21:56.141Z,1629044516.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:21:56.141Z,1629044516.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:21:56.142Z,1629044516.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:21:56.545Z,1629044516.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7E,000,00787,186,80,80,BB,FF
2021-08-15T16:21:56.545Z,1629044516.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:21:56.545Z,1629044516.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:21:56.547Z,1629044516.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:21:56.957Z,1629044516.957 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:21:57.354Z,1629044517.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4A,000,00750,187,80,80,A5,FF
2021-08-15T16:21:57.354Z,1629044517.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:21:57.357Z,1629044517.357 [Micromodem](INFO): Nmea in: $SNTTA,0.223342,0.223461,,,162157.56*5D

2021-08-15T16:21:57.809Z,1629044517.809 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.820000 m, bearing: 121.394359 deg, deltaT: 4.538877 s, approachRate: -0.727051 m/s, LOS rate: 0.151334 deg/s, posRepo size: 4
2021-08-15T16:21:57.811Z,1629044517.811 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 74.820000 m,
      bearing: 121.394359 deg,
      approachRate: -0.727051 m/s,
      LOS rate: 0.151334 deg/s,
      cmd update: 0.605335 deg/s,
      cmd heading: 111.943579 deg,
      new cmd heading: 112.685783 deg.

2021-08-15T16:22:00.199Z,1629044520.199 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:22:00.589Z,1629044520.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:22:00.589Z,1629044520.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:22:00.589Z,1629044520.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:22:00.590Z,1629044520.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:22:00.994Z,1629044520.994 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4A,000,00750,187,80,80,A5,FF
2021-08-15T16:22:00.994Z,1629044520.994 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:22:00.994Z,1629044520.994 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:22:00.995Z,1629044520.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:22:01.400Z,1629044521.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:22:01.809Z,1629044521.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F92,000,0071B,186,80,80,AD,FF
2021-08-15T16:22:01.809Z,1629044521.809 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:22:02.241Z,1629044522.241 [Micromodem](INFO): Nmea in: $SNTTA,0.047487,,,,162202.01*4C

2021-08-15T16:22:02.264Z,1629044522.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.640007 m, bearing: 121.587476 deg, deltaT: 4.370473 s, approachRate: -0.727608 m/s, LOS rate: 0.044187 deg/s, posRepo size: 4
2021-08-15T16:22:02.266Z,1629044522.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.640007 m,
      bearing: 121.587476 deg,
      approachRate: -0.727608 m/s,
      LOS rate: 0.044187 deg/s,
      cmd update: 0.176747 deg/s,
      cmd heading: 114.605994 deg,
      new cmd heading: 114.864841 deg.

2021-08-15T16:22:03.433Z,1629044523.433 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T16:22:04.663Z,1629044524.663 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:22:05.029Z,1629044525.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:22:05.029Z,1629044525.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:22:05.029Z,1629044525.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:22:05.030Z,1629044525.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:22:05.449Z,1629044525.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F92,000,0071B,186,80,80,AD,FF
2021-08-15T16:22:05.450Z,1629044525.450 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:22:05.451Z,1629044525.451 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:22:05.465Z,1629044525.465 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:22:05.887Z,1629044525.887 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:22:06.241Z,1629044526.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,007,000,006E0,184,80,80,89,FF
2021-08-15T16:22:06.241Z,1629044526.241 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:22:06.677Z,1629044526.677 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162206.49*52

2021-08-15T16:22:06.724Z,1629044526.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.099998 m, bearing: 120.496258 deg, deltaT: 4.465790 s, approachRate: -0.792695 m/s, LOS rate: -0.244351 deg/s, posRepo size: 4
2021-08-15T16:22:06.726Z,1629044526.726 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 68.099998 m,
      bearing: 120.496258 deg,
      approachRate: -0.792695 m/s,
      LOS rate: -0.244351 deg/s,
      cmd update: -0.977402 deg/s,
      cmd heading: 115.394607 deg,
      new cmd heading: 115.467817 deg.

2021-08-15T16:22:09.160Z,1629044529.160 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:22:09.493Z,1629044529.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:22:09.493Z,1629044529.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:22:09.493Z,1629044529.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:22:09.494Z,1629044529.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:22:09.889Z,1629044529.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
007,000,006E0,184,80,80,89,FF
2021-08-15T16:22:09.889Z,1629044529.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:22:09.889Z,1629044529.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:22:09.891Z,1629044529.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:22:10.284Z,1629044530.284 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:22:10.693Z,1629044530.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE7,000,006A9,183,80,80,A2,FF
2021-08-15T16:22:10.693Z,1629044530.693 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:22:11.153Z,1629044531.153 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162210.91*50

2021-08-15T16:22:11.189Z,1629044531.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.800003 m, bearing: 122.759072 deg, deltaT: 4.442201 s, approachRate: -0.742874 m/s, LOS rate: 0.509390 deg/s, posRepo size: 4
2021-08-15T16:22:11.191Z,1629044531.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.800003 m,
      bearing: 122.759072 deg,
      approachRate: -0.742874 m/s,
      LOS rate: 0.509390 deg/s,
      cmd update: 2.037561 deg/s,
      cmd heading: 111.048743 deg,
      new cmd heading: 110.614454 deg.

2021-08-15T16:22:13.213Z,1629044533.213 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T16:22:13.558Z,1629044533.558 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:22:13.932Z,1629044533.932 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:22:13.932Z,1629044533.932 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:22:13.933Z,1629044533.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:22:13.934Z,1629044533.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:22:14.321Z,1629044534.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE7,000,006A9,183,80,80,A2,FF
2021-08-15T16:22:14.321Z,1629044534.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:22:14.321Z,1629044534.321 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:22:14.323Z,1629044534.323 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:22:14.737Z,1629044534.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:22:15.159Z,1629044535.159 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC8,000,0066F,184,80,80,A3,FF
2021-08-15T16:22:15.159Z,1629044535.159 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:22:15.573Z,1629044535.573 [Micromodem](INFO): Nmea in: $SNTTA,0.058723,,,,162215.34*4F

2021-08-15T16:22:15.620Z,1629044535.620 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.320004 m, bearing: 122.821636 deg, deltaT: 4.494646 s, approachRate: -0.774254 m/s, LOS rate: 0.013920 deg/s, posRepo size: 4
2021-08-15T16:22:15.622Z,1629044535.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.320004 m,
      bearing: 122.821636 deg,
      approachRate: -0.774254 m/s,
      LOS rate: 0.013920 deg/s,
      cmd update: 0.055679 deg/s,
      cmd heading: 120.192143 deg,
      new cmd heading: 120.942856 deg.

2021-08-15T16:22:17.994Z,1629044537.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:22:18.365Z,1629044538.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:22:18.365Z,1629044538.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:22:18.365Z,1629044538.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:22:18.366Z,1629044538.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:22:18.776Z,1629044538.776 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC8,000,0066F,184,80,80,A3,FF
2021-08-15T16:22:18.777Z,1629044538.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:22:18.777Z,1629044538.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:22:18.779Z,1629044538.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:22:19.204Z,1629044539.204 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:22:19.594Z,1629044539.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03F,000,0063B,184,80,80,AB,FF
2021-08-15T16:22:19.594Z,1629044539.594 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:22:20.001Z,1629044540.001 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162219.79*5F

2021-08-15T16:22:20.048Z,1629044540.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.200001 m, bearing: 121.547096 deg, deltaT: 4.412655 s, approachRate: -0.707058 m/s, LOS rate: -0.288838 deg/s, posRepo size: 4
2021-08-15T16:22:20.050Z,1629044540.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.200001 m,
      bearing: 121.547096 deg,
      approachRate: -0.707058 m/s,
      LOS rate: -0.288838 deg/s,
      cmd update: -1.155350 deg/s,
      cmd heading: 120.438228 deg,
      new cmd heading: 120.458957 deg.

2021-08-15T16:22:22.427Z,1629044542.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:22:22.813Z,1629044542.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:22:22.813Z,1629044542.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:22:22.814Z,1629044542.814 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:22:22.814Z,1629044542.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:22:23.218Z,1629044543.218 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03F,000,0063B,184,80,80,AB,FF
2021-08-15T16:22:23.218Z,1629044543.218 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:22:23.218Z,1629044543.218 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:22:23.220Z,1629044543.220 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:22:23.636Z,1629044543.636 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:22:24.021Z,1629044544.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,056,000,00603,184,80,80,8C,FF
2021-08-15T16:22:24.021Z,1629044544.021 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:22:24.493Z,1629044544.493 [Micromodem](INFO): Nmea in: $SNTTA,0.057368,,,,162224.23*4F

2021-08-15T16:22:24.535Z,1629044544.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.840000 m, bearing: 121.723233 deg, deltaT: 4.410760 s, approachRate: -0.761774 m/s, LOS rate: 0.039933 deg/s, posRepo size: 4
2021-08-15T16:22:24.537Z,1629044544.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.840000 m,
      bearing: 121.723233 deg,
      approachRate: -0.761774 m/s,
      LOS rate: 0.039933 deg/s,
      cmd update: 0.159734 deg/s,
      cmd heading: 115.369948 deg,
      new cmd heading: 114.796160 deg.

2021-08-15T16:22:26.911Z,1629044546.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:22:27.257Z,1629044547.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:22:27.257Z,1629044547.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:22:27.257Z,1629044547.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:22:27.258Z,1629044547.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:22:27.664Z,1629044547.664 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
056,000,00603,184,80,80,8C,FF
2021-08-15T16:22:27.664Z,1629044547.664 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:22:27.665Z,1629044547.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:22:27.666Z,1629044547.666 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:22:28.061Z,1629044548.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:22:28.484Z,1629044548.484 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00C,000,005CA,183,80,80,9F,FF
2021-08-15T16:22:28.485Z,1629044548.485 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:22:28.905Z,1629044548.905 [Micromodem](INFO): Nmea in: $SNTTA,0.048558,,,,162228.68*47

2021-08-15T16:22:28.951Z,1629044548.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.420002 m, bearing: 122.618397 deg, deltaT: 4.505648 s, approachRate: -0.759047 m/s, LOS rate: 0.198676 deg/s, posRepo size: 4
2021-08-15T16:22:28.953Z,1629044548.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.420002 m,
      bearing: 122.618397 deg,
      approachRate: -0.759047 m/s,
      LOS rate: 0.198676 deg/s,
      cmd update: 0.794704 deg/s,
      cmd heading: 116.092835 deg,
      new cmd heading: 116.150968 deg.

2021-08-15T16:22:31.343Z,1629044551.343 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:22:31.698Z,1629044551.698 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:22:31.698Z,1629044551.698 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:22:31.698Z,1629044551.698 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:22:31.699Z,1629044551.699 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:22:32.097Z,1629044552.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00C,000,005CA,183,80,80,9F,FF
2021-08-15T16:22:32.097Z,1629044552.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:22:32.097Z,1629044552.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:22:32.099Z,1629044552.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:22:32.525Z,1629044552.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:22:32.917Z,1629044552.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,008,000,00593,182,80,80,74,FF
2021-08-15T16:22:32.917Z,1629044552.917 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:22:33.346Z,1629044553.346 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162233.11*59

2021-08-15T16:22:33.365Z,1629044553.365 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T16:22:33.387Z,1629044553.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.120003 m, bearing: 122.446782 deg, deltaT: 4.395408 s, approachRate: -0.750783 m/s, LOS rate: -0.039044 deg/s, posRepo size: 4
2021-08-15T16:22:33.407Z,1629044553.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.120003 m,
      bearing: 122.446782 deg,
      approachRate: -0.750783 m/s,
      LOS rate: -0.039044 deg/s,
      cmd update: -0.156177 deg/s,
      cmd heading: 119.589105 deg,
      new cmd heading: 119.925401 deg.

2021-08-15T16:22:35.777Z,1629044555.777 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:22:36.149Z,1629044556.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:22:36.149Z,1629044556.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:22:36.149Z,1629044556.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:22:36.150Z,1629044556.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:22:36.549Z,1629044556.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
008,000,00593,182,80,80,74,FF
2021-08-15T16:22:36.549Z,1629044556.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:22:36.550Z,1629044556.550 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:22:36.552Z,1629044556.552 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:22:36.949Z,1629044556.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:22:37.349Z,1629044557.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,011,000,00559,183,80,80,9A,FF
2021-08-15T16:22:37.350Z,1629044557.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:22:37.353Z,1629044557.353 [Micromodem](INFO): Nmea in: $SNTTA,0.222801,0.222938,,,162237.56*55

2021-08-15T16:22:37.814Z,1629044557.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.640003 m, bearing: 123.490858 deg, deltaT: 4.454066 s, approachRate: -0.781308 m/s, LOS rate: 0.234410 deg/s, posRepo size: 4
2021-08-15T16:22:37.821Z,1629044557.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.640003 m,
      bearing: 123.490858 deg,
      approachRate: -0.781308 m/s,
      LOS rate: 0.234410 deg/s,
      cmd update: 0.937639 deg/s,
      cmd heading: 118.894798 deg,
      new cmd heading: 118.831426 deg.

2021-08-15T16:22:40.199Z,1629044560.199 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:22:40.589Z,1629044560.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:22:40.589Z,1629044560.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:22:40.589Z,1629044560.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:22:40.590Z,1629044560.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:22:41.005Z,1629044561.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
011,000,00559,183,80,80,9A,FF
2021-08-15T16:22:41.005Z,1629044561.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:22:41.005Z,1629044561.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:22:41.006Z,1629044561.006 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:22:41.392Z,1629044561.392 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:22:41.798Z,1629044561.798 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,025,000,00521,185,80,80,7B,FF
2021-08-15T16:22:41.798Z,1629044561.798 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:22:42.221Z,1629044562.221 [Micromodem](INFO): Nmea in: $SNTTA,0.071003,,,,162242.02*46

2021-08-15T16:22:42.242Z,1629044562.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.279999 m, bearing: 122.379095 deg, deltaT: 4.402415 s, approachRate: -0.763218 m/s, LOS rate: -0.252535 deg/s, posRepo size: 4
2021-08-15T16:22:42.244Z,1629044562.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.279999 m,
      bearing: 122.379095 deg,
      approachRate: -0.763218 m/s,
      LOS rate: -0.252535 deg/s,
      cmd update: -1.010140 deg/s,
      cmd heading: 123.030582 deg,
      new cmd heading: 123.426335 deg.

2021-08-15T16:22:44.666Z,1629044564.666 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:22:45.028Z,1629044565.028 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:22:45.028Z,1629044565.028 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:22:45.029Z,1629044565.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:22:45.029Z,1629044565.029 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:22:45.429Z,1629044565.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
025,000,00521,185,80,80,7B,FF
2021-08-15T16:22:45.429Z,1629044565.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:22:45.429Z,1629044565.429 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:22:45.431Z,1629044565.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:22:45.841Z,1629044565.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:22:46.241Z,1629044566.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04C,000,004EB,184,80,80,A9,FF
2021-08-15T16:22:46.241Z,1629044566.241 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:22:46.673Z,1629044566.673 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162246.45*5A

2021-08-15T16:22:46.720Z,1629044566.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.040001 m, bearing: 123.015368 deg, deltaT: 4.438975 s, approachRate: -0.729898 m/s, LOS rate: 0.143338 deg/s, posRepo size: 4
2021-08-15T16:22:46.720Z,1629044566.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.04 m.
2021-08-15T16:22:46.722Z,1629044566.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.040001 m,
      bearing: 123.015368 deg,
      approachRate: -0.729898 m/s,
      LOS rate: 0.143338 deg/s,
      cmd update: 0.573351 deg/s,
      cmd heading: 118.546627 deg,
      new cmd heading: 118.080919 deg.

2021-08-15T16:22:47.100Z,1629044567.100 [PowerOnly](INFO): Powering up loadControl
2021-08-15T16:22:47.164Z,1629044567.164 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T16:22:47.165Z,1629044567.165 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T16:22:47.165Z,1629044567.165 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T16:22:47.165Z,1629044567.165 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T16:22:47.166Z,1629044567.166 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T16:22:47.166Z,1629044567.166 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T16:22:47.552Z,1629044567.552 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T16:22:47.552Z,1629044567.552 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T16:22:47.552Z,1629044567.552 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T16:22:47.552Z,1629044567.552 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T16:22:49.171Z,1629044569.171 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:22:49.487Z,1629044569.487 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:22:49.487Z,1629044569.487 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:22:49.487Z,1629044569.487 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:22:49.488Z,1629044569.488 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:22:49.873Z,1629044569.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04C,000,004EB,184,80,80,A9,FF
2021-08-15T16:22:49.873Z,1629044569.873 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:22:49.873Z,1629044569.873 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:22:49.875Z,1629044569.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:22:50.289Z,1629044570.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:22:50.681Z,1629044570.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00C,000,004B1,183,80,80,9A,FF
2021-08-15T16:22:50.681Z,1629044570.681 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:22:50.713Z,1629044570.713 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:22:51.209Z,1629044571.209 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162250.89*5D

2021-08-15T16:22:51.269Z,1629044571.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.559998 m, bearing: 127.684745 deg, deltaT: 4.451455 s, approachRate: -0.781768 m/s, LOS rate: 1.048955 deg/s, posRepo size: 4
2021-08-15T16:22:51.270Z,1629044571.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.56 m.
2021-08-15T16:22:51.276Z,1629044571.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.559998 m,
      bearing: 127.684745 deg,
      approachRate: -0.781768 m/s,
      LOS rate: 1.048955 deg/s,
      cmd update: 4.195821 deg/s,
      cmd heading: 121.098620 deg,
      new cmd heading: 121.416976 deg.

2021-08-15T16:22:53.181Z,1629044573.181 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-15T16:22:53.557Z,1629044573.557 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:22:53.913Z,1629044573.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:22:53.913Z,1629044573.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:22:53.913Z,1629044573.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:22:53.914Z,1629044573.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:22:54.317Z,1629044574.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00C,000,004B1,183,80,80,9A,FF
2021-08-15T16:22:54.317Z,1629044574.317 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:22:54.317Z,1629044574.317 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:22:54.319Z,1629044574.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:22:54.721Z,1629044574.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:22:55.161Z,1629044575.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02A,000,0047A,184,80,80,8C,FF
2021-08-15T16:22:55.161Z,1629044575.161 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:22:55.202Z,1629044575.202 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:22:55.561Z,1629044575.561 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162255.33*59

2021-08-15T16:22:55.604Z,1629044575.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.259998 m, bearing: 128.694889 deg, deltaT: 4.489327 s, approachRate: -0.735077 m/s, LOS rate: 0.225010 deg/s, posRepo size: 4
2021-08-15T16:22:55.605Z,1629044575.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.26 m.
2021-08-15T16:22:55.607Z,1629044575.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.259998 m,
      bearing: 128.694889 deg,
      approachRate: -0.735077 m/s,
      LOS rate: 0.225010 deg/s,
      cmd update: 0.900040 deg/s,
      cmd heading: 139.935119 deg,
      new cmd heading: 141.633784 deg.

2021-08-15T16:22:57.987Z,1629044577.987 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:22:58.353Z,1629044578.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:22:58.354Z,1629044578.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:22:58.354Z,1629044578.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:22:58.355Z,1629044578.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:22:58.765Z,1629044578.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02A,000,0047A,184,80,80,8C,FF
2021-08-15T16:22:58.765Z,1629044578.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:22:58.765Z,1629044578.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:22:58.767Z,1629044578.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:22:59.193Z,1629044579.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:22:59.569Z,1629044579.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,150,000,00449,186,80,80,53,FF
2021-08-15T16:22:59.570Z,1629044579.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:22:59.647Z,1629044579.647 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:23:00.037Z,1629044580.037 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162259.78*5A

2021-08-15T16:23:00.068Z,1629044580.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.320000 m, bearing: 123.437651 deg, deltaT: 4.444649 s, approachRate: -0.661469 m/s, LOS rate: -1.182824 deg/s, posRepo size: 4
2021-08-15T16:23:00.069Z,1629044580.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 28.32 m.
2021-08-15T16:23:00.069Z,1629044580.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 28.32 m.
2021-08-15T16:23:00.070Z,1629044580.070 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-15T16:23:00.072Z,1629044580.072 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.320000 m,
      bearing: 123.437651 deg,
      approachRate: -0.661469 m/s,
      LOS rate: -1.182824 deg/s,
      cmd update: -4.731296 deg/s,
      cmd heading: 143.931643 deg,
      new cmd heading: 144.317603 deg.

2021-08-15T16:23:02.423Z,1629044582.423 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:23:02.801Z,1629044582.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:23:02.801Z,1629044582.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:23:02.801Z,1629044582.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:23:02.802Z,1629044582.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:23:03.209Z,1629044583.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
150,000,00449,186,80,80,53,FF
2021-08-15T16:23:03.209Z,1629044583.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:23:03.209Z,1629044583.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:23:03.211Z,1629044583.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:23:03.612Z,1629044583.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:23:04.014Z,1629044584.014 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F2,000,00419,186,80,80,74,FF
2021-08-15T16:23:04.014Z,1629044584.014 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:23:04.062Z,1629044584.062 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:23:04.483Z,1629044584.483 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162304.22*5C

2021-08-15T16:23:04.510Z,1629044584.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.440001 m, bearing: 122.248392 deg, deltaT: 4.415524 s, approachRate: -0.652244 m/s, LOS rate: -0.269336 deg/s, posRepo size: 4
2021-08-15T16:23:04.512Z,1629044584.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.440001 m,
      bearing: 122.248392 deg,
      approachRate: -0.652244 m/s,
      LOS rate: -0.269336 deg/s,
      cmd update: -1.077343 deg/s,
      cmd heading: 123.038973 deg,
      new cmd heading: 120.887965 deg.

2021-08-15T16:23:06.875Z,1629044586.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:23:07.253Z,1629044587.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:23:07.253Z,1629044587.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:23:07.254Z,1629044587.254 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:23:07.255Z,1629044587.255 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:23:07.657Z,1629044587.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F2,000,00419,186,80,80,74,FF
2021-08-15T16:23:07.657Z,1629044587.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:23:07.657Z,1629044587.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:23:07.659Z,1629044587.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:23:08.073Z,1629044588.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:23:08.484Z,1629044588.484 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,081,000,003E4,187,80,80,B2,FF
2021-08-15T16:23:08.485Z,1629044588.485 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:23:08.548Z,1629044588.548 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:23:08.893Z,1629044588.893 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162308.67*51

2021-08-15T16:23:08.940Z,1629044588.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.260002 m, bearing: 126.051988 deg, deltaT: 4.485712 s, approachRate: -0.708917 m/s, LOS rate: 0.847936 deg/s, posRepo size: 4
2021-08-15T16:23:08.942Z,1629044588.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.260002 m,
      bearing: 126.051988 deg,
      approachRate: -0.708917 m/s,
      LOS rate: 0.847936 deg/s,
      cmd update: 3.391743 deg/s,
      cmd heading: 118.211135 deg,
      new cmd heading: 117.802594 deg.

2021-08-15T16:23:11.346Z,1629044591.346 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:23:11.709Z,1629044591.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:23:11.709Z,1629044591.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:23:11.709Z,1629044591.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:23:11.710Z,1629044591.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:23:12.105Z,1629044592.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
081,000,003E4,187,80,80,B2,FF
2021-08-15T16:23:12.105Z,1629044592.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:23:12.105Z,1629044592.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:23:12.107Z,1629044592.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:23:12.537Z,1629044592.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:23:12.913Z,1629044592.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F95,000,003B2,186,80,80,7A,FF
2021-08-15T16:23:12.913Z,1629044592.913 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:23:12.934Z,1629044592.934 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:23:13.349Z,1629044593.349 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162313.12*59

2021-08-15T16:23:13.381Z,1629044593.381 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.260002 m, bearing: 126.531317 deg, deltaT: 4.386084 s, approachRate: -0.683981 m/s, LOS rate: 0.109284 deg/s, posRepo size: 4
2021-08-15T16:23:13.383Z,1629044593.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.260002 m,
      bearing: 126.531317 deg,
      approachRate: -0.683981 m/s,
      LOS rate: 0.109284 deg/s,
      cmd update: 0.437136 deg/s,
      cmd heading: 133.116201 deg,
      new cmd heading: 134.641437 deg.

2021-08-15T16:23:15.783Z,1629044595.783 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:23:16.141Z,1629044596.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:23:16.141Z,1629044596.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:23:16.141Z,1629044596.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:23:16.142Z,1629044596.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:23:16.570Z,1629044596.570 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F95,000,003B2,186,80,80,7A,FF
2021-08-15T16:23:16.570Z,1629044596.570 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:23:16.570Z,1629044596.570 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:23:16.573Z,1629044596.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:23:16.953Z,1629044596.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:23:17.360Z,1629044597.360 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,063,000,00380,186,80,80,7E,FF
2021-08-15T16:23:17.361Z,1629044597.361 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:23:17.376Z,1629044597.376 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T16:23:17.428Z,1629044597.428 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:23:17.775Z,1629044597.775 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162317.59*52

2021-08-15T16:23:17.840Z,1629044597.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.260000 m, bearing: 126.411639 deg, deltaT: 4.494093 s, approachRate: -0.667543 m/s, LOS rate: -0.026630 deg/s, posRepo size: 4
2021-08-15T16:23:17.842Z,1629044597.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.260000 m,
      bearing: 126.411639 deg,
      approachRate: -0.667543 m/s,
      LOS rate: -0.026630 deg/s,
      cmd update: -0.106521 deg/s,
      cmd heading: 135.075857 deg,
      new cmd heading: 135.260249 deg.

2021-08-15T16:23:20.203Z,1629044600.203 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:23:20.591Z,1629044600.591 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:23:20.591Z,1629044600.591 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:23:20.591Z,1629044600.591 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:23:20.593Z,1629044600.593 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:23:20.999Z,1629044600.999 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
063,000,00380,186,80,80,7E,FF
2021-08-15T16:23:20.000Z,1629044601.000 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:23:21.000Z,1629044601.000 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:23:21.002Z,1629044601.002 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:23:21.410Z,1629044601.410 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:23:21.793Z,1629044601.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,100,000,0035C,186,80,80,75,FF
2021-08-15T16:23:21.793Z,1629044601.793 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:23:21.838Z,1629044601.838 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:23:22.234Z,1629044602.234 [Micromodem](INFO): Nmea in: $SNTTA,0.039815,,,,162322.02*42

2021-08-15T16:23:22.263Z,1629044602.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.100001 m, bearing: 129.596132 deg, deltaT: 4.409647 s, approachRate: -0.489835 m/s, LOS rate: 0.722165 deg/s, posRepo size: 4
2021-08-15T16:23:22.267Z,1629044602.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.100001 m,
      bearing: 129.596132 deg,
      approachRate: -0.489835 m/s,
      LOS rate: 0.722165 deg/s,
      cmd update: 2.888661 deg/s,
      cmd heading: 134.605369 deg,
      new cmd heading: 134.559400 deg.

2021-08-15T16:23:24.686Z,1629044604.686 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:23:25.033Z,1629044605.033 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:23:25.033Z,1629044605.033 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:23:25.033Z,1629044605.033 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:23:25.034Z,1629044605.034 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:23:25.427Z,1629044605.427 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
100,000,0035C,186,80,80,75,FF
2021-08-15T16:23:25.428Z,1629044605.428 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:23:25.428Z,1629044605.428 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:23:25.430Z,1629044605.430 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:23:25.843Z,1629044605.843 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:23:26.237Z,1629044606.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,145,000,0031F,186,80,80,7A,FF
2021-08-15T16:23:26.237Z,1629044606.237 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:23:26.304Z,1629044606.304 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:23:26.687Z,1629044606.687 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.439999 m, bearing: 121.814266 deg, deltaT: 4.466639 s, approachRate: -0.819409 m/s, LOS rate: -1.742220 deg/s, posRepo size: 4
2021-08-15T16:23:26.690Z,1629044606.690 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.439999 m,
      bearing: 121.814266 deg,
      approachRate: -0.819409 m/s,
      LOS rate: -1.742220 deg/s,
      cmd update: -6.968879 deg/s,
      cmd heading: 147.487907 deg,
      new cmd heading: 148.634419 deg.

2021-08-15T16:23:29.166Z,1629044609.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:23:29.492Z,1629044609.492 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:23:29.492Z,1629044609.492 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:23:29.493Z,1629044609.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:23:29.494Z,1629044609.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:23:29.877Z,1629044609.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
145,000,0031F,186,80,80,7A,FF
2021-08-15T16:23:29.877Z,1629044609.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:23:29.877Z,1629044609.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:23:29.879Z,1629044609.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:23:30.289Z,1629044610.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:23:30.681Z,1629044610.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,284,000,002F3,188,80,80,C1,FF
2021-08-15T16:23:30.682Z,1629044610.682 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:23:30.747Z,1629044610.747 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:23:31.166Z,1629044611.166 [Micromodem](INFO): Nmea in: $SNTTA,0.027268,,,,162330.89*4D

2021-08-15T16:23:31.253Z,1629044611.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.800001 m, bearing: 118.208950 deg, deltaT: 4.442182 s, approachRate: -0.594302 m/s, LOS rate: -0.811609 deg/s, posRepo size: 4
2021-08-15T16:23:31.255Z,1629044611.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.800001 m,
      bearing: 118.208950 deg,
      approachRate: -0.594302 m/s,
      LOS rate: -0.811609 deg/s,
      cmd update: -3.246437 deg/s,
      cmd heading: 116.482374 deg,
      new cmd heading: 112.901987 deg.

2021-08-15T16:23:33.586Z,1629044613.586 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:23:33.917Z,1629044613.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:23:33.917Z,1629044613.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:23:33.917Z,1629044613.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:23:33.918Z,1629044613.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:23:34.313Z,1629044614.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
284,000,002F3,188,80,80,C1,FF
2021-08-15T16:23:34.313Z,1629044614.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:23:34.314Z,1629044614.314 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:23:34.315Z,1629044614.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:23:34.721Z,1629044614.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:23:35.177Z,1629044615.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,161,000,002D0,186,80,80,8C,FF
2021-08-15T16:23:35.178Z,1629044615.178 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:23:35.243Z,1629044615.243 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:23:35.570Z,1629044615.570 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162335.33*5E

2021-08-15T16:23:35.596Z,1629044615.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.699999 m, bearing: 124.327543 deg, deltaT: 4.496836 s, approachRate: -0.466995 m/s, LOS rate: 1.360644 deg/s, posRepo size: 4
2021-08-15T16:23:35.598Z,1629044615.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.699999 m,
      bearing: 124.327543 deg,
      approachRate: -0.466995 m/s,
      LOS rate: 1.360644 deg/s,
      cmd update: 5.442576 deg/s,
      cmd heading: 101.887512 deg,
      new cmd heading: 100.716191 deg.

2021-08-15T16:23:37.971Z,1629044617.971 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:23:38.365Z,1629044618.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:23:38.365Z,1629044618.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:23:38.365Z,1629044618.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:23:38.366Z,1629044618.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:23:38.766Z,1629044618.766 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
161,000,002D0,186,80,80,8C,FF
2021-08-15T16:23:38.766Z,1629044618.766 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:23:38.766Z,1629044618.766 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:23:38.768Z,1629044618.768 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:23:39.211Z,1629044619.211 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:23:39.574Z,1629044619.574 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3A,000,002C4,186,80,80,87,FF
2021-08-15T16:23:39.574Z,1629044619.574 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:23:39.605Z,1629044619.605 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:23:40.009Z,1629044620.009 [Micromodem](INFO): Nmea in: $SNTTA,0.002975,,,,162339.78*4A

2021-08-15T16:23:40.029Z,1629044620.029 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-15T16:23:40.030Z,1629044620.030 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-15T16:23:40.030Z,1629044620.030 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-15T16:23:40.030Z,1629044620.030 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T16:23:40.030Z,1629044620.030 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-15T16:23:40.031Z,1629044620.031 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.979999 m 
2021-08-15T16:23:40.031Z,1629044620.031 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-15T16:23:40.031Z,1629044620.031 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-15T16:23:40.031Z,1629044620.031 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-15T16:23:40.034Z,1629044620.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.979999 m, bearing: 133.504927 deg, deltaT: 4.361700 s, approachRate: -0.165073 m/s, LOS rate: 2.104084 deg/s, posRepo size: 4
2021-08-15T16:23:40.060Z,1629044620.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.979999 m,
      bearing: 133.504927 deg,
      approachRate: -0.165073 m/s,
      LOS rate: 2.104084 deg/s,
      cmd update: 8.416337 deg/s,
      cmd heading: 125.654959 deg,
      new cmd heading: 128.004590 deg.

2021-08-15T16:23:40.429Z,1629044620.429 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210815T162340: (41.552319, -70.708603)
2021-08-15T16:23:40.429Z,1629044620.429 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-15T16:23:40.429Z,1629044620.429 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-15T16:23:40.429Z,1629044620.429 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T16:23:40.429Z,1629044620.429 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-15T16:23:40.429Z,1629044620.429 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T16:23:40.429Z,1629044620.429 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-15T16:23:40.429Z,1629044620.429 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-15T16:23:40.430Z,1629044620.430 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-15T16:23:40.815Z,1629044620.815 [UniversalFixResidualReporter](INFO): Fix residual: 16.5 %DT, over the last 976.2 m. Residual distance 160.7 m at bearing 61.1 degrees. Fix at (41.5518, -70.7080) with 73.6 m made good.
2021-08-15T16:23:42.415Z,1629044622.415 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:23:42.809Z,1629044622.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:23:42.809Z,1629044622.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:23:42.809Z,1629044622.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:23:42.810Z,1629044622.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:23:43.245Z,1629044623.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3A,000,002C4,186,80,80,87,FF
2021-08-15T16:23:43.245Z,1629044623.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:23:43.245Z,1629044623.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:23:43.247Z,1629044623.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:23:43.636Z,1629044623.636 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:23:44.041Z,1629044624.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CF,000,002ED,186,80,80,89,FF
2021-08-15T16:23:44.042Z,1629044624.042 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:23:44.061Z,1629044624.061 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:23:44.489Z,1629044624.489 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162344.26*5C

2021-08-15T16:23:44.527Z,1629044624.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.440001 m, bearing: 106.025231 deg, deltaT: 4.456215 s, approachRate: 0.552038 m/s, LOS rate: -6.166600 deg/s, posRepo size: 4
2021-08-15T16:23:44.529Z,1629044624.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.440001 m,
      bearing: 106.025231 deg,
      approachRate: 0.552038 m/s,
      LOS rate: -6.166600 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 163.159906 deg,
      new cmd heading: 167.104744 deg.

2021-08-15T16:23:46.883Z,1629044626.883 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:23:47.280Z,1629044627.280 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:23:47.281Z,1629044627.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:23:47.281Z,1629044627.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:23:47.282Z,1629044627.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:23:47.669Z,1629044627.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CF,000,002ED,186,80,80,89,FF
2021-08-15T16:23:47.669Z,1629044627.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:23:47.669Z,1629044627.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:23:47.671Z,1629044627.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:23:48.077Z,1629044628.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:23:48.509Z,1629044628.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F67,000,00310,187,80,80,85,FF
2021-08-15T16:23:48.509Z,1629044628.509 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:23:48.579Z,1629044628.579 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:23:48.917Z,1629044628.917 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162348.69*5B

2021-08-15T16:23:48.940Z,1629044628.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.540000 m, bearing: 138.543448 deg, deltaT: 4.517378 s, approachRate: 0.464871 m/s, LOS rate: 7.198471 deg/s, posRepo size: 4
2021-08-15T16:23:48.942Z,1629044628.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.540000 m,
      bearing: 138.543448 deg,
      approachRate: 0.464871 m/s,
      LOS rate: 7.198471 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 108.951896 deg,
      new cmd heading: 104.582456 deg.

2021-08-15T16:23:51.371Z,1629044631.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:23:51.705Z,1629044631.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:23:51.705Z,1629044631.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:23:51.705Z,1629044631.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:23:51.706Z,1629044631.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:23:52.109Z,1629044632.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F67,000,00310,187,80,80,85,FF
2021-08-15T16:23:52.109Z,1629044632.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:23:52.110Z,1629044632.110 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:23:52.111Z,1629044632.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:23:52.537Z,1629044632.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:23:52.921Z,1629044632.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9B,000,00344,186,80,80,85,FF
2021-08-15T16:23:52.922Z,1629044632.922 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:23:52.970Z,1629044632.970 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:23:53.369Z,1629044633.369 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162353.13*5C

2021-08-15T16:23:53.432Z,1629044633.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.660002 m, bearing: 156.979713 deg, deltaT: 4.391414 s, approachRate: 0.710478 m/s, LOS rate: 4.198253 deg/s, posRepo size: 4
2021-08-15T16:23:53.434Z,1629044633.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.660002 m,
      bearing: 156.979713 deg,
      approachRate: 0.710478 m/s,
      LOS rate: 4.198253 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 161.648578 deg,
      new cmd heading: 167.221978 deg.

2021-08-15T16:23:55.786Z,1629044635.786 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:23:56.149Z,1629044636.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:23:56.149Z,1629044636.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:23:56.149Z,1629044636.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:23:56.150Z,1629044636.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:23:56.557Z,1629044636.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9B,000,00344,186,80,80,85,FF
2021-08-15T16:23:56.557Z,1629044636.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:23:56.557Z,1629044636.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:23:56.559Z,1629044636.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:23:56.965Z,1629044636.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:23:57.369Z,1629044637.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA7,000,0036B,184,80,80,54,FF
2021-08-15T16:23:57.370Z,1629044637.370 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:23:57.481Z,1629044637.481 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:23:57.805Z,1629044637.805 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162357.57*58

2021-08-15T16:23:57.855Z,1629044637.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.000000 m, bearing: 130.854021 deg, deltaT: 4.511154 s, approachRate: 0.518714 m/s, LOS rate: -5.791355 deg/s, posRepo size: 4
2021-08-15T16:23:57.855Z,1629044637.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 15.00 m. Rolling out.
2021-08-15T16:23:57.856Z,1629044637.856 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-15T16:24:00.217Z,1629044640.217 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:24:00.597Z,1629044640.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:24:00.597Z,1629044640.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:24:00.597Z,1629044640.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:24:00.598Z,1629044640.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:24:01.001Z,1629044641.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA7,000,0036B,184,80,80,54,FF
2021-08-15T16:24:01.001Z,1629044641.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:24:01.001Z,1629044641.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:24:01.003Z,1629044641.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:24:01.409Z,1629044641.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:24:01.809Z,1629044641.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F76,000,003B1,187,80,80,40,FF
2021-08-15T16:24:01.809Z,1629044641.809 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:24:01.830Z,1629044641.830 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:24:02.260Z,1629044642.260 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162402.02*5F

2021-08-15T16:24:02.283Z,1629044642.283 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.199999 m, bearing: 146.765903 deg, deltaT: 4.348444 s, approachRate: 0.965862 m/s, LOS rate: 3.659213 deg/s, posRepo size: 4
2021-08-15T16:24:04.685Z,1629044644.685 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:24:05.041Z,1629044645.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:24:05.041Z,1629044645.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:24:05.041Z,1629044645.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:24:05.042Z,1629044645.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:24:05.477Z,1629044645.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F76,000,003B1,187,80,80,40,FF
2021-08-15T16:24:05.477Z,1629044645.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:24:05.477Z,1629044645.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:24:05.479Z,1629044645.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:24:05.849Z,1629044645.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:24:06.257Z,1629044646.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03C,000,003BD,184,80,80,86,FF
2021-08-15T16:24:06.258Z,1629044646.258 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:24:06.282Z,1629044646.282 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:24:06.667Z,1629044646.667 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162406.50*5C

2021-08-15T16:24:06.714Z,1629044646.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.919998 m, bearing: 147.871792 deg, deltaT: 4.452604 s, approachRate: 0.161703 m/s, LOS rate: 0.248369 deg/s, posRepo size: 4
2021-08-15T16:24:09.159Z,1629044649.159 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:24:09.517Z,1629044649.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:24:09.517Z,1629044649.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:24:09.517Z,1629044649.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:24:09.518Z,1629044649.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:24:09.890Z,1629044649.890 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03C,000,003BD,184,80,80,86,FF
2021-08-15T16:24:09.890Z,1629044649.890 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:24:09.890Z,1629044649.890 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:24:09.892Z,1629044649.892 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:24:10.312Z,1629044650.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:24:10.693Z,1629044650.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE3,000,003E5,187,80,80,42,FF
2021-08-15T16:24:10.694Z,1629044650.694 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:24:10.751Z,1629044650.751 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:24:11.161Z,1629044651.161 [Micromodem](INFO): Nmea in: $SNTTA,0.060442,,,,162410.91*4C

2021-08-15T16:24:11.207Z,1629044651.207 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.320000 m, bearing: 175.068950 deg, deltaT: 4.468303 s, approachRate: 0.537117 m/s, LOS rate: 6.086686 deg/s, posRepo size: 4
2021-08-15T16:24:13.591Z,1629044653.591 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:24:13.925Z,1629044653.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:24:13.925Z,1629044653.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:24:13.925Z,1629044653.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:24:13.926Z,1629044653.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:24:14.338Z,1629044654.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE3,000,003E5,187,80,80,42,FF
2021-08-15T16:24:14.338Z,1629044654.338 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:24:14.339Z,1629044654.339 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:24:14.341Z,1629044654.341 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:24:14.736Z,1629044654.736 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:24:15.182Z,1629044655.182 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB5,000,003F3,186,80,80,87,FF
2021-08-15T16:24:15.183Z,1629044655.183 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:24:15.268Z,1629044655.268 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:24:15.577Z,1629044655.577 [Micromodem](INFO): Nmea in: $SNTTA,0.033238,,,,162415.36*49

2021-08-15T16:24:15.632Z,1629044655.632 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.160000 m, bearing: 187.011044 deg, deltaT: 4.517658 s, approachRate: 0.185937 m/s, LOS rate: 2.643426 deg/s, posRepo size: 4
2021-08-15T16:24:17.994Z,1629044657.994 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:24:18.383Z,1629044658.383 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:24:18.384Z,1629044658.384 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:24:18.384Z,1629044658.384 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:24:18.386Z,1629044658.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:24:18.773Z,1629044658.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB5,000,003F3,186,80,80,87,FF
2021-08-15T16:24:18.773Z,1629044658.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:24:18.773Z,1629044658.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:24:18.775Z,1629044658.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:24:19.201Z,1629044659.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:24:19.589Z,1629044659.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CD2,000,0040A,189,80,80,83,FF
2021-08-15T16:24:19.590Z,1629044659.590 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:24:19.621Z,1629044659.621 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:24:20.026Z,1629044660.026 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162419.79*59

2021-08-15T16:24:20.079Z,1629044660.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.539997 m, bearing: 220.696226 deg, deltaT: 4.352696 s, approachRate: 0.317044 m/s, LOS rate: 7.738924 deg/s, posRepo size: 4
2021-08-15T16:24:21.613Z,1629044661.613 [PowerOnly](INFO): Powering down loadControl
2021-08-15T16:24:22.439Z,1629044662.439 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:24:22.813Z,1629044662.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:24:22.813Z,1629044662.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:24:22.813Z,1629044662.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:24:22.814Z,1629044662.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:24:23.233Z,1629044663.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CD2,000,0040A,189,80,80,83,FF
2021-08-15T16:24:23.233Z,1629044663.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:24:23.233Z,1629044663.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:24:23.235Z,1629044663.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:24:23.637Z,1629044663.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:24:24.033Z,1629044664.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F31,000,0041D,186,80,80,91,FF
2021-08-15T16:24:24.034Z,1629044664.034 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:24:24.053Z,1629044664.053 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:24:24.485Z,1629044664.485 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162424.25*5E

2021-08-15T16:24:24.529Z,1629044664.529 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.679996 m, bearing: 200.085761 deg, deltaT: 4.432026 s, approachRate: 0.257219 m/s, LOS rate: -4.650348 deg/s, posRepo size: 4
2021-08-15T16:24:26.563Z,1629044666.563 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:24:26.861Z,1629044666.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:24:26.861Z,1629044666.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:24:26.862Z,1629044666.862 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:24:26.863Z,1629044666.863 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:24:27.270Z,1629044667.270 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F31,000,0041D,186,80,80,91,FF
2021-08-15T16:24:27.270Z,1629044667.270 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:24:27.270Z,1629044667.270 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:24:27.271Z,1629044667.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:24:27.682Z,1629044667.682 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:24:28.073Z,1629044668.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D6C,000,00430,189,80,80,85,FF
2021-08-15T16:24:28.074Z,1629044668.074 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:24:28.118Z,1629044668.118 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:24:28.525Z,1629044668.525 [Micromodem](INFO): Nmea in: $SNTTA,0.030228,,,,162428.29*4B

2021-08-15T16:24:28.551Z,1629044668.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.819998 m, bearing: 229.971732 deg, deltaT: 4.064816 s, approachRate: 0.280456 m/s, LOS rate: 7.352355 deg/s, posRepo size: 4
2021-08-15T16:24:30.926Z,1629044670.926 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:24:31.305Z,1629044671.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:24:31.305Z,1629044671.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:24:31.305Z,1629044671.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:24:31.306Z,1629044671.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:24:31.713Z,1629044671.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D6C,000,00430,189,80,80,85,FF
2021-08-15T16:24:31.713Z,1629044671.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:24:31.714Z,1629044671.714 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:24:31.715Z,1629044671.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:24:32.117Z,1629044672.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:24:32.521Z,1629044672.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,298,000,0043B,189,80,80,75,FF
2021-08-15T16:24:32.521Z,1629044672.521 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:24:32.579Z,1629044672.579 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:24:32.970Z,1629044672.970 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162432.73*5A

2021-08-15T16:24:32.991Z,1629044672.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.480000 m, bearing: 172.978106 deg, deltaT: 4.460743 s, approachRate: 0.147958 m/s, LOS rate: -12.776712 deg/s, posRepo size: 4
2021-08-15T16:24:35.407Z,1629044675.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:24:35.749Z,1629044675.749 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:24:35.749Z,1629044675.749 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:24:35.749Z,1629044675.749 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:24:35.750Z,1629044675.750 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:24:36.161Z,1629044676.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
298,000,0043B,189,80,80,75,FF
2021-08-15T16:24:36.162Z,1629044676.162 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:24:36.162Z,1629044676.162 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:24:36.163Z,1629044676.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:24:36.569Z,1629044676.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:24:36.961Z,1629044676.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D0,000,00444,186,80,80,9C,FF
2021-08-15T16:24:36.962Z,1629044676.962 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:24:37.039Z,1629044677.039 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:24:37.401Z,1629044677.401 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162437.18*52

2021-08-15T16:24:37.507Z,1629044677.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.020000 m, bearing: 193.102849 deg, deltaT: 4.459987 s, approachRate: 0.121077 m/s, LOS rate: 4.512287 deg/s, posRepo size: 4
2021-08-15T16:24:39.830Z,1629044679.830 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:24:40.197Z,1629044680.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:24:40.197Z,1629044680.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:24:40.197Z,1629044680.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:24:40.198Z,1629044680.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:24:40.597Z,1629044680.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D0,000,00444,186,80,80,9C,FF
2021-08-15T16:24:40.597Z,1629044680.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:24:40.597Z,1629044680.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:24:40.599Z,1629044680.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:24:41.119Z,1629044681.119 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:24:41.454Z,1629044681.454 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18A,000,00449,186,80,80,7A,FF
2021-08-15T16:24:41.455Z,1629044681.455 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:24:41.527Z,1629044681.527 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:24:41.865Z,1629044681.865 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162441.61*5D

2021-08-15T16:24:41.887Z,1629044681.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.320000 m, bearing: 200.147246 deg, deltaT: 4.492982 s, approachRate: 0.066771 m/s, LOS rate: 1.567867 deg/s, posRepo size: 4
2021-08-15T16:24:44.278Z,1629044684.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:24:44.670Z,1629044684.670 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:24:44.670Z,1629044684.670 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:24:44.670Z,1629044684.670 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:24:44.671Z,1629044684.671 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:24:45.068Z,1629044685.068 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18A,000,00449,186,80,80,7A,FF
2021-08-15T16:24:45.068Z,1629044685.068 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:24:45.068Z,1629044685.068 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:24:45.070Z,1629044685.070 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:24:45.512Z,1629044685.512 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:24:45.882Z,1629044685.882 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A1,000,0044F,185,80,80,7F,FF
2021-08-15T16:24:45.882Z,1629044685.882 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:24:45.902Z,1629044685.902 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:24:46.313Z,1629044686.313 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162446.09*54

2021-08-15T16:24:46.335Z,1629044686.335 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.679998 m, bearing: 199.630679 deg, deltaT: 4.370595 s, approachRate: 0.082368 m/s, LOS rate: -0.118192 deg/s, posRepo size: 4
2021-08-15T16:24:48.757Z,1629044688.757 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:24:49.132Z,1629044689.132 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:24:49.132Z,1629044689.132 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:24:49.133Z,1629044689.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:24:49.135Z,1629044689.135 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:24:49.541Z,1629044689.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A1,000,0044F,185,80,80,7F,FF
2021-08-15T16:24:49.541Z,1629044689.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:24:49.541Z,1629044689.541 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:24:49.543Z,1629044689.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:24:49.924Z,1629044689.924 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:24:50.321Z,1629044690.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C3,000,00459,186,80,80,89,FF
2021-08-15T16:24:50.322Z,1629044690.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:24:50.369Z,1629044690.369 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:24:50.743Z,1629044690.743 [Micromodem](INFO): Nmea in: $SNTTA,0.036115,,,,162450.56*47

2021-08-15T16:24:50.783Z,1629044690.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.280003 m, bearing: 198.800046 deg, deltaT: 4.466721 s, approachRate: 0.134328 m/s, LOS rate: -0.185960 deg/s, posRepo size: 4
2021-08-15T16:24:53.266Z,1629044693.266 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:24:53.557Z,1629044693.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:24:53.557Z,1629044693.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:24:53.557Z,1629044693.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:24:53.558Z,1629044693.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:24:53.957Z,1629044693.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C3,000,00459,186,80,80,89,FF
2021-08-15T16:24:53.957Z,1629044693.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:24:53.957Z,1629044693.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:24:53.959Z,1629044693.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:24:54.369Z,1629044694.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:24:54.777Z,1629044694.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D7,000,00460,186,80,80,9A,FF
2021-08-15T16:24:54.778Z,1629044694.778 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:24:54.827Z,1629044694.827 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:24:55.218Z,1629044695.218 [Micromodem](INFO): Nmea in: $SNTTA,0.032874,,,,162454.98*4B

2021-08-15T16:24:55.279Z,1629044695.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.699997 m, bearing: 197.637821 deg, deltaT: 4.457800 s, approachRate: 0.094216 m/s, LOS rate: -0.260717 deg/s, posRepo size: 4
2021-08-15T16:24:57.629Z,1629044697.629 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:24:57.997Z,1629044697.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:24:57.997Z,1629044697.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:24:57.997Z,1629044697.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:24:57.998Z,1629044697.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:24:58.401Z,1629044698.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D7,000,00460,186,80,80,9A,FF
2021-08-15T16:24:58.401Z,1629044698.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:24:58.401Z,1629044698.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:24:58.403Z,1629044698.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:24:58.826Z,1629044698.826 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:24:59.213Z,1629044699.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E4,000,0046A,187,80,80,98,FF
2021-08-15T16:24:59.213Z,1629044699.213 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:24:59.278Z,1629044699.278 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:24:59.657Z,1629044699.657 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162459.42*55

2021-08-15T16:24:59.688Z,1629044699.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.300001 m, bearing: 198.747536 deg, deltaT: 4.451507 s, approachRate: 0.134787 m/s, LOS rate: 0.249290 deg/s, posRepo size: 4
2021-08-15T16:25:02.072Z,1629044702.072 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:25:02.449Z,1629044702.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:25:02.449Z,1629044702.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:25:02.450Z,1629044702.450 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:25:02.452Z,1629044702.452 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:25:02.849Z,1629044702.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E4,000,0046A,187,80,80,98,FF
2021-08-15T16:25:02.849Z,1629044702.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:25:02.849Z,1629044702.849 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:25:02.851Z,1629044702.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:25:03.264Z,1629044703.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:25:03.661Z,1629044703.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,267,000,00473,188,80,80,55,FF
2021-08-15T16:25:03.661Z,1629044703.661 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:25:03.719Z,1629044703.719 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:25:04.093Z,1629044704.093 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162503.87*52

2021-08-15T16:25:04.125Z,1629044704.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.839998 m, bearing: 192.013679 deg, deltaT: 4.440308 s, approachRate: 0.121613 m/s, LOS rate: -1.516529 deg/s, posRepo size: 4
2021-08-15T16:25:06.565Z,1629044706.565 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:25:06.893Z,1629044706.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:25:06.893Z,1629044706.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:25:06.893Z,1629044706.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:25:06.894Z,1629044706.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:25:07.313Z,1629044707.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
267,000,00473,188,80,80,55,FF
2021-08-15T16:25:07.313Z,1629044707.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:25:07.313Z,1629044707.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:25:07.315Z,1629044707.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:25:07.772Z,1629044707.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:25:08.165Z,1629044708.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,28B,000,0047E,189,80,80,65,FF
2021-08-15T16:25:08.166Z,1629044708.165 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:25:08.256Z,1629044708.256 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:25:08.593Z,1629044708.593 [Micromodem](INFO): Nmea in: $SNTTA,0.046371,,,,162508.33*4F

2021-08-15T16:25:08.623Z,1629044708.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.500000 m, bearing: 189.429245 deg, deltaT: 4.537967 s, approachRate: 0.145440 m/s, LOS rate: -0.569514 deg/s, posRepo size: 4
2021-08-15T16:25:11.015Z,1629044711.015 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:25:11.413Z,1629044711.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:25:11.413Z,1629044711.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:25:11.414Z,1629044711.414 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:25:11.415Z,1629044711.415 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:25:11.814Z,1629044711.814 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
28B,000,0047E,189,80,80,65,FF
2021-08-15T16:25:11.814Z,1629044711.814 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:25:11.814Z,1629044711.814 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:25:11.816Z,1629044711.816 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:25:12.213Z,1629044712.213 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:25:12.625Z,1629044712.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2FF,000,00489,189,80,80,80,FF
2021-08-15T16:25:12.626Z,1629044712.626 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:25:12.677Z,1629044712.677 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:25:13.049Z,1629044713.049 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162512.83*56

2021-08-15T16:25:13.150Z,1629044713.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.160004 m, bearing: 183.939139 deg, deltaT: 4.420041 s, approachRate: 0.149321 m/s, LOS rate: -1.242094 deg/s, posRepo size: 4
2021-08-15T16:25:15.560Z,1629044715.560 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:25:15.849Z,1629044715.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:25:15.849Z,1629044715.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:25:15.850Z,1629044715.850 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:25:15.851Z,1629044715.851 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:25:16.257Z,1629044716.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2FF,000,00489,189,80,80,80,FF
2021-08-15T16:25:16.257Z,1629044716.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:25:16.257Z,1629044716.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:25:16.259Z,1629044716.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:25:16.664Z,1629044716.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:25:17.069Z,1629044717.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BF4,000,0048F,189,80,80,96,FF
2021-08-15T16:25:17.070Z,1629044717.070 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:25:17.154Z,1629044717.154 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:25:17.513Z,1629044717.513 [Micromodem](INFO): Nmea in: $SNTTA,0.047616,,,,162517.28*4E

2021-08-15T16:25:17.594Z,1629044717.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.520000 m, bearing: 273.735349 deg, deltaT: 4.477485 s, approachRate: 0.080402 m/s, LOS rate: 20.055056 deg/s, posRepo size: 4
2021-08-15T16:25:19.902Z,1629044719.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:25:20.302Z,1629044720.302 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:25:20.302Z,1629044720.302 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:25:20.302Z,1629044720.302 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:25:20.303Z,1629044720.303 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:25:20.693Z,1629044720.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BF4,000,0048F,189,80,80,96,FF
2021-08-15T16:25:20.693Z,1629044720.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:25:20.693Z,1629044720.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:25:20.695Z,1629044720.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:25:21.146Z,1629044721.146 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:25:21.521Z,1629044721.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C80,000,0049F,189,80,80,73,FF
2021-08-15T16:25:21.521Z,1629044721.521 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:25:21.587Z,1629044721.587 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:25:21.945Z,1629044721.945 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162521.71*5B

2021-08-15T16:25:21.975Z,1629044721.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.480000 m, bearing: 266.070675 deg, deltaT: 4.438124 s, approachRate: 0.216307 m/s, LOS rate: -1.727008 deg/s, posRepo size: 4
2021-08-15T16:25:24.388Z,1629044724.388 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:25:24.737Z,1629044724.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:25:24.737Z,1629044724.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:25:24.737Z,1629044724.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:25:24.738Z,1629044724.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:25:25.190Z,1629044725.190 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C80,000,0049F,189,80,80,73,FF
2021-08-15T16:25:25.190Z,1629044725.190 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:25:25.190Z,1629044725.190 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:25:25.193Z,1629044725.193 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:25:25.553Z,1629044725.553 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:25:25.953Z,1629044725.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CA3,000,004AD,189,80,80,7A,FF
2021-08-15T16:25:25.954Z,1629044725.954 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:25:26.016Z,1629044726.016 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:25:26.375Z,1629044726.375 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162526.21*59

2021-08-15T16:25:26.447Z,1629044726.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.320000 m, bearing: 264.448778 deg, deltaT: 4.423838 s, approachRate: 0.189880 m/s, LOS rate: -0.366627 deg/s, posRepo size: 4
2021-08-15T16:25:28.821Z,1629044728.821 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:25:29.189Z,1629044729.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:25:29.189Z,1629044729.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:25:29.189Z,1629044729.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:25:29.190Z,1629044729.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:25:29.577Z,1629044729.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CA3,000,004AD,189,80,80,7A,FF
2021-08-15T16:25:29.577Z,1629044729.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:25:29.577Z,1629044729.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:25:29.579Z,1629044729.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:25:29.997Z,1629044729.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:25:30.390Z,1629044730.390 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CED,000,004AD,189,80,80,79,FF
2021-08-15T16:25:30.390Z,1629044730.390 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:25:30.414Z,1629044730.414 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:25:30.832Z,1629044730.832 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162530.62*59

2021-08-15T16:25:30.902Z,1629044730.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.320000 m, bearing: 260.540107 deg, deltaT: 4.398417 s, approachRate: 0.000000 m/s, LOS rate: -0.888654 deg/s, posRepo size: 4
2021-08-15T16:25:33.339Z,1629044733.339 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:25:33.642Z,1629044733.642 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:25:33.642Z,1629044733.642 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:25:33.642Z,1629044733.642 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:25:33.643Z,1629044733.643 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:25:34.025Z,1629044734.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CED,000,004AD,189,80,80,79,FF
2021-08-15T16:25:34.025Z,1629044734.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:25:34.025Z,1629044734.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:25:34.027Z,1629044734.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:25:34.438Z,1629044734.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:25:34.838Z,1629044734.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9A,000,004BB,189,80,80,78,FF
2021-08-15T16:25:34.838Z,1629044734.838 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:25:34.868Z,1629044734.868 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:25:35.277Z,1629044735.277 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162535.04*5C

2021-08-15T16:25:35.341Z,1629044735.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.159996 m, bearing: 251.516826 deg, deltaT: 4.453498 s, approachRate: 0.188615 m/s, LOS rate: -2.026111 deg/s, posRepo size: 4
2021-08-15T16:25:36.630Z,1629044736.630 [CTD_Seabird](ERROR): Failed to parse device response: 5.77,24.08004,4828.07
2021-08-15T16:25:37.697Z,1629044737.697 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:25:38.073Z,1629044738.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:25:38.074Z,1629044738.074 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:25:38.074Z,1629044738.074 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:25:38.075Z,1629044738.075 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:25:38.481Z,1629044738.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9A,000,004BB,189,80,80,78,FF
2021-08-15T16:25:38.481Z,1629044738.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:25:38.482Z,1629044738.482 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:25:38.483Z,1629044738.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:25:38.877Z,1629044738.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:25:39.285Z,1629044739.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF4,000,004C7,187,80,80,43,FF
2021-08-15T16:25:39.286Z,1629044739.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:25:39.346Z,1629044739.346 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:25:39.737Z,1629044739.737 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162539.50*51

2021-08-15T16:25:39.769Z,1629044739.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.880001 m, bearing: 247.884750 deg, deltaT: 4.477697 s, approachRate: 0.160798 m/s, LOS rate: -0.811148 deg/s, posRepo size: 4
2021-08-15T16:25:42.131Z,1629044742.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:25:42.532Z,1629044742.532 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:25:42.533Z,1629044742.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:25:42.533Z,1629044742.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:25:42.534Z,1629044742.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:25:42.917Z,1629044742.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF4,000,004C7,187,80,80,43,FF
2021-08-15T16:25:42.917Z,1629044742.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:25:42.917Z,1629044742.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:25:42.919Z,1629044742.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:25:43.341Z,1629044743.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:25:43.725Z,1629044743.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE4,000,004DB,185,80,80,59,FF
2021-08-15T16:25:43.726Z,1629044743.726 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:25:43.791Z,1629044743.791 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:25:44.170Z,1629044744.170 [Micromodem](INFO): Nmea in: $SNTTA,0.037047,,,,162543.94*4D

2021-08-15T16:25:44.191Z,1629044744.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.080002 m, bearing: 222.363270 deg, deltaT: 4.445232 s, approachRate: 0.269952 m/s, LOS rate: -5.741316 deg/s, posRepo size: 4
2021-08-15T16:25:46.590Z,1629044746.590 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:25:46.949Z,1629044746.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:25:46.949Z,1629044746.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:25:46.949Z,1629044746.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:25:46.950Z,1629044746.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:25:47.365Z,1629044747.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE4,000,004DB,185,80,80,59,FF
2021-08-15T16:25:47.365Z,1629044747.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:25:47.365Z,1629044747.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:25:47.367Z,1629044747.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:25:47.765Z,1629044747.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:25:48.170Z,1629044748.170 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9B,000,004E1,186,80,80,64,FF
2021-08-15T16:25:48.170Z,1629044748.170 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:25:48.195Z,1629044748.195 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:25:48.609Z,1629044748.609 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162548.38*59

2021-08-15T16:25:48.652Z,1629044748.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.439999 m, bearing: 238.511954 deg, deltaT: 4.403717 s, approachRate: 0.081748 m/s, LOS rate: 3.667058 deg/s, posRepo size: 4
2021-08-15T16:25:51.016Z,1629044751.016 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:25:51.401Z,1629044751.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:25:51.401Z,1629044751.401 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:25:51.401Z,1629044751.401 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:25:51.402Z,1629044751.402 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:25:51.801Z,1629044751.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9B,000,004E1,186,80,80,64,FF
2021-08-15T16:25:51.801Z,1629044751.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:25:51.802Z,1629044751.802 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:25:51.803Z,1629044751.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:25:52.217Z,1629044752.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:25:52.609Z,1629044752.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E81,000,004F2,185,80,80,7A,FF
2021-08-15T16:25:52.609Z,1629044752.609 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:25:52.683Z,1629044752.683 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:25:53.050Z,1629044753.050 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162552.82*53

2021-08-15T16:25:53.069Z,1629044753.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.459995 m, bearing: 239.225436 deg, deltaT: 4.488594 s, approachRate: 0.227242 m/s, LOS rate: 0.158954 deg/s, posRepo size: 4
2021-08-15T16:25:55.529Z,1629044755.529 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:25:55.845Z,1629044755.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:25:55.845Z,1629044755.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:25:55.845Z,1629044755.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:25:55.846Z,1629044755.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:25:56.253Z,1629044756.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E81,000,004F2,185,80,80,7A,FF
2021-08-15T16:25:56.253Z,1629044756.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:25:56.253Z,1629044756.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:25:56.255Z,1629044756.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:25:56.661Z,1629044756.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:25:57.053Z,1629044757.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E94,000,004FF,186,80,80,B8,FF
2021-08-15T16:25:57.053Z,1629044757.053 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:25:57.157Z,1629044757.157 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:25:57.510Z,1629044757.510 [Micromodem](INFO): Nmea in: $SNTTA,0.035175,,,,162557.27*42

2021-08-15T16:25:57.576Z,1629044757.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.240002 m, bearing: 237.605233 deg, deltaT: 4.473772 s, approachRate: 0.174351 m/s, LOS rate: -0.362156 deg/s, posRepo size: 4
2021-08-15T16:25:59.907Z,1629044759.907 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:26:00.285Z,1629044760.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:26:00.285Z,1629044760.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:26:00.285Z,1629044760.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:26:00.286Z,1629044760.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:26:00.693Z,1629044760.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E94,000,004FF,186,80,80,B8,FF
2021-08-15T16:26:00.693Z,1629044760.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:26:00.693Z,1629044760.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:26:00.695Z,1629044760.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:26:01.136Z,1629044761.136 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:26:01.521Z,1629044761.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5A,000,0050B,186,80,80,93,FF
2021-08-15T16:26:01.521Z,1629044761.521 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:26:01.647Z,1629044761.647 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:26:01.946Z,1629044761.946 [Micromodem](INFO): Nmea in: $SNTTA,0.039351,,,,162601.71*49

2021-08-15T16:26:01.968Z,1629044761.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.959999 m, bearing: 240.398780 deg, deltaT: 4.490592 s, approachRate: 0.160335 m/s, LOS rate: 0.622089 deg/s, posRepo size: 4
2021-08-15T16:26:04.363Z,1629044764.363 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:26:04.729Z,1629044764.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:26:04.729Z,1629044764.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:26:04.729Z,1629044764.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:26:04.730Z,1629044764.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:26:05.177Z,1629044765.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5A,000,0050B,186,80,80,93,FF
2021-08-15T16:26:05.177Z,1629044765.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:26:05.177Z,1629044765.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:26:05.179Z,1629044765.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:26:05.537Z,1629044765.537 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:26:05.937Z,1629044765.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E8B,000,00519,186,80,80,5C,FF
2021-08-15T16:26:05.938Z,1629044765.938 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:26:05.989Z,1629044765.989 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:26:06.367Z,1629044766.367 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162606.20*59

2021-08-15T16:26:06.407Z,1629044766.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.799999 m, bearing: 237.876255 deg, deltaT: 4.341115 s, approachRate: 0.193499 m/s, LOS rate: -0.581078 deg/s, posRepo size: 4
2021-08-15T16:26:06.795Z,1629044766.795 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T16:26:06.795Z,1629044766.795 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T16:26:06.812Z,1629044766.812 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T16:26:06.813Z,1629044766.813 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T16:26:06.813Z,1629044766.813 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T16:26:06.813Z,1629044766.813 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T16:26:07.235Z,1629044767.235 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T16:26:07.235Z,1629044767.235 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T16:26:07.235Z,1629044767.235 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T16:26:07.235Z,1629044767.235 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T16:26:08.818Z,1629044768.818 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:26:09.201Z,1629044769.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:26:09.201Z,1629044769.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:26:09.201Z,1629044769.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:26:09.202Z,1629044769.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:26:09.569Z,1629044769.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E8B,000,00519,186,80,80,5C,FF
2021-08-15T16:26:09.569Z,1629044769.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:26:09.570Z,1629044769.570 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:26:09.571Z,1629044769.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:26:10.003Z,1629044770.003 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:26:10.393Z,1629044770.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E82,000,00528,186,80,80,9C,FF
2021-08-15T16:26:10.393Z,1629044770.393 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:26:10.825Z,1629044770.825 [Micromodem](INFO): Nmea in: $SNTTA,0.043357,,,,162610.59*48

2021-08-15T16:26:10.871Z,1629044770.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.700001 m, bearing: 239.192952 deg, deltaT: 4.483913 s, approachRate: 0.200718 m/s, LOS rate: 0.293649 deg/s, posRepo size: 4
2021-08-15T16:26:13.270Z,1629044773.270 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:26:13.617Z,1629044773.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:26:13.617Z,1629044773.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:26:13.617Z,1629044773.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:26:13.618Z,1629044773.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:26:14.034Z,1629044774.034 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E82,000,00528,186,80,80,9C,FF
2021-08-15T16:26:14.034Z,1629044774.034 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:26:14.034Z,1629044774.034 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:26:14.037Z,1629044774.037 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:26:14.429Z,1629044774.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:26:14.834Z,1629044774.834 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E87,000,0053A,187,80,80,9D,FF
2021-08-15T16:26:14.835Z,1629044774.835 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:26:15.243Z,1629044775.243 [Micromodem](INFO): Nmea in: $SNTTA,0.436456,0.436825,,,162615.05*54

2021-08-15T16:26:15.278Z,1629044775.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.780003 m, bearing: 239.727509 deg, deltaT: 4.427760 s, approachRate: 0.243916 m/s, LOS rate: 0.120729 deg/s, posRepo size: 4
2021-08-15T16:26:17.705Z,1629044777.705 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:26:18.064Z,1629044778.064 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:26:18.064Z,1629044778.064 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:26:18.065Z,1629044778.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:26:18.066Z,1629044778.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:26:18.478Z,1629044778.478 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E87,000,0053A,187,80,80,9D,FF
2021-08-15T16:26:18.479Z,1629044778.479 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:26:18.479Z,1629044778.479 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:26:18.481Z,1629044778.481 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:26:18.879Z,1629044778.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:26:19.269Z,1629044779.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAE,000,00546,186,80,80,9D,FF
2021-08-15T16:26:19.270Z,1629044779.270 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:26:19.706Z,1629044779.706 [Micromodem](INFO): Nmea in: $SNTTA,0.028605,,,,162619.50*47

2021-08-15T16:26:19.752Z,1629044779.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.500000 m, bearing: 238.218857 deg, deltaT: 4.432764 s, approachRate: 0.162426 m/s, LOS rate: -0.340341 deg/s, posRepo size: 4
2021-08-15T16:26:22.120Z,1629044782.120 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:26:22.529Z,1629044782.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:26:22.529Z,1629044782.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:26:22.529Z,1629044782.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:26:22.530Z,1629044782.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:26:22.913Z,1629044782.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAE,000,00546,186,80,80,9D,FF
2021-08-15T16:26:22.913Z,1629044782.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:26:22.913Z,1629044782.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:26:22.915Z,1629044782.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:26:23.337Z,1629044783.337 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:26:23.713Z,1629044783.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E96,000,00557,186,80,80,9A,FF
2021-08-15T16:26:23.714Z,1629044783.714 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:26:24.153Z,1629044784.153 [Micromodem](INFO): Nmea in: $SNTTA,0.044489,,,,162623.93*4D

2021-08-15T16:26:24.187Z,1629044784.187 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.520000 m, bearing: 239.035393 deg, deltaT: 4.439724 s, approachRate: 0.229744 m/s, LOS rate: 0.183916 deg/s, posRepo size: 4
2021-08-15T16:26:26.582Z,1629044786.582 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:26:26.945Z,1629044786.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:26:26.945Z,1629044786.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:26:26.945Z,1629044786.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:26:26.946Z,1629044786.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:26:27.354Z,1629044787.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E96,000,00557,186,80,80,9A,FF
2021-08-15T16:26:27.354Z,1629044787.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:26:27.354Z,1629044787.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:26:27.355Z,1629044787.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:26:27.761Z,1629044787.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:26:28.157Z,1629044788.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,063,000,00566,186,80,80,49,FF
2021-08-15T16:26:28.158Z,1629044788.158 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:26:28.593Z,1629044788.593 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162628.37*53

2021-08-15T16:26:28.636Z,1629044788.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.419998 m, bearing: 215.674711 deg, deltaT: 4.409420 s, approachRate: 0.204108 m/s, LOS rate: -5.297903 deg/s, posRepo size: 4
2021-08-15T16:26:31.167Z,1629044791.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:26:31.389Z,1629044791.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:26:31.389Z,1629044791.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:26:31.389Z,1629044791.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:26:31.390Z,1629044791.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:26:31.801Z,1629044791.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
063,000,00566,186,80,80,49,FF
2021-08-15T16:26:31.801Z,1629044791.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:26:31.802Z,1629044791.802 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:26:31.803Z,1629044791.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:26:32.205Z,1629044792.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:26:32.601Z,1629044792.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB6,000,00576,18A,80,80,60,FF
2021-08-15T16:26:32.602Z,1629044792.602 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:26:33.037Z,1629044793.037 [Micromodem](INFO): Nmea in: $SNTTA,0.047323,,,,162632.82*49

2021-08-15T16:26:33.103Z,1629044793.103 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.380001 m, bearing: 250.057788 deg, deltaT: 4.449483 s, approachRate: 0.215756 m/s, LOS rate: 7.727432 deg/s, posRepo size: 4
2021-08-15T16:26:35.553Z,1629044795.553 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:26:35.841Z,1629044795.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:26:35.841Z,1629044795.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:26:35.841Z,1629044795.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:26:35.842Z,1629044795.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:26:36.246Z,1629044796.246 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB6,000,00576,18A,80,80,60,FF
2021-08-15T16:26:36.246Z,1629044796.246 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:26:36.246Z,1629044796.246 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:26:36.248Z,1629044796.248 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:26:36.645Z,1629044796.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:26:37.049Z,1629044797.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D64,000,00586,189,80,80,84,FF
2021-08-15T16:26:37.049Z,1629044797.049 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:26:37.497Z,1629044797.497 [Micromodem](INFO): Nmea in: $SNTTA,0.031118,,,,162637.26*49

2021-08-15T16:26:37.559Z,1629044797.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.339996 m, bearing: 254.725403 deg, deltaT: 4.470277 s, approachRate: 0.214751 m/s, LOS rate: 1.044144 deg/s, posRepo size: 4
2021-08-15T16:26:39.924Z,1629044799.924 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:26:40.277Z,1629044800.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:26:40.277Z,1629044800.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:26:40.277Z,1629044800.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:26:40.278Z,1629044800.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:26:40.681Z,1629044800.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D64,000,00586,189,80,80,84,FF
2021-08-15T16:26:40.681Z,1629044800.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:26:40.681Z,1629044800.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:26:40.683Z,1629044800.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:26:41.125Z,1629044801.125 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:26:41.528Z,1629044801.528 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F3,000,00594,187,80,80,53,FF
2021-08-15T16:26:41.529Z,1629044801.529 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:26:41.929Z,1629044801.929 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162641.70*5F

2021-08-15T16:26:41.969Z,1629044801.969 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.179996 m, bearing: 209.346282 deg, deltaT: 4.460456 s, approachRate: 0.188322 m/s, LOS rate: -10.173650 deg/s, posRepo size: 4
2021-08-15T16:26:44.360Z,1629044804.360 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:26:44.721Z,1629044804.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:26:44.721Z,1629044804.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:26:44.721Z,1629044804.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:26:44.722Z,1629044804.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:26:45.181Z,1629044805.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F3,000,00594,187,80,80,53,FF
2021-08-15T16:26:45.181Z,1629044805.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:26:45.181Z,1629044805.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:26:45.182Z,1629044805.182 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:26:45.559Z,1629044805.559 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:26:45.945Z,1629044805.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01D,000,005A5,184,80,80,6A,FF
2021-08-15T16:26:45.945Z,1629044805.945 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:26:46.367Z,1629044806.367 [Micromodem](INFO): Nmea in: $SNTTA,0.040762,,,,162646.20*44

2021-08-15T16:26:46.412Z,1629044806.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.199993 m, bearing: 220.474763 deg, deltaT: 4.423196 s, approachRate: 0.230602 m/s, LOS rate: 2.515937 deg/s, posRepo size: 4
2021-08-15T16:26:48.494Z,1629044808.494 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:26:48.777Z,1629044808.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:26:48.777Z,1629044808.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:26:48.777Z,1629044808.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:26:48.778Z,1629044808.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:26:49.189Z,1629044809.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01D,000,005A5,184,80,80,6A,FF
2021-08-15T16:26:49.189Z,1629044809.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:26:49.189Z,1629044809.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:26:49.191Z,1629044809.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:26:49.580Z,1629044809.580 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:26:49.987Z,1629044809.987 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F45,000,005B1,187,80,80,5B,FF
2021-08-15T16:26:49.987Z,1629044809.987 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:26:50.417Z,1629044810.417 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162650.21*5B

2021-08-15T16:26:50.491Z,1629044810.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.920002 m, bearing: 232.295253 deg, deltaT: 4.045392 s, approachRate: 0.177982 m/s, LOS rate: 2.921964 deg/s, posRepo size: 4
2021-08-15T16:26:52.860Z,1629044812.860 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:26:53.213Z,1629044813.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:26:53.213Z,1629044813.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:26:53.213Z,1629044813.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:26:53.214Z,1629044813.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:26:53.617Z,1629044813.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F45,000,005B1,187,80,80,5B,FF
2021-08-15T16:26:53.617Z,1629044813.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:26:53.618Z,1629044813.618 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:26:53.619Z,1629044813.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:26:54.032Z,1629044814.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:26:54.427Z,1629044814.427 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E20,000,005BE,187,80,80,49,FF
2021-08-15T16:26:54.427Z,1629044814.427 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:26:54.869Z,1629044814.869 [Micromodem](INFO): Nmea in: $SNTTA,0.056730,,,,162654.64*47

2021-08-15T16:26:54.912Z,1629044814.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.699997 m, bearing: 247.603510 deg, deltaT: 4.465234 s, approachRate: 0.174682 m/s, LOS rate: 3.428321 deg/s, posRepo size: 4
2021-08-15T16:26:57.304Z,1629044817.304 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:26:57.657Z,1629044817.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:26:57.657Z,1629044817.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:26:57.657Z,1629044817.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:26:57.658Z,1629044817.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:26:58.066Z,1629044818.066 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E20,000,005BE,187,80,80,49,FF
2021-08-15T16:26:58.066Z,1629044818.066 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:26:58.066Z,1629044818.066 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:26:58.068Z,1629044818.068 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:26:58.494Z,1629044818.494 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:26:58.873Z,1629044818.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,001,000,005CC,183,80,80,54,FF
2021-08-15T16:26:58.873Z,1629044818.873 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:26:59.293Z,1629044819.293 [Micromodem](INFO): Nmea in: $SNTTA,0.066368,0.461679,,,162659.09*5E

2021-08-15T16:26:59.343Z,1629044819.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.539997 m, bearing: 223.916837 deg, deltaT: 4.396390 s, approachRate: 0.191066 m/s, LOS rate: -5.387755 deg/s, posRepo size: 4
2021-08-15T16:27:01.754Z,1629044821.754 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:27:02.105Z,1629044822.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:27:02.105Z,1629044822.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:27:02.105Z,1629044822.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:27:02.106Z,1629044822.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:27:02.525Z,1629044822.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
001,000,005CC,183,80,80,54,FF
2021-08-15T16:27:02.525Z,1629044822.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:27:02.525Z,1629044822.525 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:27:02.527Z,1629044822.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:27:02.920Z,1629044822.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:27:03.317Z,1629044823.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D6D,000,005DE,18A,80,80,74,FF
2021-08-15T16:27:03.318Z,1629044823.318 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:27:03.753Z,1629044823.753 [Micromodem](INFO): Nmea in: $SNTTA,0.048728,,,,162703.54*41

2021-08-15T16:27:03.803Z,1629044823.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.620003 m, bearing: 257.038761 deg, deltaT: 4.518375 s, approachRate: 0.239025 m/s, LOS rate: 7.330495 deg/s, posRepo size: 4
2021-08-15T16:27:06.174Z,1629044826.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:27:06.545Z,1629044826.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:27:06.545Z,1629044826.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:27:06.545Z,1629044826.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:27:06.546Z,1629044826.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:27:06.961Z,1629044826.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D6D,000,005DE,18A,80,80,74,FF
2021-08-15T16:27:06.961Z,1629044826.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:27:06.961Z,1629044826.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:27:06.963Z,1629044826.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:27:07.397Z,1629044827.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:27:07.797Z,1629044827.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D5D,000,005EE,18A,80,80,5F,FF
2021-08-15T16:27:07.798Z,1629044827.798 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:27:08.225Z,1629044828.225 [Micromodem](INFO): Nmea in: $SNTTA,0.056170,,,,162707.98*41

2021-08-15T16:27:08.247Z,1629044828.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.579998 m, bearing: 257.810763 deg, deltaT: 4.407073 s, approachRate: 0.217831 m/s, LOS rate: 0.175174 deg/s, posRepo size: 4
2021-08-15T16:27:10.645Z,1629044830.645 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:27:11.037Z,1629044831.037 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:27:11.037Z,1629044831.037 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:27:11.037Z,1629044831.037 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:27:11.038Z,1629044831.038 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:27:11.433Z,1629044831.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D5D,000,005EE,18A,80,80,5F,FF
2021-08-15T16:27:11.433Z,1629044831.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:27:11.433Z,1629044831.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:27:11.435Z,1629044831.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:27:11.849Z,1629044831.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:27:12.233Z,1629044832.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D43,000,005FB,189,80,80,85,FF
2021-08-15T16:27:12.234Z,1629044832.234 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:27:12.678Z,1629044832.678 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162712.45*5E

2021-08-15T16:27:12.709Z,1629044832.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.359993 m, bearing: 258.701830 deg, deltaT: 4.458865 s, approachRate: 0.174931 m/s, LOS rate: 0.199842 deg/s, posRepo size: 4
2021-08-15T16:27:15.166Z,1629044835.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:27:15.492Z,1629044835.492 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:27:15.492Z,1629044835.492 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:27:15.492Z,1629044835.492 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:27:15.493Z,1629044835.493 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:27:15.882Z,1629044835.882 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D43,000,005FB,189,80,80,85,FF
2021-08-15T16:27:15.882Z,1629044835.882 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:27:15.883Z,1629044835.883 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:27:15.885Z,1629044835.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:27:16.285Z,1629044836.285 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:27:16.699Z,1629044836.699 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D77,000,0060D,189,80,80,69,FF
2021-08-15T16:27:16.699Z,1629044836.699 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:27:17.169Z,1629044837.169 [Micromodem](INFO): Nmea in: $SNTTA,0.060868,,,,162716.91*4D

2021-08-15T16:27:17.215Z,1629044837.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.439999 m, bearing: 255.187998 deg, deltaT: 4.459857 s, approachRate: 0.242161 m/s, LOS rate: -0.787880 deg/s, posRepo size: 4
2021-08-15T16:27:19.561Z,1629044839.561 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:27:19.918Z,1629044839.918 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:27:19.918Z,1629044839.918 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:27:19.918Z,1629044839.918 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:27:19.919Z,1629044839.919 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:27:20.317Z,1629044840.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D77,000,0060D,189,80,80,69,FF
2021-08-15T16:27:20.317Z,1629044840.317 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:27:20.318Z,1629044840.318 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:27:20.319Z,1629044840.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:27:20.733Z,1629044840.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:27:21.181Z,1629044841.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1E,000,00616,187,80,80,53,FF
2021-08-15T16:27:21.182Z,1629044841.181 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:27:21.573Z,1629044841.573 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162721.34*58

2021-08-15T16:27:21.622Z,1629044841.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.980003 m, bearing: 245.850528 deg, deltaT: 4.512501 s, approachRate: 0.119669 m/s, LOS rate: -2.069245 deg/s, posRepo size: 4
2021-08-15T16:27:23.974Z,1629044843.974 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:27:24.363Z,1629044844.363 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:27:24.363Z,1629044844.363 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:27:24.363Z,1629044844.363 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:27:24.364Z,1629044844.364 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:27:24.769Z,1629044844.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1E,000,00616,187,80,80,53,FF
2021-08-15T16:27:24.769Z,1629044844.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:27:24.769Z,1629044844.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:27:24.771Z,1629044844.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:27:25.204Z,1629044845.204 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:27:25.577Z,1629044845.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E34,000,00626,187,80,80,A0,FF
2021-08-15T16:27:25.578Z,1629044845.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:27:25.995Z,1629044845.995 [Micromodem](INFO): Nmea in: $SNTTA,0.052692,,,,162725.81*46

2021-08-15T16:27:26.032Z,1629044846.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.939999 m, bearing: 244.743354 deg, deltaT: 4.357795 s, approachRate: 0.220294 m/s, LOS rate: -0.254067 deg/s, posRepo size: 4
2021-08-15T16:27:28.502Z,1629044848.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:27:28.805Z,1629044848.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:27:28.805Z,1629044848.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:27:28.805Z,1629044848.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:27:28.806Z,1629044848.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:27:29.205Z,1629044849.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E34,000,00626,187,80,80,A0,FF
2021-08-15T16:27:29.205Z,1629044849.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:27:29.205Z,1629044849.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:27:29.207Z,1629044849.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:27:29.617Z,1629044849.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:27:30.013Z,1629044850.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E03,000,00639,187,80,80,68,FF
2021-08-15T16:27:30.013Z,1629044850.013 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:27:30.478Z,1629044850.478 [Micromodem](INFO): Nmea in: $SNTTA,0.053750,,,,162730.23*44

2021-08-15T16:27:30.533Z,1629044850.533 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.080006 m, bearing: 247.369726 deg, deltaT: 4.457691 s, approachRate: 0.255739 m/s, LOS rate: 0.589178 deg/s, posRepo size: 4
2021-08-15T16:27:32.864Z,1629044852.864 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:27:33.249Z,1629044853.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:27:33.249Z,1629044853.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:27:33.249Z,1629044853.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:27:33.250Z,1629044853.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:27:33.657Z,1629044853.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E03,000,00639,187,80,80,68,FF
2021-08-15T16:27:33.657Z,1629044853.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:27:33.657Z,1629044853.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:27:33.659Z,1629044853.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:27:34.057Z,1629044854.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:27:34.473Z,1629044854.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E89,000,00647,187,80,80,86,FF
2021-08-15T16:27:34.474Z,1629044854.474 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:27:34.902Z,1629044854.902 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162734.68*55

2021-08-15T16:27:34.924Z,1629044854.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.920006 m, bearing: 241.003143 deg, deltaT: 4.460248 s, approachRate: 0.188330 m/s, LOS rate: -1.427406 deg/s, posRepo size: 4
2021-08-15T16:27:37.328Z,1629044857.328 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:27:37.697Z,1629044857.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:27:37.697Z,1629044857.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:27:37.697Z,1629044857.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:27:37.698Z,1629044857.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:27:38.097Z,1629044858.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E89,000,00647,187,80,80,86,FF
2021-08-15T16:27:38.097Z,1629044858.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:27:38.097Z,1629044858.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:27:38.099Z,1629044858.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:27:38.525Z,1629044858.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:27:38.901Z,1629044858.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5E,000,00656,186,80,80,A1,FF
2021-08-15T16:27:38.902Z,1629044858.902 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:27:39.337Z,1629044859.337 [Micromodem](INFO): Nmea in: $SNTTA,,0.445722,,,162739.12*49

2021-08-15T16:27:39.387Z,1629044859.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.820000 m, bearing: 243.231506 deg, deltaT: 4.395689 s, approachRate: 0.204745 m/s, LOS rate: 0.506943 deg/s, posRepo size: 4
2021-08-15T16:27:41.769Z,1629044861.769 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:27:42.141Z,1629044862.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:27:42.141Z,1629044862.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:27:42.141Z,1629044862.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:27:42.142Z,1629044862.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:27:42.541Z,1629044862.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5E,000,00656,186,80,80,A1,FF
2021-08-15T16:27:42.541Z,1629044862.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:27:42.541Z,1629044862.541 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:27:42.543Z,1629044862.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:27:42.955Z,1629044862.955 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:27:43.345Z,1629044863.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E93,000,00668,186,80,80,7B,FF
2021-08-15T16:27:43.346Z,1629044863.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:27:43.817Z,1629044863.817 [Micromodem](INFO): Nmea in: $SNTTA,0.068289,,,,162743.56*4B

2021-08-15T16:27:43.839Z,1629044863.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.900002 m, bearing: 240.314824 deg, deltaT: 4.605171 s, approachRate: 0.234519 m/s, LOS rate: -0.633349 deg/s, posRepo size: 4
2021-08-15T16:27:46.238Z,1629044866.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:27:46.609Z,1629044866.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:27:46.609Z,1629044866.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:27:46.609Z,1629044866.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:27:46.610Z,1629044866.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:27:47.013Z,1629044867.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E93,000,00668,186,80,80,7B,FF
2021-08-15T16:27:47.013Z,1629044867.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:27:47.013Z,1629044867.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:27:47.015Z,1629044867.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:27:47.432Z,1629044867.432 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:27:47.829Z,1629044867.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E87,000,0067A,186,80,80,8B,FF
2021-08-15T16:27:47.830Z,1629044867.830 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:27:48.273Z,1629044868.273 [Micromodem](INFO): Nmea in: $SNTTA,0.046308,,,,162748.03*44

2021-08-15T16:27:48.296Z,1629044868.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.980007 m, bearing: 240.148249 deg, deltaT: 4.323646 s, approachRate: 0.249790 m/s, LOS rate: -0.038526 deg/s, posRepo size: 4
2021-08-15T16:27:50.694Z,1629044870.694 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:27:51.061Z,1629044871.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:27:51.061Z,1629044871.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:27:51.062Z,1629044871.062 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:27:51.063Z,1629044871.063 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:27:51.478Z,1629044871.478 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E87,000,0067A,186,80,80,8B,FF
2021-08-15T16:27:51.479Z,1629044871.479 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:27:51.480Z,1629044871.480 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:27:51.482Z,1629044871.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:27:51.879Z,1629044871.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:27:52.269Z,1629044872.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEB,000,0068A,186,80,80,76,FF
2021-08-15T16:27:52.270Z,1629044872.270 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:27:52.693Z,1629044872.693 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162752.50*5E

2021-08-15T16:27:52.739Z,1629044872.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.940002 m, bearing: 234.131290 deg, deltaT: 4.459072 s, approachRate: 0.215290 m/s, LOS rate: -1.349375 deg/s, posRepo size: 4
2021-08-15T16:27:55.190Z,1629044875.190 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:27:55.528Z,1629044875.528 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:27:55.528Z,1629044875.528 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:27:55.529Z,1629044875.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:27:55.530Z,1629044875.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:27:55.909Z,1629044875.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEB,000,0068A,186,80,80,76,FF
2021-08-15T16:27:55.909Z,1629044875.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:27:55.909Z,1629044875.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:27:55.911Z,1629044875.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:27:56.331Z,1629044876.331 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:27:56.709Z,1629044876.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6E,000,0069A,186,80,80,7C,FF
2021-08-15T16:27:56.710Z,1629044876.710 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:27:57.177Z,1629044877.177 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162756.93*55

2021-08-15T16:27:57.249Z,1629044877.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.899998 m, bearing: 240.342664 deg, deltaT: 4.450417 s, approachRate: 0.215709 m/s, LOS rate: 1.395684 deg/s, posRepo size: 4
2021-08-15T16:27:59.579Z,1629044879.579 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:27:59.945Z,1629044879.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:27:59.945Z,1629044879.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:27:59.945Z,1629044879.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:27:59.946Z,1629044879.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:28:00.354Z,1629044880.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6E,000,0069A,186,80,80,7C,FF
2021-08-15T16:28:00.354Z,1629044880.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:28:00.354Z,1629044880.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:28:00.355Z,1629044880.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:28:00.761Z,1629044880.761 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:28:01.185Z,1629044881.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E84,000,006AB,186,80,80,8A,FF
2021-08-15T16:28:01.185Z,1629044881.185 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:28:01.605Z,1629044881.605 [Micromodem](INFO): Nmea in: $SNTTA,0.053297,,,,162801.38*4D

2021-08-15T16:28:01.631Z,1629044881.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.919998 m, bearing: 238.941027 deg, deltaT: 4.493946 s, approachRate: 0.226972 m/s, LOS rate: -0.311894 deg/s, posRepo size: 4
2021-08-15T16:28:04.026Z,1629044884.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:28:04.393Z,1629044884.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:28:04.393Z,1629044884.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:28:04.393Z,1629044884.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:28:04.394Z,1629044884.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:28:04.797Z,1629044884.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E84,000,006AB,186,80,80,8A,FF
2021-08-15T16:28:04.798Z,1629044884.798 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:28:04.798Z,1629044884.798 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:28:04.799Z,1629044884.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:28:05.201Z,1629044885.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:28:05.613Z,1629044885.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA9,000,006BD,185,80,80,8C,FF
2021-08-15T16:28:05.614Z,1629044885.614 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:28:06.051Z,1629044886.051 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162805.82*5C

2021-08-15T16:28:06.067Z,1629044886.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.000000 m, bearing: 236.688348 deg, deltaT: 4.409638 s, approachRate: 0.244918 m/s, LOS rate: -0.510853 deg/s, posRepo size: 4
2021-08-15T16:28:08.515Z,1629044888.515 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:28:08.849Z,1629044888.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:28:08.849Z,1629044888.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:28:08.849Z,1629044888.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:28:08.850Z,1629044888.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:28:09.241Z,1629044889.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA9,000,006BD,185,80,80,8C,FF
2021-08-15T16:28:09.241Z,1629044889.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:28:09.241Z,1629044889.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:28:09.243Z,1629044889.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:28:09.657Z,1629044889.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:28:10.041Z,1629044890.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFB,000,006CD,187,80,80,8A,FF
2021-08-15T16:28:10.041Z,1629044890.041 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:28:10.501Z,1629044890.501 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162810.26*56

2021-08-15T16:28:10.546Z,1629044890.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.960007 m, bearing: 231.875469 deg, deltaT: 4.483906 s, approachRate: 0.214101 m/s, LOS rate: -1.073368 deg/s, posRepo size: 4
2021-08-15T16:28:12.904Z,1629044892.904 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:28:13.273Z,1629044893.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:28:13.273Z,1629044893.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:28:13.273Z,1629044893.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:28:13.274Z,1629044893.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:28:13.686Z,1629044893.686 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFB,000,006CD,187,80,80,8A,FF
2021-08-15T16:28:13.686Z,1629044893.686 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:28:13.686Z,1629044893.686 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:28:13.689Z,1629044893.689 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:28:14.081Z,1629044894.081 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:28:14.525Z,1629044894.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED7,000,006DC,186,80,80,7E,FF
2021-08-15T16:28:14.526Z,1629044894.526 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:28:14.930Z,1629044894.930 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162814.71*50

2021-08-15T16:28:14.945Z,1629044894.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.860001 m, bearing: 233.659651 deg, deltaT: 4.409411 s, approachRate: 0.204108 m/s, LOS rate: 0.404630 deg/s, posRepo size: 4
2021-08-15T16:28:17.371Z,1629044897.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:28:17.726Z,1629044897.726 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:28:17.726Z,1629044897.726 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:28:17.727Z,1629044897.727 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:28:17.727Z,1629044897.727 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:28:18.117Z,1629044898.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED7,000,006DC,186,80,80,7E,FF
2021-08-15T16:28:18.117Z,1629044898.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:28:18.118Z,1629044898.118 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:28:18.120Z,1629044898.120 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:28:18.551Z,1629044898.551 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:28:18.929Z,1629044898.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC1,000,006EA,187,80,80,8B,FF
2021-08-15T16:28:18.929Z,1629044898.930 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:28:19.369Z,1629044899.369 [Micromodem](INFO): Nmea in: $SNTTA,0.053437,0.394047,,,162819.14*55

2021-08-15T16:28:19.477Z,1629044899.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.699997 m, bearing: 234.657979 deg, deltaT: 4.420588 s, approachRate: 0.190019 m/s, LOS rate: 0.225836 deg/s, posRepo size: 4
2021-08-15T16:28:21.823Z,1629044901.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:28:22.170Z,1629044902.170 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:28:22.170Z,1629044902.170 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:28:22.170Z,1629044902.170 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:28:22.171Z,1629044902.171 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:28:22.573Z,1629044902.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC1,000,006EA,187,80,80,8B,FF
2021-08-15T16:28:22.573Z,1629044902.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:28:22.573Z,1629044902.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:28:22.575Z,1629044902.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:28:22.978Z,1629044902.978 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:28:23.381Z,1629044903.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBD,000,006FC,186,80,80,8D,FF
2021-08-15T16:28:23.382Z,1629044903.382 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:28:23.810Z,1629044903.810 [Micromodem](INFO): Nmea in: $SNTTA,0.205469,,,,162823.60*46

2021-08-15T16:28:23.847Z,1629044903.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.780006 m, bearing: 234.667377 deg, deltaT: 4.538982 s, approachRate: 0.237941 m/s, LOS rate: 0.002071 deg/s, posRepo size: 4
2021-08-15T16:28:24.333Z,1629044904.333 [CTD_Seabird](ERROR): Failed to parse device response: 0,4.75701,4668.18
2021-08-15T16:28:26.219Z,1629044906.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:28:26.601Z,1629044906.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:28:26.601Z,1629044906.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:28:26.601Z,1629044906.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:28:26.602Z,1629044906.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:28:27.014Z,1629044907.014 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBD,000,006FC,186,80,80,8D,FF
2021-08-15T16:28:27.014Z,1629044907.014 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:28:27.014Z,1629044907.014 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:28:27.016Z,1629044907.016 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:28:27.429Z,1629044907.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:28:27.822Z,1629044907.822 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F89,000,0070C,187,80,80,3D,FF
2021-08-15T16:28:27.823Z,1629044907.823 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:28:28.245Z,1629044908.245 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162828.04*5D

2021-08-15T16:28:28.267Z,1629044908.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.739998 m, bearing: 224.435235 deg, deltaT: 4.327380 s, approachRate: 0.221841 m/s, LOS rate: -2.364512 deg/s, posRepo size: 4
2021-08-15T16:28:30.701Z,1629044910.701 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:28:31.053Z,1629044911.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:28:31.053Z,1629044911.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:28:31.053Z,1629044911.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:28:31.054Z,1629044911.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:28:31.481Z,1629044911.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F89,000,0070C,187,80,80,3D,FF
2021-08-15T16:28:31.482Z,1629044911.482 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:28:31.482Z,1629044911.482 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:28:31.483Z,1629044911.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:28:31.861Z,1629044911.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:28:32.265Z,1629044912.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB6,000,00722,186,80,80,A0,FF
2021-08-15T16:28:32.266Z,1629044912.266 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:28:32.679Z,1629044912.679 [Micromodem](INFO): Nmea in: $SNTTA,0.050304,,,,162832.51*4A

2021-08-15T16:28:32.727Z,1629044912.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.060005 m, bearing: 234.598529 deg, deltaT: 4.442068 s, approachRate: 0.297161 m/s, LOS rate: 2.287965 deg/s, posRepo size: 4
2021-08-15T16:28:35.179Z,1629044915.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:28:35.525Z,1629044915.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:28:35.525Z,1629044915.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:28:35.525Z,1629044915.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:28:35.526Z,1629044915.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:28:35.893Z,1629044915.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB6,000,00722,186,80,80,A0,FF
2021-08-15T16:28:35.893Z,1629044915.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:28:35.893Z,1629044915.893 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:28:35.895Z,1629044915.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:28:36.305Z,1629044916.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:28:36.697Z,1629044916.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1B,000,0072F,187,80,80,32,FF
2021-08-15T16:28:36.698Z,1629044916.698 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:28:37.174Z,1629044917.174 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162836.91*5E

2021-08-15T16:28:37.220Z,1629044917.220 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.840004 m, bearing: 241.885631 deg, deltaT: 4.466866 s, approachRate: 0.174619 m/s, LOS rate: 1.631368 deg/s, posRepo size: 4
2021-08-15T16:28:39.562Z,1629044919.562 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:28:39.933Z,1629044919.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:28:39.933Z,1629044919.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:28:39.933Z,1629044919.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:28:39.934Z,1629044919.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:28:40.337Z,1629044920.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1B,000,0072F,187,80,80,32,FF
2021-08-15T16:28:40.337Z,1629044920.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:28:40.337Z,1629044920.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:28:40.339Z,1629044920.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:28:40.753Z,1629044920.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:28:41.177Z,1629044921.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E49,000,0073F,187,80,80,82,FF
2021-08-15T16:28:41.177Z,1629044921.177 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:28:41.581Z,1629044921.581 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162841.36*53

2021-08-15T16:28:41.630Z,1629044921.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.799995 m, bearing: 239.200328 deg, deltaT: 4.507982 s, approachRate: 0.212954 m/s, LOS rate: -0.595677 deg/s, posRepo size: 4
2021-08-15T16:28:43.995Z,1629044923.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:28:44.381Z,1629044924.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:28:44.381Z,1629044924.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:28:44.382Z,1629044924.382 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:28:44.383Z,1629044924.383 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:28:44.781Z,1629044924.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E49,000,0073F,187,80,80,82,FF
2021-08-15T16:28:44.781Z,1629044924.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:28:44.781Z,1629044924.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:28:44.783Z,1629044924.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:28:45.197Z,1629044925.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:28:45.594Z,1629044925.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E35,000,00758,187,80,80,84,FF
2021-08-15T16:28:45.594Z,1629044925.594 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:28:46.029Z,1629044926.029 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162845.80*5A

2021-08-15T16:28:46.052Z,1629044926.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.300003 m, bearing: 240.189640 deg, deltaT: 4.363847 s, approachRate: 0.343735 m/s, LOS rate: 0.226706 deg/s, posRepo size: 4
2021-08-15T16:28:48.518Z,1629044928.518 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:28:48.821Z,1629044928.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:28:48.821Z,1629044928.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:28:48.821Z,1629044928.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:28:48.822Z,1629044928.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:28:49.229Z,1629044929.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E35,000,00758,187,80,80,84,FF
2021-08-15T16:28:49.229Z,1629044929.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:28:49.229Z,1629044929.229 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:28:49.231Z,1629044929.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:28:49.632Z,1629044929.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:28:50.033Z,1629044930.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5B,000,00762,185,80,80,95,FF
2021-08-15T16:28:50.034Z,1629044930.034 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:28:50.493Z,1629044930.493 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162850.25*51

2021-08-15T16:28:50.519Z,1629044930.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.900002 m, bearing: 237.934011 deg, deltaT: 4.490537 s, approachRate: 0.133614 m/s, LOS rate: -0.502307 deg/s, posRepo size: 4
2021-08-15T16:28:52.882Z,1629044932.882 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:28:53.270Z,1629044933.270 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:28:53.270Z,1629044933.270 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:28:53.270Z,1629044933.270 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:28:53.271Z,1629044933.271 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:28:53.669Z,1629044933.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5B,000,00762,185,80,80,95,FF
2021-08-15T16:28:53.669Z,1629044933.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:28:53.669Z,1629044933.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:28:53.671Z,1629044933.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:28:53.717Z,1629044933.717 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T16:28:54.089Z,1629044934.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:28:54.520Z,1629044934.520 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB8,000,00774,187,80,80,96,FF
2021-08-15T16:28:54.521Z,1629044934.521 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:28:54.917Z,1629044934.917 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162854.69*5D

2021-08-15T16:28:54.951Z,1629044934.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.980003 m, bearing: 233.472450 deg, deltaT: 4.436830 s, approachRate: 0.243417 m/s, LOS rate: -1.005574 deg/s, posRepo size: 4
2021-08-15T16:28:57.349Z,1629044937.349 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:28:57.713Z,1629044937.713 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:28:57.713Z,1629044937.713 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:28:57.713Z,1629044937.713 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:28:57.714Z,1629044937.714 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:28:58.119Z,1629044938.119 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB8,000,00774,187,80,80,96,FF
2021-08-15T16:28:58.119Z,1629044938.119 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:28:58.119Z,1629044938.119 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:28:58.121Z,1629044938.121 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:28:58.550Z,1629044938.550 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:28:58.568Z,1629044938.568 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T16:28:58.925Z,1629044938.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E51,000,00785,186,80,80,99,FF
2021-08-15T16:28:58.926Z,1629044938.926 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:28:59.357Z,1629044939.357 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162859.14*5A

2021-08-15T16:28:59.413Z,1629044939.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.000000 m, bearing: 238.380241 deg, deltaT: 4.393713 s, approachRate: 0.232149 m/s, LOS rate: 1.117003 deg/s, posRepo size: 4
2021-08-15T16:29:01.802Z,1629044941.802 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:29:02.157Z,1629044942.157 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:29:02.157Z,1629044942.157 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:29:02.157Z,1629044942.157 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:29:02.158Z,1629044942.158 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:29:02.581Z,1629044942.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E51,000,00785,186,80,80,99,FF
2021-08-15T16:29:02.581Z,1629044942.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:29:02.581Z,1629044942.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:29:02.583Z,1629044942.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:29:02.974Z,1629044942.974 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:29:03.377Z,1629044943.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEC,000,00799,186,80,80,84,FF
2021-08-15T16:29:03.377Z,1629044943.377 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:29:03.785Z,1629044943.785 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162903.60*57

2021-08-15T16:29:03.790Z,1629044943.790 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T16:29:03.821Z,1629044943.821 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.199997 m, bearing: 230.453233 deg, deltaT: 4.543241 s, approachRate: 0.264128 m/s, LOS rate: -1.744791 deg/s, posRepo size: 4
2021-08-15T16:29:06.221Z,1629044946.221 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:29:06.629Z,1629044946.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:29:06.629Z,1629044946.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:29:06.629Z,1629044946.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:29:06.630Z,1629044946.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:29:07.005Z,1629044947.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEC,000,00799,186,80,80,84,FF
2021-08-15T16:29:07.005Z,1629044947.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:29:07.005Z,1629044947.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:29:07.007Z,1629044947.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:29:07.428Z,1629044947.428 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:29:07.813Z,1629044947.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC6,000,007AC,184,80,80,5D,FF
2021-08-15T16:29:07.813Z,1629044947.813 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:29:08.261Z,1629044948.261 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162908.03*59

2021-08-15T16:29:08.280Z,1629044948.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.340004 m, bearing: 219.534123 deg, deltaT: 4.381910 s, approachRate: 0.260162 m/s, LOS rate: -2.491861 deg/s, posRepo size: 4
2021-08-15T16:29:08.633Z,1629044948.633 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-08-15T16:29:10.701Z,1629044950.701 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:29:11.052Z,1629044951.052 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:29:11.052Z,1629044951.052 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:29:11.052Z,1629044951.052 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:29:11.053Z,1629044951.053 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:29:11.458Z,1629044951.458 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC6,000,007AC,184,80,80,5D,FF
2021-08-15T16:29:11.458Z,1629044951.458 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:29:11.459Z,1629044951.459 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:29:11.467Z,1629044951.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:29:11.865Z,1629044951.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:29:12.254Z,1629044952.254 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E23,000,007BC,187,80,80,81,FF
2021-08-15T16:29:12.254Z,1629044952.254 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:29:12.686Z,1629044952.686 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162912.49*5C

2021-08-15T16:29:12.712Z,1629044952.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.300003 m, bearing: 240.646279 deg, deltaT: 4.458118 s, approachRate: 0.215337 m/s, LOS rate: 4.735666 deg/s, posRepo size: 4
2021-08-15T16:29:13.565Z,1629044953.565 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T16:29:15.176Z,1629044955.176 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:29:15.526Z,1629044955.526 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:29:15.526Z,1629044955.526 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:29:15.527Z,1629044955.527 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:29:15.527Z,1629044955.527 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:29:15.889Z,1629044955.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E23,000,007BC,187,80,80,81,FF
2021-08-15T16:29:15.889Z,1629044955.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:29:15.889Z,1629044955.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:29:15.891Z,1629044955.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:29:16.305Z,1629044956.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:29:16.697Z,1629044956.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4E,000,007CD,186,80,80,90,FF
2021-08-15T16:29:16.697Z,1629044956.697 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:29:17.165Z,1629044957.165 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162916.91*5D

2021-08-15T16:29:17.222Z,1629044957.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.320000 m, bearing: 238.304562 deg, deltaT: 4.453899 s, approachRate: 0.229012 m/s, LOS rate: -0.525768 deg/s, posRepo size: 4
2021-08-15T16:29:19.545Z,1629044959.545 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-08-15T16:29:19.561Z,1629044959.561 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:29:19.925Z,1629044959.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:29:19.925Z,1629044959.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:29:19.925Z,1629044959.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:29:19.926Z,1629044959.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:29:20.333Z,1629044960.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4E,000,007CD,186,80,80,90,FF
2021-08-15T16:29:20.333Z,1629044960.333 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:29:20.334Z,1629044960.334 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:29:20.335Z,1629044960.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:29:20.753Z,1629044960.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:29:21.181Z,1629044961.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA1,000,007DB,185,80,80,9C,FF
2021-08-15T16:29:21.182Z,1629044961.182 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:29:21.586Z,1629044961.586 [Micromodem](INFO): Nmea in: $SNTTA,0.059424,,,,162921.36*44

2021-08-15T16:29:21.624Z,1629044961.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.160004 m, bearing: 233.900211 deg, deltaT: 4.507039 s, approachRate: 0.186376 m/s, LOS rate: -0.977216 deg/s, posRepo size: 4
2021-08-15T16:29:23.998Z,1629044963.998 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:29:24.373Z,1629044964.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:29:24.373Z,1629044964.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:29:24.373Z,1629044964.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:29:24.374Z,1629044964.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:29:24.781Z,1629044964.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA1,000,007DB,185,80,80,9C,FF
2021-08-15T16:29:24.781Z,1629044964.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:29:24.781Z,1629044964.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:29:24.783Z,1629044964.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:29:25.197Z,1629044965.197 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:29:25.585Z,1629044965.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB0,000,007EB,186,80,80,92,FF
2021-08-15T16:29:25.586Z,1629044965.586 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:29:26.033Z,1629044966.033 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162925.80*5D

2021-08-15T16:29:26.056Z,1629044966.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.119995 m, bearing: 233.285548 deg, deltaT: 4.358602 s, approachRate: 0.220252 m/s, LOS rate: -0.141023 deg/s, posRepo size: 4
2021-08-15T16:29:28.508Z,1629044968.508 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:29:28.817Z,1629044968.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:29:28.817Z,1629044968.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:29:28.817Z,1629044968.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:29:28.818Z,1629044968.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:29:28.863Z,1629044968.863 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T16:29:29.221Z,1629044969.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB0,000,007EB,186,80,80,92,FF
2021-08-15T16:29:29.221Z,1629044969.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:29:29.221Z,1629044969.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:29:29.223Z,1629044969.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:29:29.650Z,1629044969.650 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:29:30.037Z,1629044970.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBC,000,007FC,186,80,80,96,FF
2021-08-15T16:29:30.037Z,1629044970.037 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:29:30.481Z,1629044970.481 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162930.24*57

2021-08-15T16:29:30.516Z,1629044970.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.139999 m, bearing: 232.969092 deg, deltaT: 4.429247 s, approachRate: 0.230288 m/s, LOS rate: -0.071447 deg/s, posRepo size: 4
2021-08-15T16:29:32.894Z,1629044972.894 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:29:33.285Z,1629044973.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:29:33.286Z,1629044973.286 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:29:33.286Z,1629044973.286 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:29:33.287Z,1629044973.287 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:29:33.697Z,1629044973.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBC,000,007FC,186,80,80,96,FF
2021-08-15T16:29:33.697Z,1629044973.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:29:33.697Z,1629044973.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:29:33.699Z,1629044973.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:29:34.101Z,1629044974.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:29:34.517Z,1629044974.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAB,000,00809,186,80,80,9F,FF
2021-08-15T16:29:34.518Z,1629044974.518 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:29:34.935Z,1629044974.935 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162934.72*50

2021-08-15T16:29:34.955Z,1629044974.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.920006 m, bearing: 234.255490 deg, deltaT: 4.475935 s, approachRate: 0.174267 m/s, LOS rate: 0.287403 deg/s, posRepo size: 4
2021-08-15T16:29:37.371Z,1629044977.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:29:37.737Z,1629044977.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:29:37.737Z,1629044977.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:29:37.737Z,1629044977.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:29:37.738Z,1629044977.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:29:38.137Z,1629044978.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAB,000,00809,186,80,80,9F,FF
2021-08-15T16:29:38.137Z,1629044978.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:29:38.137Z,1629044978.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:29:38.139Z,1629044978.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:29:38.552Z,1629044978.552 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:29:38.573Z,1629044978.573 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T16:29:38.937Z,1629044978.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E60,000,00818,187,80,80,80,FF
2021-08-15T16:29:38.938Z,1629044978.938 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:29:39.393Z,1629044979.393 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162939.16*5F

2021-08-15T16:29:39.489Z,1629044979.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.820000 m, bearing: 238.366690 deg, deltaT: 4.424223 s, approachRate: 0.203424 m/s, LOS rate: 0.929248 deg/s, posRepo size: 4
2021-08-15T16:29:41.814Z,1629044981.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:29:42.173Z,1629044982.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:29:42.173Z,1629044982.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:29:42.173Z,1629044982.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:29:42.174Z,1629044982.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:29:42.579Z,1629044982.579 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E60,000,00818,187,80,80,80,FF
2021-08-15T16:29:42.579Z,1629044982.579 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:29:42.579Z,1629044982.579 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:29:42.581Z,1629044982.581 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:29:42.981Z,1629044982.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:29:43.381Z,1629044983.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC4,000,0082B,186,80,80,91,FF
2021-08-15T16:29:43.381Z,1629044983.381 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:29:43.825Z,1629044983.825 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162943.60*53

2021-08-15T16:29:43.844Z,1629044983.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.960007 m, bearing: 233.800900 deg, deltaT: 4.566150 s, approachRate: 0.249665 m/s, LOS rate: -0.999921 deg/s, posRepo size: 4
2021-08-15T16:29:46.244Z,1629044986.244 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:29:46.617Z,1629044986.617 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:29:46.617Z,1629044986.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:29:46.617Z,1629044986.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:29:46.618Z,1629044986.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:29:47.029Z,1629044987.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC4,000,0082B,186,80,80,91,FF
2021-08-15T16:29:47.029Z,1629044987.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:29:47.029Z,1629044987.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:29:47.031Z,1629044987.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:29:47.429Z,1629044987.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:29:47.834Z,1629044987.834 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF5,000,00842,186,80,80,87,FF
2021-08-15T16:29:47.834Z,1629044987.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:29:48.269Z,1629044988.269 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162948.05*5B

2021-08-15T16:29:48.292Z,1629044988.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.340004 m, bearing: 231.287609 deg, deltaT: 4.311067 s, approachRate: 0.320106 m/s, LOS rate: -0.582986 deg/s, posRepo size: 4
2021-08-15T16:29:48.671Z,1629044988.671 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T16:29:50.686Z,1629044990.686 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:29:51.060Z,1629044991.060 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:29:51.061Z,1629044991.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:29:51.061Z,1629044991.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:29:51.062Z,1629044991.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:29:51.479Z,1629044991.479 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF5,000,00842,186,80,80,87,FF
2021-08-15T16:29:51.479Z,1629044991.479 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:29:51.479Z,1629044991.479 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:29:51.481Z,1629044991.481 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:29:51.873Z,1629044991.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:29:52.265Z,1629044992.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7C,000,0084D,186,80,80,6E,FF
2021-08-15T16:29:52.265Z,1629044992.265 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:29:52.697Z,1629044992.697 [Micromodem](INFO): Nmea in: $SNTTA,0.061887,,,,162952.50*4E

2021-08-15T16:29:52.743Z,1629044992.743 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.000000 m, bearing: 237.322217 deg, deltaT: 4.430522 s, approachRate: 0.148966 m/s, LOS rate: 1.362054 deg/s, posRepo size: 4
2021-08-15T16:29:53.579Z,1629044993.579 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T16:29:55.170Z,1629044995.170 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:29:55.521Z,1629044995.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:29:55.521Z,1629044995.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:29:55.521Z,1629044995.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:29:55.522Z,1629044995.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:29:55.897Z,1629044995.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7C,000,0084D,186,80,80,6E,FF
2021-08-15T16:29:55.897Z,1629044995.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:29:55.898Z,1629044995.898 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:29:55.899Z,1629044995.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:29:56.308Z,1629044996.308 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:29:56.709Z,1629044996.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E82,000,00860,186,80,80,82,FF
2021-08-15T16:29:56.709Z,1629044996.709 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:29:57.169Z,1629044997.169 [Micromodem](INFO): Nmea in: $SNTTA,,,,,162956.92*5A

2021-08-15T16:29:57.228Z,1629044997.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.139999 m, bearing: 236.959015 deg, deltaT: 4.478944 s, approachRate: 0.254524 m/s, LOS rate: -0.081091 deg/s, posRepo size: 4
2021-08-15T16:29:59.582Z,1629044999.582 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:29:59.941Z,1629044999.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:29:59.941Z,1629044999.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:29:59.941Z,1629044999.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:29:59.942Z,1629044999.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:30:00.361Z,1629045000.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E82,000,00860,186,80,80,82,FF
2021-08-15T16:30:00.361Z,1629045000.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:30:00.362Z,1629045000.362 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:30:00.363Z,1629045000.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:30:00.753Z,1629045000.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:30:01.181Z,1629045001.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9E,000,00871,186,80,80,8A,FF
2021-08-15T16:30:01.181Z,1629045001.181 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:30:01.589Z,1629045001.589 [Micromodem](INFO): Nmea in: $SNTTA,0.068665,,,,163001.38*45

2021-08-15T16:30:01.615Z,1629045001.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.159996 m, bearing: 235.631609 deg, deltaT: 4.484921 s, approachRate: 0.227428 m/s, LOS rate: -0.295971 deg/s, posRepo size: 4
2021-08-15T16:30:03.999Z,1629045003.999 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:30:04.402Z,1629045004.402 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:30:04.402Z,1629045004.402 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:30:04.402Z,1629045004.402 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:30:04.403Z,1629045004.403 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:30:04.789Z,1629045004.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9E,000,00871,186,80,80,8A,FF
2021-08-15T16:30:04.789Z,1629045004.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:30:04.789Z,1629045004.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:30:04.791Z,1629045004.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:30:05.207Z,1629045005.207 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:30:05.597Z,1629045005.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E82,000,00881,186,80,80,84,FF
2021-08-15T16:30:05.597Z,1629045005.597 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:30:06.049Z,1629045006.049 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163005.81*56

2021-08-15T16:30:06.102Z,1629045006.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.120003 m, bearing: 236.396290 deg, deltaT: 4.415753 s, approachRate: 0.217405 m/s, LOS rate: 0.173171 deg/s, posRepo size: 4
2021-08-15T16:30:08.526Z,1629045008.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:30:08.849Z,1629045008.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:30:08.849Z,1629045008.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:30:08.849Z,1629045008.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:30:08.850Z,1629045008.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:30:09.233Z,1629045009.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E82,000,00881,186,80,80,84,FF
2021-08-15T16:30:09.233Z,1629045009.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:30:09.233Z,1629045009.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:30:09.237Z,1629045009.237 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:30:09.644Z,1629045009.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:30:10.052Z,1629045010.052 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEA,000,0088D,186,80,80,92,FF
2021-08-15T16:30:10.053Z,1629045010.053 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:30:10.493Z,1629045010.493 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163010.26*5F

2021-08-15T16:30:10.542Z,1629045010.542 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.839996 m, bearing: 230.266687 deg, deltaT: 4.418566 s, approachRate: 0.162947 m/s, LOS rate: -1.387238 deg/s, posRepo size: 4
2021-08-15T16:30:12.896Z,1629045012.896 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:30:13.277Z,1629045013.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:30:13.278Z,1629045013.278 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:30:13.278Z,1629045013.278 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:30:13.279Z,1629045013.279 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:30:13.677Z,1629045013.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEA,000,0088D,186,80,80,92,FF
2021-08-15T16:30:13.677Z,1629045013.677 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:30:13.677Z,1629045013.677 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:30:13.680Z,1629045013.680 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:30:14.101Z,1629045014.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:30:14.510Z,1629045014.510 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDC,000,0089A,187,80,80,9F,FF
2021-08-15T16:30:14.510Z,1629045014.510 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:30:14.950Z,1629045014.950 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163014.70*58

2021-08-15T16:30:15.002Z,1629045015.002 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.619995 m, bearing: 231.621714 deg, deltaT: 4.457423 s, approachRate: 0.174989 m/s, LOS rate: 0.303993 deg/s, posRepo size: 4
2021-08-15T16:30:17.388Z,1629045017.388 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:30:17.721Z,1629045017.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:30:17.721Z,1629045017.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:30:17.721Z,1629045017.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:30:17.722Z,1629045017.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:30:18.133Z,1629045018.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDC,000,0089A,187,80,80,9F,FF
2021-08-15T16:30:18.133Z,1629045018.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:30:18.133Z,1629045018.133 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:30:18.135Z,1629045018.135 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:30:18.561Z,1629045018.561 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:30:18.937Z,1629045018.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE4,000,008AB,186,80,80,98,FF
2021-08-15T16:30:18.937Z,1629045018.937 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:30:19.361Z,1629045019.361 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163019.15*56

2021-08-15T16:30:19.427Z,1629045019.427 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.640007 m, bearing: 231.353042 deg, deltaT: 4.457408 s, approachRate: 0.228835 m/s, LOS rate: -0.060275 deg/s, posRepo size: 4
2021-08-15T16:30:21.810Z,1629045021.810 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:30:22.165Z,1629045022.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:30:22.166Z,1629045022.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:30:22.166Z,1629045022.166 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:30:22.167Z,1629045022.167 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:30:22.573Z,1629045022.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE4,000,008AB,186,80,80,98,FF
2021-08-15T16:30:22.573Z,1629045022.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:30:22.573Z,1629045022.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:30:22.575Z,1629045022.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:30:22.977Z,1629045022.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:30:23.379Z,1629045023.379 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB5,000,008BB,186,80,80,97,FF
2021-08-15T16:30:23.379Z,1629045023.379 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:30:23.821Z,1629045023.821 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163023.60*5D

2021-08-15T16:30:23.826Z,1629045023.826 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T16:30:23.844Z,1629045023.844 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.600006 m, bearing: 234.818106 deg, deltaT: 4.442112 s, approachRate: 0.216113 m/s, LOS rate: 0.780049 deg/s, posRepo size: 4
2021-08-15T16:30:26.234Z,1629045026.234 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:30:26.632Z,1629045026.632 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:30:26.633Z,1629045026.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:30:26.633Z,1629045026.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:30:26.634Z,1629045026.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:30:27.013Z,1629045027.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB5,000,008BB,186,80,80,97,FF
2021-08-15T16:30:27.013Z,1629045027.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:30:27.013Z,1629045027.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:30:27.015Z,1629045027.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:30:27.421Z,1629045027.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:30:27.817Z,1629045027.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA6,000,008CE,187,80,80,8C,FF
2021-08-15T16:30:27.818Z,1629045027.818 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:30:28.266Z,1629045028.266 [Micromodem](INFO): Nmea in: $SNTTA,0.075748,,,,163028.03*44

2021-08-15T16:30:28.282Z,1629045028.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.739998 m, bearing: 235.501562 deg, deltaT: 4.436011 s, approachRate: 0.256986 m/s, LOS rate: 0.154070 deg/s, posRepo size: 4
2021-08-15T16:30:30.691Z,1629045030.691 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:30:31.053Z,1629045031.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:30:31.053Z,1629045031.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:30:31.053Z,1629045031.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:30:31.054Z,1629045031.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:30:31.473Z,1629045031.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA6,000,008CE,187,80,80,8C,FF
2021-08-15T16:30:31.473Z,1629045031.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:30:31.473Z,1629045031.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:30:31.475Z,1629045031.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:30:31.857Z,1629045031.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:30:32.269Z,1629045032.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF0,000,008E1,186,80,80,91,FF
2021-08-15T16:30:32.270Z,1629045032.270 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:30:32.686Z,1629045032.686 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163032.50*5E

2021-08-15T16:30:32.724Z,1629045032.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.880005 m, bearing: 230.792229 deg, deltaT: 4.413378 s, approachRate: 0.258307 m/s, LOS rate: -1.067059 deg/s, posRepo size: 4
2021-08-15T16:30:35.163Z,1629045035.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:30:35.517Z,1629045035.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:30:35.517Z,1629045035.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:30:35.517Z,1629045035.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:30:35.518Z,1629045035.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:30:35.897Z,1629045035.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF0,000,008E1,186,80,80,91,FF
2021-08-15T16:30:35.897Z,1629045035.897 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:30:35.897Z,1629045035.897 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:30:35.899Z,1629045035.899 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:30:36.310Z,1629045036.310 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:30:36.702Z,1629045036.702 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F30,000,008F7,186,80,80,74,FF
2021-08-15T16:30:36.702Z,1629045036.702 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:30:37.157Z,1629045037.157 [Micromodem](INFO): Nmea in: $SNTTA,0.176941,,,,163036.92*46

2021-08-15T16:30:37.205Z,1629045037.205 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.199997 m, bearing: 227.058902 deg, deltaT: 4.479484 s, approachRate: 0.294675 m/s, LOS rate: -0.833428 deg/s, posRepo size: 4
2021-08-15T16:30:39.561Z,1629045039.561 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:30:39.945Z,1629045039.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:30:39.945Z,1629045039.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:30:39.945Z,1629045039.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:30:39.946Z,1629045039.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:30:40.341Z,1629045040.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F30,000,008F7,186,80,80,74,FF
2021-08-15T16:30:40.341Z,1629045040.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:30:40.341Z,1629045040.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:30:40.343Z,1629045040.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:30:40.757Z,1629045040.757 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:30:41.179Z,1629045041.179 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFD,000,00907,186,80,80,8A,FF
2021-08-15T16:30:41.180Z,1629045041.180 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:30:41.188Z,1629045041.188 [Micromodem](INFO): Nmea in: $SNTTA,0.069305,0.319531,,,163041.37*5E

2021-08-15T16:30:41.626Z,1629045041.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.160004 m, bearing: 231.349709 deg, deltaT: 4.522453 s, approachRate: 0.212276 m/s, LOS rate: 0.948779 deg/s, posRepo size: 4
2021-08-15T16:30:43.995Z,1629045043.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:30:44.381Z,1629045044.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:30:44.381Z,1629045044.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:30:44.381Z,1629045044.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:30:44.382Z,1629045044.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:30:44.789Z,1629045044.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFD,000,00907,186,80,80,8A,FF
2021-08-15T16:30:44.790Z,1629045044.790 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:30:44.790Z,1629045044.790 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:30:44.792Z,1629045044.792 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:30:45.201Z,1629045045.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:30:45.617Z,1629045045.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F85,000,0091D,187,80,80,60,FF
2021-08-15T16:30:45.617Z,1629045045.617 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:30:46.057Z,1629045046.057 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163045.81*52

2021-08-15T16:30:46.092Z,1629045046.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.479996 m, bearing: 224.942868 deg, deltaT: 4.395116 s, approachRate: 0.300332 m/s, LOS rate: -1.457718 deg/s, posRepo size: 4
2021-08-15T16:30:48.469Z,1629045048.469 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:30:48.821Z,1629045048.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:30:48.821Z,1629045048.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:30:48.821Z,1629045048.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:30:48.822Z,1629045048.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:30:49.229Z,1629045049.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F85,000,0091D,187,80,80,60,FF
2021-08-15T16:30:49.229Z,1629045049.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:30:49.230Z,1629045049.230 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:30:49.231Z,1629045049.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:30:49.659Z,1629045049.659 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:30:50.067Z,1629045050.067 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F58,000,0092F,187,80,80,55,FF
2021-08-15T16:30:50.068Z,1629045050.068 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:30:50.493Z,1629045050.493 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163050.25*58

2021-08-15T16:30:50.516Z,1629045050.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.559998 m, bearing: 226.847781 deg, deltaT: 4.400811 s, approachRate: 0.245410 m/s, LOS rate: 0.432855 deg/s, posRepo size: 4
2021-08-15T16:30:52.913Z,1629045052.913 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:30:53.298Z,1629045053.298 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:30:53.298Z,1629045053.298 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:30:53.298Z,1629045053.298 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:30:53.299Z,1629045053.299 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:30:53.689Z,1629045053.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F58,000,0092F,187,80,80,55,FF
2021-08-15T16:30:53.689Z,1629045053.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:30:53.689Z,1629045053.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:30:53.691Z,1629045053.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:30:54.109Z,1629045054.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:30:54.505Z,1629045054.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD6,000,00941,185,80,80,51,FF
2021-08-15T16:30:54.506Z,1629045054.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:30:54.941Z,1629045054.941 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163054.71*5D

2021-08-15T16:30:54.967Z,1629045054.967 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.640007 m, bearing: 219.321404 deg, deltaT: 4.438444 s, approachRate: 0.243331 m/s, LOS rate: -1.695724 deg/s, posRepo size: 4
2021-08-15T16:30:57.394Z,1629045057.394 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:30:57.737Z,1629045057.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:30:57.737Z,1629045057.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:30:57.737Z,1629045057.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:30:57.738Z,1629045057.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:30:58.141Z,1629045058.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD6,000,00941,185,80,80,51,FF
2021-08-15T16:30:58.141Z,1629045058.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:30:58.141Z,1629045058.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:30:58.143Z,1629045058.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:30:58.579Z,1629045058.579 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:30:58.599Z,1629045058.599 [RDI_PathfinderUp](ERROR): only read 0 of 4 data items
2021-08-15T16:30:58.953Z,1629045058.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE0,000,00951,184,80,80,54,FF
2021-08-15T16:30:58.954Z,1629045058.954 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:30:59.389Z,1629045059.389 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163059.16*51

2021-08-15T16:30:59.425Z,1629045059.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.599998 m, bearing: 218.378606 deg, deltaT: 4.479538 s, approachRate: 0.214306 m/s, LOS rate: -0.210468 deg/s, posRepo size: 4
2021-08-15T16:31:01.823Z,1629045061.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:31:02.193Z,1629045062.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:31:02.193Z,1629045062.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:31:02.193Z,1629045062.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:31:02.194Z,1629045062.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:31:02.597Z,1629045062.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE0,000,00951,184,80,80,54,FF
2021-08-15T16:31:02.597Z,1629045062.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:31:02.598Z,1629045062.598 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:31:02.602Z,1629045062.602 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:31:03.002Z,1629045063.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:31:03.389Z,1629045063.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F40,000,00960,186,80,80,62,FF
2021-08-15T16:31:03.390Z,1629045063.390 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:31:03.393Z,1629045063.393 [Micromodem](INFO): Nmea in: $SNTTA,0.072999,0.191126,,,163103.63*5D

2021-08-15T16:31:03.828Z,1629045063.828 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-15T16:31:03.847Z,1629045063.847 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.500000 m, bearing: 226.688364 deg, deltaT: 4.451770 s, approachRate: 0.202167 m/s, LOS rate: 1.866619 deg/s, posRepo size: 4
2021-08-15T16:31:06.259Z,1629045066.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:31:06.625Z,1629045066.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:31:06.625Z,1629045066.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:31:06.625Z,1629045066.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:31:06.626Z,1629045066.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:31:07.030Z,1629045067.030 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F40,000,00960,186,80,80,62,FF
2021-08-15T16:31:07.030Z,1629045067.030 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:31:07.031Z,1629045067.031 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:31:07.033Z,1629045067.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:31:07.433Z,1629045067.433 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:31:07.838Z,1629045067.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDD,000,00978,185,80,80,4F,FF
2021-08-15T16:31:07.839Z,1629045067.839 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:31:08.269Z,1629045068.269 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163108.05*56

2021-08-15T16:31:08.292Z,1629045068.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.940002 m, bearing: 218.829057 deg, deltaT: 4.450751 s, approachRate: 0.323541 m/s, LOS rate: -1.765838 deg/s, posRepo size: 4
2021-08-15T16:31:10.686Z,1629045070.686 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:31:11.069Z,1629045071.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:31:11.069Z,1629045071.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:31:11.070Z,1629045071.070 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:31:11.071Z,1629045071.071 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:31:11.466Z,1629045071.466 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDD,000,00978,185,80,80,4F,FF
2021-08-15T16:31:11.466Z,1629045071.466 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:31:11.466Z,1629045071.466 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:31:11.469Z,1629045071.469 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:31:11.881Z,1629045071.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:31:12.278Z,1629045072.278 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F95,000,00986,187,80,80,69,FF
2021-08-15T16:31:12.278Z,1629045072.278 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:31:12.726Z,1629045072.726 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163112.49*55

2021-08-15T16:31:12.775Z,1629045072.775 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.780006 m, bearing: 221.998592 deg, deltaT: 4.390039 s, approachRate: 0.191343 m/s, LOS rate: 0.721983 deg/s, posRepo size: 4
2021-08-15T16:31:13.911Z,1629045073.911 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T16:31:15.234Z,1629045075.234 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:31:15.524Z,1629045075.524 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:31:15.525Z,1629045075.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:31:15.525Z,1629045075.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:31:15.526Z,1629045075.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:31:15.909Z,1629045075.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F95,000,00986,187,80,80,69,FF
2021-08-15T16:31:15.909Z,1629045075.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:31:15.909Z,1629045075.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:31:15.911Z,1629045075.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:31:16.321Z,1629045076.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:31:17.182Z,1629045077.182 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163116.93*56

2021-08-15T16:31:17.962Z,1629045077.962 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:31:18.743Z,1629045078.743 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T16:31:19.194Z,1629045079.194 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,6,00986,187,80,80,69,FF
2021-08-15T16:31:19.194Z,1629045079.194 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,6,00986,187,80,80,69,FF
2021-08-15T16:31:19.195Z,1629045079.195 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T16:31:20.860Z,1629045080.860 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:31:21.189Z,1629045081.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:31:21.189Z,1629045081.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:31:21.189Z,1629045081.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:31:21.190Z,1629045081.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:31:21.589Z,1629045081.589 [DUSBL_Hydroid](INFO): DUSBL response received:3,E4
!U1,P
,6,00986,187,80,80,69,FF
2021-08-15T16:31:21.589Z,1629045081.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:31:21.589Z,1629045081.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:31:21.591Z,1629045081.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:31:21.977Z,1629045081.977 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:31:22.777Z,1629045082.777 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163122.62*5F

2021-08-15T16:31:23.655Z,1629045083.655 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T16:31:23.670Z,1629045083.670 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:31:25.217Z,1629045085.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,187,80,80,69,FF
2021-08-15T16:31:25.218Z,1629045085.218 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,187,80,80,69,FF
2021-08-15T16:31:25.218Z,1629045085.218 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T16:31:26.447Z,1629045086.447 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:31:26.813Z,1629045086.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:31:26.813Z,1629045086.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:31:26.813Z,1629045086.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:31:26.814Z,1629045086.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:31:27.233Z,1629045087.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,187,80,80,69,FF
2021-08-15T16:31:27.233Z,1629045087.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:31:27.233Z,1629045087.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:31:27.235Z,1629045087.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:31:27.640Z,1629045087.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:31:28.045Z,1629045088.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02D,000,009C9,184,80,80,79,FF
2021-08-15T16:31:28.045Z,1629045088.045 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:31:28.481Z,1629045088.481 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163128.26*55

2021-08-15T16:31:28.516Z,1629045088.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.799995 m, bearing: 214.554574 deg, deltaT: 15.767183 s, approachRate: 0.254959 m/s, LOS rate: -0.472121 deg/s, posRepo size: 4
2021-08-15T16:31:30.914Z,1629045090.914 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:31:31.265Z,1629045091.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:31:31.266Z,1629045091.266 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:31:31.266Z,1629045091.266 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:31:31.267Z,1629045091.267 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:31:31.665Z,1629045091.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02D,000,009C9,184,80,80,79,FF
2021-08-15T16:31:31.665Z,1629045091.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:31:31.665Z,1629045091.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:31:31.667Z,1629045091.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:31:32.077Z,1629045092.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:31:32.481Z,1629045092.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F97,000,009DB,186,80,80,77,FF
2021-08-15T16:31:32.481Z,1629045092.481 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:31:32.921Z,1629045092.921 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163132.69*55

2021-08-15T16:31:32.947Z,1629045092.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.879997 m, bearing: 222.370592 deg, deltaT: 4.511922 s, approachRate: 0.239366 m/s, LOS rate: 1.732303 deg/s, posRepo size: 4
2021-08-15T16:31:35.350Z,1629045095.350 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:31:35.705Z,1629045095.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:31:35.705Z,1629045095.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:31:35.705Z,1629045095.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:31:35.706Z,1629045095.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:31:36.117Z,1629045096.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F97,000,009DB,186,80,80,77,FF
2021-08-15T16:31:36.117Z,1629045096.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:31:36.118Z,1629045096.118 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:31:36.119Z,1629045096.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:31:36.536Z,1629045096.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:31:36.921Z,1629045096.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,084,000,009EE,187,80,80,71,FF
2021-08-15T16:31:36.922Z,1629045096.922 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:31:37.369Z,1629045097.369 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163137.14*5A

2021-08-15T16:31:37.432Z,1629045097.432 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.020004 m, bearing: 209.831239 deg, deltaT: 4.415404 s, approachRate: 0.258189 m/s, LOS rate: -2.839911 deg/s, posRepo size: 4
2021-08-15T16:31:38.613Z,1629045098.613 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-15T16:31:39.785Z,1629045099.785 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:31:40.153Z,1629045100.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:31:40.153Z,1629045100.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:31:40.153Z,1629045100.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:31:40.154Z,1629045100.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:31:40.573Z,1629045100.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
084,000,009EE,187,80,80,71,FF
2021-08-15T16:31:40.573Z,1629045100.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:31:40.574Z,1629045100.574 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:31:40.604Z,1629045100.604 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:31:40.963Z,1629045100.963 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:31:41.375Z,1629045101.375 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCE,000,009FE,185,80,80,74,FF
2021-08-15T16:31:41.375Z,1629045101.375 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:31:41.803Z,1629045101.803 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163141.63*5B

2021-08-15T16:31:41.849Z,1629045101.849 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.980003 m, bearing: 219.346061 deg, deltaT: 4.422244 s, approachRate: 0.217084 m/s, LOS rate: 2.151582 deg/s, posRepo size: 4
2021-08-15T16:31:44.215Z,1629045104.215 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:31:44.602Z,1629045104.602 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:31:44.602Z,1629045104.602 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:31:44.603Z,1629045104.603 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:31:44.604Z,1629045104.604 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:31:45.001Z,1629045105.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCE,000,009FE,185,80,80,74,FF
2021-08-15T16:31:45.001Z,1629045105.001 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:31:45.001Z,1629045105.001 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:31:45.003Z,1629045105.003 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:31:45.419Z,1629045105.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:31:45.825Z,1629045105.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA2,000,00A10,187,80,80,71,FF
2021-08-15T16:31:45.826Z,1629045105.826 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:31:46.249Z,1629045106.249 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163146.02*5B

2021-08-15T16:31:46.284Z,1629045106.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.060005 m, bearing: 222.494696 deg, deltaT: 4.496077 s, approachRate: 0.240210 m/s, LOS rate: 0.700307 deg/s, posRepo size: 4
2021-08-15T16:31:48.690Z,1629045108.690 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:31:49.041Z,1629045109.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:31:49.041Z,1629045109.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:31:49.042Z,1629045109.042 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:31:49.043Z,1629045109.043 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:31:49.468Z,1629045109.468 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA2,000,00A10,187,80,80,71,FF
2021-08-15T16:31:49.469Z,1629045109.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:31:49.469Z,1629045109.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:31:49.471Z,1629045109.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:31:49.913Z,1629045109.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:31:50.317Z,1629045110.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBD,000,00A22,186,80,80,90,FF
2021-08-15T16:31:50.318Z,1629045110.318 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:31:50.725Z,1629045110.725 [Micromodem](INFO): Nmea in: $SNTTA,0.085208,,,,163150.49*4A

2021-08-15T16:31:50.751Z,1629045110.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.139999 m, bearing: 233.505480 deg, deltaT: 4.458591 s, approachRate: 0.242228 m/s, LOS rate: 2.469566 deg/s, posRepo size: 4
2021-08-15T16:31:53.207Z,1629045113.207 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:31:53.541Z,1629045113.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:31:53.541Z,1629045113.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:31:53.541Z,1629045113.541 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:31:53.542Z,1629045113.542 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:31:53.945Z,1629045113.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBD,000,00A22,186,80,80,90,FF
2021-08-15T16:31:53.945Z,1629045113.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:31:53.946Z,1629045113.946 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:31:53.947Z,1629045113.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:31:54.346Z,1629045114.346 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:31:54.761Z,1629045114.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB3,000,00A37,186,80,80,A9,FF
2021-08-15T16:31:54.763Z,1629045114.763 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:31:55.210Z,1629045115.210 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163154.97*54

2021-08-15T16:31:55.247Z,1629045115.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.400002 m, bearing: 234.370319 deg, deltaT: 4.447013 s, approachRate: 0.283337 m/s, LOS rate: 0.194476 deg/s, posRepo size: 4
2021-08-15T16:31:57.630Z,1629045117.630 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:31:57.993Z,1629045117.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:31:57.993Z,1629045117.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:31:57.993Z,1629045117.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:31:57.994Z,1629045117.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:31:58.389Z,1629045118.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB3,000,00A37,186,80,80,A9,FF
2021-08-15T16:31:58.389Z,1629045118.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:31:58.389Z,1629045118.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:31:58.391Z,1629045118.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:31:58.801Z,1629045118.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:31:59.201Z,1629045119.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDF,000,00A4B,187,80,80,A8,FF
2021-08-15T16:31:59.201Z,1629045119.201 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:31:59.205Z,1629045119.205 [Micromodem](INFO): Nmea in: $SNTTA,0.082259,0.257171,,,163159.41*51

2021-08-15T16:31:59.671Z,1629045119.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.600006 m, bearing: 231.340829 deg, deltaT: 4.447064 s, approachRate: 0.269842 m/s, LOS rate: -0.681234 deg/s, posRepo size: 4
2021-08-15T16:32:02.038Z,1629045122.038 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:32:02.434Z,1629045122.434 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:32:02.434Z,1629045122.434 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:32:02.434Z,1629045122.434 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:32:02.435Z,1629045122.435 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:32:02.822Z,1629045122.822 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDF,000,00A4B,187,80,80,A8,FF
2021-08-15T16:32:02.822Z,1629045122.822 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:32:02.823Z,1629045122.823 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:32:02.841Z,1629045122.841 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:32:03.249Z,1629045123.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:32:03.657Z,1629045123.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE1,000,00A5C,186,80,80,A8,FF
2021-08-15T16:32:03.658Z,1629045123.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:32:04.073Z,1629045124.073 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163203.87*54

2021-08-15T16:32:04.105Z,1629045124.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.620010 m, bearing: 231.015467 deg, deltaT: 4.451453 s, approachRate: 0.229140 m/s, LOS rate: -0.073091 deg/s, posRepo size: 4
2021-08-15T16:32:06.515Z,1629045126.515 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:32:06.877Z,1629045126.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:32:06.877Z,1629045126.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:32:06.877Z,1629045126.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:32:06.878Z,1629045126.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:32:07.282Z,1629045127.282 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE1,000,00A5C,186,80,80,A8,FF
2021-08-15T16:32:07.282Z,1629045127.282 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:32:07.282Z,1629045127.282 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:32:07.286Z,1629045127.286 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:32:07.721Z,1629045127.721 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:32:08.125Z,1629045128.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAD,000,00A6D,186,80,80,AD,FF
2021-08-15T16:32:08.126Z,1629045128.126 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:32:08.545Z,1629045128.545 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163208.31*52

2021-08-15T16:32:08.571Z,1629045128.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.640007 m, bearing: 234.246829 deg, deltaT: 4.430497 s, approachRate: 0.230222 m/s, LOS rate: 0.729345 deg/s, posRepo size: 4
2021-08-15T16:32:10.967Z,1629045130.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:32:11.377Z,1629045131.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:32:11.377Z,1629045131.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:32:11.377Z,1629045131.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:32:11.378Z,1629045131.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:32:11.761Z,1629045131.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAD,000,00A6D,186,80,80,AD,FF
2021-08-15T16:32:11.762Z,1629045131.762 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:32:11.762Z,1629045131.762 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:32:11.763Z,1629045131.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:32:12.174Z,1629045132.174 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:32:12.559Z,1629045132.559 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA3,000,00A7F,186,80,80,AA,FF
2021-08-15T16:32:12.559Z,1629045132.559 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:32:13.005Z,1629045133.005 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163212.79*55

2021-08-15T16:32:13.034Z,1629045133.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.720001 m, bearing: 235.355232 deg, deltaT: 4.443890 s, approachRate: 0.243029 m/s, LOS rate: 0.249422 deg/s, posRepo size: 4
2021-08-15T16:32:15.550Z,1629045135.550 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:32:15.793Z,1629045135.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:32:15.793Z,1629045135.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:32:15.793Z,1629045135.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:32:15.794Z,1629045135.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:32:16.211Z,1629045136.211 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA3,000,00A7F,186,80,80,AA,FF
2021-08-15T16:32:16.211Z,1629045136.211 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:32:16.211Z,1629045136.211 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:32:16.230Z,1629045136.230 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:32:16.605Z,1629045136.605 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:32:17.017Z,1629045137.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7A,000,00A94,186,80,80,9A,FF
2021-08-15T16:32:17.018Z,1629045137.018 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:32:17.446Z,1629045137.446 [Micromodem](INFO): Nmea in: $SNTTA,0.090841,,,,163217.25*43

2021-08-15T16:32:17.540Z,1629045137.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.979996 m, bearing: 237.560700 deg, deltaT: 4.551256 s, approachRate: 0.276845 m/s, LOS rate: 0.484584 deg/s, posRepo size: 4
2021-08-15T16:32:19.879Z,1629045139.879 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:32:20.237Z,1629045140.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:32:20.237Z,1629045140.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:32:20.237Z,1629045140.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:32:20.238Z,1629045140.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:32:20.641Z,1629045140.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7A,000,00A94,186,80,80,9A,FF
2021-08-15T16:32:20.641Z,1629045140.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:32:20.641Z,1629045140.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:32:20.643Z,1629045140.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:32:21.049Z,1629045141.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:32:21.485Z,1629045141.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E73,000,00AA3,186,80,80,82,FF
2021-08-15T16:32:21.486Z,1629045141.486 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:32:21.906Z,1629045141.906 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163221.67*5A

2021-08-15T16:32:21.961Z,1629045141.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.880005 m, bearing: 237.063572 deg, deltaT: 4.449046 s, approachRate: 0.202293 m/s, LOS rate: -0.111738 deg/s, posRepo size: 4
2021-08-15T16:32:24.302Z,1629045144.302 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:32:24.681Z,1629045144.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:32:24.681Z,1629045144.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:32:24.681Z,1629045144.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:32:24.682Z,1629045144.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:32:25.100Z,1629045145.100 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E73,000,00AA3,186,80,80,82,FF
2021-08-15T16:32:25.101Z,1629045145.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:32:25.102Z,1629045145.102 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:32:25.107Z,1629045145.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:32:25.529Z,1629045145.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:32:25.901Z,1629045145.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E73,000,00AB4,186,80,80,B8,FF
2021-08-15T16:32:25.901Z,1629045145.901 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:32:26.326Z,1629045146.326 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163226.13*5E

2021-08-15T16:32:26.366Z,1629045146.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.900002 m, bearing: 236.436478 deg, deltaT: 4.362614 s, approachRate: 0.233804 m/s, LOS rate: -0.143743 deg/s, posRepo size: 4
2021-08-15T16:32:28.763Z,1629045148.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:32:29.173Z,1629045149.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:32:29.173Z,1629045149.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:32:29.173Z,1629045149.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:32:29.174Z,1629045149.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:32:29.537Z,1629045149.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E73,000,00AB4,186,80,80,B8,FF
2021-08-15T16:32:29.537Z,1629045149.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:32:29.537Z,1629045149.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:32:29.539Z,1629045149.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:32:29.933Z,1629045149.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:32:30.354Z,1629045150.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E66,000,00AC6,186,80,80,AE,FF
2021-08-15T16:32:30.354Z,1629045150.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:32:30.781Z,1629045150.781 [Micromodem](INFO): Nmea in: $SNTTA,0.102467,,,,163230.56*40

2021-08-15T16:32:30.819Z,1629045150.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.980003 m, bearing: 237.158320 deg, deltaT: 4.445625 s, approachRate: 0.242936 m/s, LOS rate: 0.162371 deg/s, posRepo size: 4
2021-08-15T16:32:33.223Z,1629045153.223 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:32:33.569Z,1629045153.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:32:33.569Z,1629045153.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:32:33.569Z,1629045153.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:32:33.570Z,1629045153.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:32:33.982Z,1629045153.982 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E66,000,00AC6,186,80,80,AE,FF
2021-08-15T16:32:33.982Z,1629045153.982 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:32:33.982Z,1629045153.982 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:32:33.984Z,1629045153.984 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:32:34.381Z,1629045154.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:32:34.789Z,1629045154.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E58,000,00ADA,186,80,80,8C,FF
2021-08-15T16:32:34.790Z,1629045154.790 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:32:35.217Z,1629045155.217 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163235.01*5F

2021-08-15T16:32:35.268Z,1629045155.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.180008 m, bearing: 237.883468 deg, deltaT: 4.454326 s, approachRate: 0.269402 m/s, LOS rate: 0.162796 deg/s, posRepo size: 4
2021-08-15T16:32:37.650Z,1629045157.650 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:32:38.017Z,1629045158.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:32:38.017Z,1629045158.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:32:38.017Z,1629045158.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:32:38.018Z,1629045158.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:32:38.417Z,1629045158.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E58,000,00ADA,186,80,80,8C,FF
2021-08-15T16:32:38.418Z,1629045158.418 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:32:38.418Z,1629045158.418 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:32:38.419Z,1629045158.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:32:38.836Z,1629045158.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:32:39.241Z,1629045159.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7A,000,00AE8,186,80,80,A9,FF
2021-08-15T16:32:39.242Z,1629045159.242 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:32:39.665Z,1629045159.665 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163239.45*53

2021-08-15T16:32:39.702Z,1629045159.702 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.020004 m, bearing: 235.866349 deg, deltaT: 4.450018 s, approachRate: 0.188762 m/s, LOS rate: -0.453283 deg/s, posRepo size: 4
2021-08-15T16:32:42.095Z,1629045162.095 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:32:42.476Z,1629045162.476 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:32:42.476Z,1629045162.476 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:32:42.476Z,1629045162.476 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:32:42.477Z,1629045162.477 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:32:42.870Z,1629045162.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7A,000,00AE8,186,80,80,A9,FF
2021-08-15T16:32:42.870Z,1629045162.870 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:32:42.870Z,1629045162.870 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:32:42.871Z,1629045162.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:32:43.277Z,1629045163.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:32:43.693Z,1629045163.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7D,000,00AFA,187,80,80,95,FF
2021-08-15T16:32:43.693Z,1629045163.693 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:32:44.111Z,1629045164.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.100006 m, bearing: 236.375772 deg, deltaT: 4.465806 s, approachRate: 0.241838 m/s, LOS rate: 0.114072 deg/s, posRepo size: 4
2021-08-15T16:32:46.558Z,1629045166.558 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:32:46.909Z,1629045166.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:32:46.909Z,1629045166.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:32:46.909Z,1629045166.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:32:46.910Z,1629045166.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:32:47.317Z,1629045167.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7D,000,00AFA,187,80,80,95,FF
2021-08-15T16:32:47.317Z,1629045167.317 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:32:47.317Z,1629045167.317 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:32:47.319Z,1629045167.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:32:47.734Z,1629045167.734 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:32:48.137Z,1629045168.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6D,000,00B0C,186,80,80,9E,FF
2021-08-15T16:32:48.137Z,1629045168.137 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:32:48.581Z,1629045168.581 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163248.34*53

2021-08-15T16:32:48.608Z,1629045168.608 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.179993 m, bearing: 238.078565 deg, deltaT: 4.413127 s, approachRate: 0.244721 m/s, LOS rate: 0.385847 deg/s, posRepo size: 4
2021-08-15T16:32:50.986Z,1629045170.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:32:51.361Z,1629045171.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:32:51.361Z,1629045171.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:32:51.361Z,1629045171.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:32:51.362Z,1629045171.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:32:51.765Z,1629045171.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6D,000,00B0C,186,80,80,9E,FF
2021-08-15T16:32:51.765Z,1629045171.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:32:51.766Z,1629045171.766 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:32:51.767Z,1629045171.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:32:52.181Z,1629045172.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:32:52.588Z,1629045172.588 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7D,000,00B1F,186,80,80,9C,FF
2021-08-15T16:32:52.589Z,1629045172.589 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:32:53.021Z,1629045173.021 [Micromodem](INFO): Nmea in: $SNTTA,0.088412,,,,163252.79*48

2021-08-15T16:32:53.044Z,1629045173.044 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.320007 m, bearing: 236.987374 deg, deltaT: 4.437580 s, approachRate: 0.256900 m/s, LOS rate: -0.245898 deg/s, posRepo size: 4
2021-08-15T16:32:55.509Z,1629045175.509 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:32:55.805Z,1629045175.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:32:55.805Z,1629045175.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:32:55.805Z,1629045175.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:32:55.806Z,1629045175.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:32:56.209Z,1629045176.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7D,000,00B1F,186,80,80,9C,FF
2021-08-15T16:32:56.209Z,1629045176.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:32:56.209Z,1629045176.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:32:56.211Z,1629045176.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:32:56.621Z,1629045176.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:32:57.033Z,1629045177.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7C,000,00B2E,186,80,80,9F,FF
2021-08-15T16:32:57.033Z,1629045177.033 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:32:57.473Z,1629045177.473 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163257.24*5C

2021-08-15T16:32:57.544Z,1629045177.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.220001 m, bearing: 236.867982 deg, deltaT: 4.444222 s, approachRate: 0.202509 m/s, LOS rate: -0.026864 deg/s, posRepo size: 4
2021-08-15T16:32:59.566Z,1629045179.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:32:59.845Z,1629045179.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:32:59.845Z,1629045179.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:32:59.845Z,1629045179.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:32:59.846Z,1629045179.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:33:00.249Z,1629045180.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7C,000,00B2E,186,80,80,9F,FF
2021-08-15T16:33:00.249Z,1629045180.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:33:00.249Z,1629045180.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:33:00.251Z,1629045180.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:33:00.656Z,1629045180.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:33:01.073Z,1629045181.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E82,000,00B3D,187,80,80,A5,FF
2021-08-15T16:33:01.074Z,1629045181.074 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:33:01.521Z,1629045181.521 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163301.27*5D

2021-08-15T16:33:01.614Z,1629045181.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.119995 m, bearing: 236.236572 deg, deltaT: 4.103545 s, approachRate: 0.219321 m/s, LOS rate: -0.153869 deg/s, posRepo size: 4
2021-08-15T16:33:03.536Z,1629045183.536 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T16:33:03.910Z,1629045183.910 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:33:04.297Z,1629045184.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:33:04.297Z,1629045184.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:33:04.297Z,1629045184.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:33:04.298Z,1629045184.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:33:04.697Z,1629045184.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E82,000,00B3D,187,80,80,A5,FF
2021-08-15T16:33:04.697Z,1629045184.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:33:04.698Z,1629045184.698 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:33:04.699Z,1629045184.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:33:05.141Z,1629045185.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:33:05.533Z,1629045185.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E81,000,00B4E,186,80,80,A7,FF
2021-08-15T16:33:05.534Z,1629045185.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:33:05.950Z,1629045185.950 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163305.72*59

2021-08-15T16:33:05.968Z,1629045185.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.139999 m, bearing: 235.981697 deg, deltaT: 4.397950 s, approachRate: 0.231927 m/s, LOS rate: -0.057953 deg/s, posRepo size: 4
2021-08-15T16:33:08.367Z,1629045188.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:33:08.741Z,1629045188.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:33:08.741Z,1629045188.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:33:08.741Z,1629045188.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:33:08.742Z,1629045188.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:33:09.181Z,1629045189.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E81,000,00B4E,186,80,80,A7,FF
2021-08-15T16:33:09.181Z,1629045189.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:33:09.181Z,1629045189.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:33:09.183Z,1629045189.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:33:09.538Z,1629045189.538 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:33:09.967Z,1629045189.967 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA9,000,00B5D,186,80,80,A7,FF
2021-08-15T16:33:09.968Z,1629045189.968 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:33:10.367Z,1629045190.367 [Micromodem](INFO): Nmea in: $SNTTA,0.094484,,,,163310.21*40

2021-08-15T16:33:10.418Z,1629045190.418 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.040009 m, bearing: 233.740876 deg, deltaT: 4.426454 s, approachRate: 0.203325 m/s, LOS rate: -0.506234 deg/s, posRepo size: 4
2021-08-15T16:33:12.810Z,1629045192.810 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:33:13.201Z,1629045193.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:33:13.201Z,1629045193.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:33:13.202Z,1629045193.202 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:33:13.203Z,1629045193.203 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:33:13.581Z,1629045193.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA9,000,00B5D,186,80,80,A7,FF
2021-08-15T16:33:13.581Z,1629045193.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:33:13.581Z,1629045193.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:33:13.583Z,1629045193.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:33:14.003Z,1629045194.003 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:33:14.397Z,1629045194.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA6,000,00B6E,187,80,80,B2,FF
2021-08-15T16:33:14.397Z,1629045194.397 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:33:14.826Z,1629045194.826 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163314.61*5B

2021-08-15T16:33:14.867Z,1629045194.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.059998 m, bearing: 233.303635 deg, deltaT: 4.457349 s, approachRate: 0.228833 m/s, LOS rate: -0.098094 deg/s, posRepo size: 4
2021-08-15T16:33:17.288Z,1629045197.288 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:33:17.629Z,1629045197.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:33:17.629Z,1629045197.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:33:17.629Z,1629045197.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:33:17.630Z,1629045197.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:33:18.025Z,1629045198.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA6,000,00B6E,187,80,80,B2,FF
2021-08-15T16:33:18.025Z,1629045198.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:33:18.026Z,1629045198.026 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:33:18.027Z,1629045198.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:33:18.429Z,1629045198.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:33:18.847Z,1629045198.847 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC1,000,00B7E,186,80,80,B1,FF
2021-08-15T16:33:18.848Z,1629045198.848 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:33:19.277Z,1629045199.277 [Micromodem](INFO): Nmea in: $SNTTA,0.106409,,,,163319.05*40

2021-08-15T16:33:19.324Z,1629045199.324 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.020004 m, bearing: 231.364844 deg, deltaT: 4.485281 s, approachRate: 0.214035 m/s, LOS rate: -0.432256 deg/s, posRepo size: 4
2021-08-15T16:33:21.709Z,1629045201.709 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:33:22.065Z,1629045202.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:33:22.065Z,1629045202.065 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:33:22.065Z,1629045202.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:33:22.066Z,1629045202.066 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:33:22.490Z,1629045202.490 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC1,000,00B7E,186,80,80,B1,FF
2021-08-15T16:33:22.491Z,1629045202.491 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:33:22.491Z,1629045202.491 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:33:22.493Z,1629045202.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:33:22.885Z,1629045202.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:33:23.286Z,1629045203.286 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA4,000,00B90,187,80,80,A1,FF
2021-08-15T16:33:23.286Z,1629045203.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:33:23.721Z,1629045203.721 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163323.52*5F

2021-08-15T16:33:23.787Z,1629045203.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.100006 m, bearing: 233.292351 deg, deltaT: 4.413829 s, approachRate: 0.244686 m/s, LOS rate: 0.436697 deg/s, posRepo size: 4
2021-08-15T16:33:26.123Z,1629045206.123 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:33:26.517Z,1629045206.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:33:26.517Z,1629045206.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:33:26.517Z,1629045206.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:33:26.518Z,1629045206.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:33:26.913Z,1629045206.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA4,000,00B90,187,80,80,A1,FF
2021-08-15T16:33:26.913Z,1629045206.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:33:26.913Z,1629045206.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:33:26.915Z,1629045206.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:33:27.320Z,1629045207.320 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:33:27.741Z,1629045207.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7D,000,00B9E,186,80,80,B4,FF
2021-08-15T16:33:27.742Z,1629045207.742 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:33:28.161Z,1629045208.161 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163327.94*51

2021-08-15T16:33:28.183Z,1629045208.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.940002 m, bearing: 236.899784 deg, deltaT: 4.448711 s, approachRate: 0.188818 m/s, LOS rate: 0.810894 deg/s, posRepo size: 4
2021-08-15T16:33:30.573Z,1629045210.573 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:33:30.961Z,1629045210.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:33:30.961Z,1629045210.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:33:30.961Z,1629045210.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:33:30.962Z,1629045210.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:33:31.354Z,1629045211.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7D,000,00B9E,186,80,80,B4,FF
2021-08-15T16:33:31.354Z,1629045211.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:33:31.354Z,1629045211.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:33:31.356Z,1629045211.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:33:31.780Z,1629045211.780 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:33:32.169Z,1629045212.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4E,000,00BAD,186,80,80,AB,FF
2021-08-15T16:33:32.169Z,1629045212.169 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:33:32.613Z,1629045212.613 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163332.38*53

2021-08-15T16:33:32.649Z,1629045212.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.840012 m, bearing: 241.214196 deg, deltaT: 4.421954 s, approachRate: 0.203532 m/s, LOS rate: 0.975680 deg/s, posRepo size: 4
2021-08-15T16:33:35.015Z,1629045215.015 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:33:35.405Z,1629045215.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:33:35.405Z,1629045215.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:33:35.405Z,1629045215.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:33:35.406Z,1629045215.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:33:35.810Z,1629045215.810 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4E,000,00BAD,186,80,80,AB,FF
2021-08-15T16:33:35.810Z,1629045215.810 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:33:35.810Z,1629045215.810 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:33:35.812Z,1629045215.812 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:33:36.224Z,1629045216.224 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:33:36.621Z,1629045216.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4A,000,00BC0,186,80,80,AC,FF
2021-08-15T16:33:36.621Z,1629045216.621 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:33:37.064Z,1629045217.064 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163336.84*50

2021-08-15T16:33:37.151Z,1629045217.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 142.979996 m, bearing: 242.656513 deg, deltaT: 4.478686 s, approachRate: 0.254535 m/s, LOS rate: 0.322040 deg/s, posRepo size: 4
2021-08-15T16:33:39.534Z,1629045219.534 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:33:39.842Z,1629045219.842 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:33:39.842Z,1629045219.842 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:33:39.843Z,1629045219.843 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:33:39.844Z,1629045219.843 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:33:40.255Z,1629045220.255 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4A,000,00BC0,186,80,80,AC,FF
2021-08-15T16:33:40.255Z,1629045220.255 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:33:40.255Z,1629045220.255 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:33:40.257Z,1629045220.257 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:33:40.656Z,1629045220.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:33:41.065Z,1629045221.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E46,000,00BCE,186,80,80,AB,FF
2021-08-15T16:33:41.065Z,1629045221.065 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:33:41.525Z,1629045221.525 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163341.28*56

2021-08-15T16:33:41.551Z,1629045221.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.820007 m, bearing: 243.306091 deg, deltaT: 4.455891 s, approachRate: 0.188517 m/s, LOS rate: 0.145780 deg/s, posRepo size: 4
2021-08-15T16:33:43.531Z,1629045223.531 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T16:33:43.918Z,1629045223.918 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:33:44.293Z,1629045224.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:33:44.293Z,1629045224.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:33:44.293Z,1629045224.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:33:44.294Z,1629045224.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:33:44.693Z,1629045224.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E46,000,00BCE,186,80,80,AB,FF
2021-08-15T16:33:44.693Z,1629045224.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:33:44.693Z,1629045224.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:33:44.695Z,1629045224.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:33:45.143Z,1629045225.143 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:33:45.525Z,1629045225.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E34,000,00BDC,187,80,80,A3,FF
2021-08-15T16:33:45.525Z,1629045225.525 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:33:45.949Z,1629045225.949 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163345.72*5D

2021-08-15T16:33:45.972Z,1629045225.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.660004 m, bearing: 244.639836 deg, deltaT: 4.438528 s, approachRate: 0.189251 m/s, LOS rate: 0.300493 deg/s, posRepo size: 4
2021-08-15T16:33:48.370Z,1629045228.370 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:33:48.785Z,1629045228.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:33:48.785Z,1629045228.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:33:48.785Z,1629045228.785 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:33:48.786Z,1629045228.786 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:33:49.173Z,1629045229.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E34,000,00BDC,187,80,80,A3,FF
2021-08-15T16:33:49.173Z,1629045229.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:33:49.173Z,1629045229.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:33:49.175Z,1629045229.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:33:49.549Z,1629045229.549 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:33:49.942Z,1629045229.942 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E59,000,00BDC,187,80,80,A3,FF
2021-08-15T16:33:49.942Z,1629045229.942 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:33:50.381Z,1629045230.381 [Micromodem](INFO): Nmea in: $SNTTA,0.107986,,,,163350.20*41

2021-08-15T16:33:50.411Z,1629045230.411 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.660004 m, bearing: 241.653213 deg, deltaT: 4.439517 s, approachRate: 0.000000 m/s, LOS rate: -0.672736 deg/s, posRepo size: 4
2021-08-15T16:33:52.836Z,1629045232.836 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:33:53.185Z,1629045233.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:33:53.185Z,1629045233.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:33:53.185Z,1629045233.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:33:53.186Z,1629045233.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:33:53.581Z,1629045233.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E59,000,00BDC,187,80,80,A3,FF
2021-08-15T16:33:53.581Z,1629045233.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:33:53.581Z,1629045233.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:33:53.583Z,1629045233.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:33:54.001Z,1629045234.001 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:33:54.397Z,1629045234.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5D,000,00BFF,186,80,80,A9,FF
2021-08-15T16:33:54.397Z,1629045234.397 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:33:54.844Z,1629045234.844 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163354.61*5F

2021-08-15T16:33:54.870Z,1629045234.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.760010 m, bearing: 239.540963 deg, deltaT: 4.451728 s, approachRate: 0.471728 m/s, LOS rate: -0.474479 deg/s, posRepo size: 4
2021-08-15T16:33:57.269Z,1629045237.269 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:33:57.621Z,1629045237.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:33:57.621Z,1629045237.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:33:57.621Z,1629045237.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:33:57.622Z,1629045237.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:33:58.037Z,1629045238.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5D,000,00BFF,186,80,80,A9,FF
2021-08-15T16:33:58.037Z,1629045238.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:33:58.037Z,1629045238.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:33:58.039Z,1629045238.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:33:58.479Z,1629045238.479 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:33:58.846Z,1629045238.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA3,000,00C13,186,80,80,A7,FF
2021-08-15T16:33:58.846Z,1629045238.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:33:59.269Z,1629045239.269 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163359.07*52

2021-08-15T16:33:59.315Z,1629045239.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.960007 m, bearing: 234.721500 deg, deltaT: 4.414379 s, approachRate: 0.271838 m/s, LOS rate: -1.091765 deg/s, posRepo size: 4
2021-08-15T16:33:59.316Z,1629045239.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 147.96 m. Resuming terminal guidance.
2021-08-15T16:33:59.316Z,1629045239.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-15T16:34:01.699Z,1629045241.699 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:34:02.073Z,1629045242.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:34:02.073Z,1629045242.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:34:02.073Z,1629045242.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:34:02.074Z,1629045242.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:34:02.501Z,1629045242.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA3,000,00C13,186,80,80,A7,FF
2021-08-15T16:34:02.501Z,1629045242.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:34:02.501Z,1629045242.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:34:02.503Z,1629045242.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:34:02.927Z,1629045242.927 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:34:03.310Z,1629045243.310 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC5,000,00C29,187,80,80,A7,FF
2021-08-15T16:34:03.310Z,1629045243.310 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:34:03.315Z,1629045243.315 [Micromodem](INFO): Nmea in: $SNTTA,0.111772,0.196484,,,163403.53*5E

2021-08-15T16:34:03.773Z,1629045243.773 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.279999 m, bearing: 232.698070 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-15T16:34:03.774Z,1629045243.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 232.698070deg and heading rate command to 0 deg/s.
2021-08-15T16:34:06.176Z,1629045246.176 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:34:06.529Z,1629045246.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:34:06.529Z,1629045246.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:34:06.529Z,1629045246.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:34:06.530Z,1629045246.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:34:06.949Z,1629045246.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC5,000,00C29,187,80,80,A7,FF
2021-08-15T16:34:06.949Z,1629045246.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:34:06.949Z,1629045246.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:34:06.951Z,1629045246.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:34:07.430Z,1629045247.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:34:07.503Z,1629045247.503 [RDI_Pathfinder](ERROR): only read -1 of 1 data item for altitude
2021-08-15T16:34:07.821Z,1629045247.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6E,000,00C48,186,80,80,A0,FF
2021-08-15T16:34:07.822Z,1629045247.822 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:34:08.225Z,1629045248.225 [Micromodem](INFO): Nmea in: $SNTTA,0.107129,,,,163407.98*4A

2021-08-15T16:34:08.249Z,1629045248.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.140015 m, bearing: 238.395349 deg, deltaT: 4.626011 s, approachRate: 0.402078 m/s, LOS rate: 1.231575 deg/s, posRepo size: 2
2021-08-15T16:34:08.251Z,1629045248.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.140015 m,
      bearing: 238.395349 deg,
      approachRate: 0.402078 m/s,
      LOS rate: 1.231575 deg/s,
      cmd update: 4.926300 deg/s,
      cmd heading: 232.698070 deg,
      new cmd heading: 232.698070 deg.

2021-08-15T16:34:10.675Z,1629045250.675 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:34:11.060Z,1629045251.060 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:34:11.060Z,1629045251.060 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:34:11.061Z,1629045251.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:34:11.061Z,1629045251.061 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:34:11.473Z,1629045251.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6E,000,00C48,186,80,80,A0,FF
2021-08-15T16:34:11.473Z,1629045251.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:34:11.474Z,1629045251.474 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:34:11.505Z,1629045251.505 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:34:11.886Z,1629045251.886 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:34:12.282Z,1629045252.282 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26E,000,00C48,186,80,80,A0,FF
2021-08-15T16:34:12.282Z,1629045252.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:34:12.336Z,1629045252.336 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-15T16:34:12.337Z,1629045252.337 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-15T16:34:12.337Z,1629045252.337 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-15T16:34:12.337Z,1629045252.337 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T16:34:12.337Z,1629045252.337 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-15T16:34:12.798Z,1629045252.798 [Micromodem](INFO): Nmea in: $SNTTA,0.104501,,,,163412.53*44

2021-08-15T16:34:13.008Z,1629045253.008 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 10181961300000005D00000400320000000000000000151D80030C5669C08C7A97044A07CA4087E70D851221FE8D5E96CD00C9C612B7B177EDDEE2DC0F86BABB
2021-08-15T16:34:13.009Z,1629045253.009 [Micromodem](INFO): Outgoing frame #2, 7 bytes: 8CF5FC1D889258
2021-08-15T16:34:13.009Z,1629045253.009 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-08-15T16:34:13.145Z,1629045253.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.140015 m, bearing: 201.171119 deg, deltaT: 4.301299 s, approachRate: 0.000000 m/s, LOS rate: -8.654184 deg/s, posRepo size: 3
2021-08-15T16:34:13.147Z,1629045253.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.140015 m,
      bearing: 201.171119 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -8.654184 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 253.869623 deg,
      new cmd heading: 257.979645 deg.

2021-08-15T16:34:14.264Z,1629045254.264 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-08-15T16:34:14.641Z,1629045254.641 [Micromodem](INFO): Nmea in: $CADRQ,163413,1,10,0,64,1*74

2021-08-15T16:34:14.641Z,1629045254.641 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,10181961300000005D00000400320000000000000000151D80030C5669C08C7A97044A07CA4087E70D851221FE8D5E96CD00C9C612B7B177EDDEE2DC0F86BABB*3E

2021-08-15T16:34:14.972Z,1629045254.972 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:34:15.213Z,1629045255.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:34:15.213Z,1629045255.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:34:15.213Z,1629045255.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:34:15.214Z,1629045255.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:34:15.222Z,1629045255.222 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-15T16:34:15.613Z,1629045255.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26E,000,00C48,186,80,80,A0,FF
2021-08-15T16:34:15.613Z,1629045255.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:34:15.613Z,1629045255.613 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:34:15.615Z,1629045255.615 [Micromodem](INFO): Nmea in: $CADRQ,163415,1,10,0,64,2*71

2021-08-15T16:34:15.615Z,1629045255.615 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,8CF5FC1D889258*37

2021-08-15T16:34:16.021Z,1629045256.021 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,7*7C

2021-08-15T16:34:16.022Z,1629045256.022 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:34:16.430Z,1629045256.430 [Micromodem](INFO): Nmea in: $CATXP,71*74

2021-08-15T16:34:16.430Z,1629045256.430 [Micromodem](ERROR): Response from modem unexpected: $CATXP,71*74

2021-08-15T16:34:17.666Z,1629045257.666 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:34:18.846Z,1629045258.846 [Micromodem](INFO): Nmea in: $CATXF,71*62

2021-08-15T16:34:18.846Z,1629045258.846 [Micromodem](ERROR): Response from modem unexpected: $CATXF,71*62

2021-08-15T16:34:19.391Z,1629045259.391 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,163416.644483,3,0,200,4000,14500,1,1,10,1,2,2,3,71,14500*5B

2021-08-15T16:34:19.391Z,1629045259.391 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210815,163416.644483,3,0,200,4000,14500,1,1,10,1,2,2,3,71,14500*5B

2021-08-15T16:34:20.259Z,1629045260.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:34:21.632Z,1629045261.632 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.417864
2021-08-15T16:34:21.635Z,1629045261.635 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-15T16:34:21.979Z,1629045261.979 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-08-15T16:34:21.979Z,1629045261.979 [Micromodem](INFO): Sent 63 bytes from file Logs/20210815T133512/Courier0048.lzma.parts
2021-08-15T16:34:21.979Z,1629045261.979 [Micromodem](INFO): Packets left to send: 0
2021-08-15T16:34:22.403Z,1629045262.403 [Micromodem](INFO): Nmea in: $CACST,6,0,20210815163421.506677,06,20711,43,0158,0150,22,01,01,00,01,1,010,001,0,4,1,0,150,11.4,4.18,09,-1.18,-01,0.39,40,14500,4000*6B

2021-08-15T16:34:22.425Z,1629045262.425 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210815163421.506677,06,20711,43,0158,0150,22,01,01,00,01,1,010,001,0,4,1,0,150,11.4,4.18,09,-1.18,-01,0.39,40,14500,4000*6B

2021-08-15T16:34:22.722Z,1629045262.722 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-15T16:34:22.722Z,1629045262.722 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-15T16:34:22.722Z,1629045262.722 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-15T16:34:22.722Z,1629045262.722 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T16:34:22.722Z,1629045262.722 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-15T16:34:23.029Z,1629045263.029 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:34:23.396Z,1629045263.396 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:34:23.396Z,1629045263.396 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:34:23.396Z,1629045263.396 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:34:23.397Z,1629045263.397 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:34:23.821Z,1629045263.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26E,000,00C48,186,80,80,A0,FF
2021-08-15T16:34:23.821Z,1629045263.821 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:34:23.821Z,1629045263.821 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:34:26.221Z,1629045266.221 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:34:27.271Z,1629045267.271 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:34:27.685Z,1629045267.685 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:34:28.069Z,1629045268.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F19,000,00C48,186,80,80,A0,FF
2021-08-15T16:34:28.070Z,1629045268.070 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:34:28.537Z,1629045268.537 [Micromodem](INFO): Nmea in: $SNTTA,0.109123,,,,163428.30*41

2021-08-15T16:34:28.581Z,1629045268.581 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.140015 m, bearing: 229.555800 deg, deltaT: 15.839118 s, approachRate: 0.000000 m/s, LOS rate: 1.792062 deg/s, posRepo size: 4
2021-08-15T16:34:28.583Z,1629045268.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.140015 m,
      bearing: 229.555800 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.792062 deg/s,
      cmd update: 7.168248 deg/s,
      cmd heading: 63.878849 deg,
      new cmd heading: 58.571345 deg.

2021-08-15T16:34:30.948Z,1629045270.948 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:34:31.305Z,1629045271.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:34:31.306Z,1629045271.306 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:34:31.306Z,1629045271.306 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:34:31.307Z,1629045271.307 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:34:31.706Z,1629045271.706 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F19,000,00C48,186,80,80,A0,FF
2021-08-15T16:34:31.706Z,1629045271.706 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:34:31.706Z,1629045271.706 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:34:31.707Z,1629045271.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:34:32.113Z,1629045272.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:34:32.534Z,1629045272.534 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE0,000,00D03,188,80,80,A0,FF
2021-08-15T16:34:32.534Z,1629045272.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:34:32.978Z,1629045272.978 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163432.74*5C

2021-08-15T16:34:33.035Z,1629045273.035 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 162.360001 m, bearing: 230.981589 deg, deltaT: 4.455128 s, approachRate: 2.518443 m/s, LOS rate: 0.320033 deg/s, posRepo size: 4
2021-08-15T16:34:33.042Z,1629045273.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.360001 m,
      bearing: 230.981589 deg,
      approachRate: 2.518443 m/s,
      LOS rate: 0.320033 deg/s,
      cmd update: 1.280132 deg/s,
      cmd heading: 95.831141 deg,
      new cmd heading: 98.979106 deg.

2021-08-15T16:34:35.487Z,1629045275.487 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:34:35.801Z,1629045275.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:34:35.801Z,1629045275.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:34:35.801Z,1629045275.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:34:35.802Z,1629045275.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:34:36.193Z,1629045276.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE0,000,00D03,188,80,80,A0,FF
2021-08-15T16:34:36.193Z,1629045276.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:34:36.193Z,1629045276.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:34:36.195Z,1629045276.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:34:36.621Z,1629045276.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:34:37.415Z,1629045277.415 [Micromodem](INFO): Nmea in: $SNTTA,0.391395,0.391395,,,163437.22*5A

2021-08-15T16:34:38.252Z,1629045278.252 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:34:39.834Z,1629045279.834 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,188,80,80,A0,FF
2021-08-15T16:34:39.835Z,1629045279.835 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,188,80,80,A0,FF
2021-08-15T16:34:39.835Z,1629045279.835 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T16:34:41.057Z,1629045281.057 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:34:41.461Z,1629045281.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:34:41.461Z,1629045281.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:34:41.462Z,1629045281.462 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:34:41.463Z,1629045281.463 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:34:41.845Z,1629045281.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,188,80,80,A0,FF
2021-08-15T16:34:41.845Z,1629045281.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:34:41.845Z,1629045281.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:34:41.847Z,1629045281.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:34:42.256Z,1629045282.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:34:42.650Z,1629045282.650 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,414,0003,E4
3,188,80,80,A0,FF
2021-08-15T16:34:42.650Z,1629045282.650 [DUSBL_Hydroid](ERROR): unknown deviceResponse_: !U1,R,414,0003,E4
3,188,80,80,A0,FF
2021-08-15T16:34:43.114Z,1629045283.114 [Micromodem](INFO): Nmea in: $SNTTA,0.116182,,,,163442.87*44

2021-08-15T16:34:43.891Z,1629045283.891 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:34:46.742Z,1629045286.742 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:34:47.532Z,1629045287.532 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.068985
2021-08-15T16:34:49.573Z,1629045289.573 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:34:49.925Z,1629045289.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:34:49.925Z,1629045289.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:34:49.925Z,1629045289.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:34:49.926Z,1629045289.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:34:50.341Z,1629045290.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
414,0003,E4
3,188,80,80,A0,FF
2021-08-15T16:34:50.341Z,1629045290.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:34:50.342Z,1629045290.342 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:34:50.343Z,1629045290.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:34:50.764Z,1629045290.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:34:51.193Z,1629045291.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21F,000,00DA6,187,80,80,A7,FF
2021-08-15T16:34:51.194Z,1629045291.194 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:34:51.601Z,1629045291.601 [Micromodem](INFO): Nmea in: $SNTTA,0.117138,,,,163451.37*4D

2021-08-15T16:34:51.627Z,1629045291.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 172.139999 m, bearing: 104.351029 deg, deltaT: 18.665967 s, approachRate: 0.523948 m/s, LOS rate: -6.784034 deg/s, posRepo size: 4
2021-08-15T16:34:51.653Z,1629045291.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.139999 m,
      bearing: 104.351029 deg,
      approachRate: 0.523948 m/s,
      LOS rate: -6.784034 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 119.731607 deg,
      new cmd heading: 120.192908 deg.

2021-08-15T16:34:53.774Z,1629045293.774 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:34:54.105Z,1629045294.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:34:54.105Z,1629045294.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:34:54.105Z,1629045294.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:34:54.106Z,1629045294.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:34:54.525Z,1629045294.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21F,000,00DA6,187,80,80,A7,FF
2021-08-15T16:34:54.525Z,1629045294.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:34:54.525Z,1629045294.525 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:34:54.527Z,1629045294.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:34:54.909Z,1629045294.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:34:55.321Z,1629045295.321 [Micromodem](INFO): Nmea in: $SNTTA,0.126613,0.185008,,,163455.56*58

2021-08-15T16:34:55.713Z,1629045295.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,225,000,00DB3,188,80,80,A4,FF
2021-08-15T16:34:55.713Z,1629045295.713 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:34:56.160Z,1629045296.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 172.919998 m, bearing: 94.428499 deg, deltaT: 4.528338 s, approachRate: 0.172248 m/s, LOS rate: -2.191208 deg/s, posRepo size: 4
2021-08-15T16:34:56.162Z,1629045296.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.919998 m,
      bearing: 94.428499 deg,
      approachRate: 0.172248 m/s,
      LOS rate: -2.191208 deg/s,
      cmd update: -8.764832 deg/s,
      cmd heading: 65.485942 deg,
      new cmd heading: 61.009125 deg.

2021-08-15T16:34:56.545Z,1629045296.545 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-15T16:34:58.578Z,1629045298.578 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:34:58.949Z,1629045298.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:34:58.949Z,1629045298.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:34:58.949Z,1629045298.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:34:58.950Z,1629045298.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:34:59.354Z,1629045299.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
225,000,00DB3,188,80,80,A4,FF
2021-08-15T16:34:59.354Z,1629045299.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:34:59.354Z,1629045299.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:34:59.355Z,1629045299.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:34:59.760Z,1629045299.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:35:00.157Z,1629045300.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,505,000,00DB3,188,80,80,A4,FF
2021-08-15T16:35:00.158Z,1629045300.158 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:35:00.605Z,1629045300.605 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163500.38*54

2021-08-15T16:35:00.631Z,1629045300.631 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 172.919998 m, bearing: 44.949892 deg, deltaT: 4.405100 s, approachRate: 0.000000 m/s, LOS rate: -11.232119 deg/s, posRepo size: 4
2021-08-15T16:35:00.633Z,1629045300.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.919998 m,
      bearing: 44.949892 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -11.232119 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 26.983596 deg,
      new cmd heading: 23.029614 deg.

2021-08-15T16:35:03.027Z,1629045303.027 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:35:03.389Z,1629045303.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:35:03.389Z,1629045303.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:35:03.389Z,1629045303.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:35:03.390Z,1629045303.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:35:03.821Z,1629045303.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
505,000,00DB3,188,80,80,A4,FF
2021-08-15T16:35:03.821Z,1629045303.821 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:35:03.821Z,1629045303.821 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:35:03.823Z,1629045303.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:35:04.200Z,1629045304.200 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:35:05.010Z,1629045305.010 [Micromodem](INFO): Nmea in: $SNTTA,0.115365,,,,163504.85*4D

2021-08-15T16:35:05.527Z,1629045305.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:35:07.170Z,1629045307.170 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,188,80,80,A4,FF
2021-08-15T16:35:07.170Z,1629045307.170 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,188,80,80,A4,FF
2021-08-15T16:35:07.171Z,1629045307.171 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T16:35:08.351Z,1629045308.351 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:35:08.729Z,1629045308.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:35:08.729Z,1629045308.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:35:08.729Z,1629045308.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:35:08.730Z,1629045308.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:35:09.181Z,1629045309.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,188,80,80,A4,FF
2021-08-15T16:35:09.181Z,1629045309.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:35:09.182Z,1629045309.182 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:35:09.183Z,1629045309.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:35:09.536Z,1629045309.536 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:35:10.354Z,1629045310.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00DA9,189,80,80,AA,FF
2021-08-15T16:35:10.355Z,1629045310.355 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:35:10.361Z,1629045310.361 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163510.21*5D

2021-08-15T16:35:10.794Z,1629045310.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 172.320007 m, bearing: 8.050992 deg, deltaT: 10.206658 s, approachRate: -0.058784 m/s, LOS rate: -3.615179 deg/s, posRepo size: 4
2021-08-15T16:35:10.796Z,1629045310.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.320007 m,
      bearing: 8.050992 deg,
      approachRate: -0.058784 m/s,
      LOS rate: -3.615179 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 264.262893 deg,
      new cmd heading: 259.609389 deg.

2021-08-15T16:35:13.237Z,1629045313.237 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:35:13.585Z,1629045313.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:35:13.585Z,1629045313.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:35:13.586Z,1629045313.586 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:35:13.587Z,1629045313.587 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:35:13.981Z,1629045313.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00DA9,189,80,80,AA,FF
2021-08-15T16:35:13.981Z,1629045313.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:35:13.981Z,1629045313.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:35:13.983Z,1629045313.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:35:14.388Z,1629045314.388 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:35:14.793Z,1629045314.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3BD,000,00DA9,189,80,80,AA,FF
2021-08-15T16:35:14.794Z,1629045314.794 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:35:15.233Z,1629045315.233 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163515.01*5A

2021-08-15T16:35:15.280Z,1629045315.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 172.320007 m, bearing: 9.030842 deg, deltaT: 4.455839 s, approachRate: 0.000000 m/s, LOS rate: 0.219902 deg/s, posRepo size: 4
2021-08-15T16:35:15.282Z,1629045315.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.320007 m,
      bearing: 9.030842 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.219902 deg/s,
      cmd update: 0.879609 deg/s,
      cmd heading: 210.791636 deg,
      new cmd heading: 205.786124 deg.

2021-08-15T16:35:17.645Z,1629045317.645 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:35:18.021Z,1629045318.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:35:18.021Z,1629045318.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:35:18.021Z,1629045318.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:35:18.022Z,1629045318.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:35:18.425Z,1629045318.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3BD,000,00DA9,189,80,80,AA,FF
2021-08-15T16:35:18.426Z,1629045318.426 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:35:18.426Z,1629045318.426 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:35:18.427Z,1629045318.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:35:18.845Z,1629045318.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:35:19.234Z,1629045319.234 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3CA,000,00DA9,189,80,80,AA,FF
2021-08-15T16:35:19.234Z,1629045319.234 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:35:19.238Z,1629045319.238 [Micromodem](INFO): Nmea in: $SNTTA,0.236471,0.236271,,,163519.45*50

2021-08-15T16:35:19.683Z,1629045319.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 172.320007 m, bearing: 0.200920 deg, deltaT: 4.453494 s, approachRate: 0.000000 m/s, LOS rate: -1.982695 deg/s, posRepo size: 4
2021-08-15T16:35:19.686Z,1629045319.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.320007 m,
      bearing: 0.200920 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.982695 deg/s,
      cmd update: -7.930781 deg/s,
      cmd heading: 214.712505 deg,
      new cmd heading: 215.032337 deg.

2021-08-15T16:35:22.079Z,1629045322.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:35:22.480Z,1629045322.480 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:35:22.481Z,1629045322.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:35:22.481Z,1629045322.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:35:22.482Z,1629045322.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:35:22.869Z,1629045322.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3CA,000,00DA9,189,80,80,AA,FF
2021-08-15T16:35:22.869Z,1629045322.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:35:22.869Z,1629045322.869 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:35:22.871Z,1629045322.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:35:23.277Z,1629045323.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:35:23.681Z,1629045323.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00DA9,189,80,80,AA,FF
2021-08-15T16:35:23.682Z,1629045323.682 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:35:24.120Z,1629045324.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 172.320007 m, bearing: 358.227139 deg, deltaT: 4.423221 s, approachRate: 0.000000 m/s, LOS rate: -0.446231 deg/s, posRepo size: 4
2021-08-15T16:35:24.122Z,1629045324.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.320007 m,
      bearing: 358.227139 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.446231 deg/s,
      cmd update: -1.784924 deg/s,
      cmd heading: 179.633407 deg,
      new cmd heading: 176.644058 deg.

2021-08-15T16:35:26.564Z,1629045326.564 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:35:26.917Z,1629045326.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:35:26.917Z,1629045326.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:35:26.917Z,1629045326.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:35:26.918Z,1629045326.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:35:27.321Z,1629045327.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00DA9,189,80,80,AA,FF
2021-08-15T16:35:27.321Z,1629045327.321 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:35:27.321Z,1629045327.321 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:35:27.322Z,1629045327.322 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:35:27.759Z,1629045327.759 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:35:28.142Z,1629045328.142 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D67,000,00D30,189,80,80,AA,FF
2021-08-15T16:35:28.142Z,1629045328.142 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:35:28.586Z,1629045328.586 [Micromodem](INFO): Nmea in: $SNTTA,0.147582,,,,163528.35*40

2021-08-15T16:35:28.612Z,1629045328.612 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 165.059998 m, bearing: 114.115106 deg, deltaT: 4.444187 s, approachRate: -1.633597 m/s, LOS rate: 26.076305 deg/s, posRepo size: 4
2021-08-15T16:35:28.613Z,1629045328.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 26.076305 deg/s. Setting heading cmd to target bearing of 114.115106deg and heading rate command to 0 deg/s.
2021-08-15T16:35:31.007Z,1629045331.007 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:35:31.373Z,1629045331.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:35:31.373Z,1629045331.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:35:31.373Z,1629045331.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:35:31.374Z,1629045331.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:35:31.773Z,1629045331.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D67,000,00D30,189,80,80,AA,FF
2021-08-15T16:35:31.773Z,1629045331.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:35:31.773Z,1629045331.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:35:31.775Z,1629045331.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:35:32.181Z,1629045332.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:35:32.586Z,1629045332.586 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00D25,189,80,80,AA,FF
2021-08-15T16:35:32.586Z,1629045332.586 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:35:33.029Z,1629045333.029 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163532.80*56

2021-08-15T16:35:33.056Z,1629045333.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 164.399994 m, bearing: 32.930951 deg, deltaT: 4.458510 s, approachRate: -0.148032 m/s, LOS rate: -18.208808 deg/s, posRepo size: 4
2021-08-15T16:35:33.057Z,1629045333.057 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.208808 deg/s. Setting heading cmd to target bearing of 32.930951deg and heading rate command to 0 deg/s.
2021-08-15T16:35:35.505Z,1629045335.505 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:35:35.820Z,1629045335.820 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:35:35.820Z,1629045335.820 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:35:35.820Z,1629045335.820 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:35:35.824Z,1629045335.824 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:35:36.223Z,1629045336.223 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00D25,189,80,80,AA,FF
2021-08-15T16:35:36.223Z,1629045336.223 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:35:36.224Z,1629045336.224 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:35:36.225Z,1629045336.225 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:35:36.632Z,1629045336.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:35:37.030Z,1629045337.030 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BB,000,00D2A,189,80,80,AA,FF
2021-08-15T16:35:37.030Z,1629045337.030 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:35:37.489Z,1629045337.489 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163537.25*5C

2021-08-15T16:35:37.549Z,1629045337.549 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 164.700012 m, bearing: 103.111473 deg, deltaT: 4.495112 s, approachRate: 0.066743 m/s, LOS rate: 15.612631 deg/s, posRepo size: 4
2021-08-15T16:35:37.550Z,1629045337.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.612631 deg/s. Setting heading cmd to target bearing of 103.111473deg and heading rate command to 0 deg/s.
2021-08-15T16:35:39.876Z,1629045339.876 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:35:40.257Z,1629045340.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:35:40.257Z,1629045340.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:35:40.258Z,1629045340.258 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:35:40.259Z,1629045340.259 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:35:40.661Z,1629045340.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BB,000,00D2A,189,80,80,AA,FF
2021-08-15T16:35:40.661Z,1629045340.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:35:40.661Z,1629045340.661 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:35:40.663Z,1629045340.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:35:41.142Z,1629045341.142 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:35:41.505Z,1629045341.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27F,000,00D34,188,80,80,9B,FF
2021-08-15T16:35:41.506Z,1629045341.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:35:41.909Z,1629045341.909 [Micromodem](INFO): Nmea in: $SNTTA,0.112124,,,,163541.69*4E

2021-08-15T16:35:41.932Z,1629045341.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 165.299988 m, bearing: 76.104905 deg, deltaT: 4.419887 s, approachRate: 0.135745 m/s, LOS rate: -6.110239 deg/s, posRepo size: 4
2021-08-15T16:35:41.934Z,1629045341.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.299988 m,
      bearing: 76.104905 deg,
      approachRate: 0.135745 m/s,
      LOS rate: -6.110239 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 103.111473 deg,
      new cmd heading: 103.111473 deg.

2021-08-15T16:35:44.333Z,1629045344.333 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:35:44.709Z,1629045344.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:35:44.709Z,1629045344.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:35:44.709Z,1629045344.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:35:44.710Z,1629045344.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:35:45.133Z,1629045345.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27F,000,00D34,188,80,80,9B,FF
2021-08-15T16:35:45.133Z,1629045345.133 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:35:45.134Z,1629045345.134 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:35:45.137Z,1629045345.137 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:35:45.569Z,1629045345.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:35:45.970Z,1629045345.970 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,441,000,00D36,18A,80,80,AB,FF
2021-08-15T16:35:45.970Z,1629045345.970 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:35:46.393Z,1629045346.393 [Micromodem](INFO): Nmea in: $SNTTA,0.128950,,,,163546.16*43

2021-08-15T16:35:46.481Z,1629045346.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 165.419998 m, bearing: 40.725973 deg, deltaT: 4.428583 s, approachRate: 0.027099 m/s, LOS rate: -7.988770 deg/s, posRepo size: 4
2021-08-15T16:35:46.484Z,1629045346.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.419998 m,
      bearing: 40.725973 deg,
      approachRate: 0.027099 m/s,
      LOS rate: -7.988770 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 49.873087 deg,
      new cmd heading: 44.709307 deg.

2021-08-15T16:35:48.498Z,1629045348.498 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:35:48.827Z,1629045348.827 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:35:48.827Z,1629045348.827 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:35:48.827Z,1629045348.827 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:35:48.832Z,1629045348.832 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:35:49.209Z,1629045349.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
441,000,00D36,18A,80,80,AB,FF
2021-08-15T16:35:49.209Z,1629045349.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:35:49.210Z,1629045349.210 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:35:49.211Z,1629045349.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:35:49.612Z,1629045349.612 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:35:50.018Z,1629045350.018 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,453,000,00D36,18A,80,80,AB,FF
2021-08-15T16:35:50.018Z,1629045350.018 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:35:50.485Z,1629045350.485 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163550.24*5C

2021-08-15T16:35:50.544Z,1629045350.544 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 165.419998 m, bearing: 36.460772 deg, deltaT: 4.088704 s, approachRate: 0.000000 m/s, LOS rate: -1.043167 deg/s, posRepo size: 4
2021-08-15T16:35:50.546Z,1629045350.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.419998 m,
      bearing: 36.460772 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.043167 deg/s,
      cmd update: -4.172667 deg/s,
      cmd heading: 1.258926 deg,
      new cmd heading: 355.263366 deg.

2021-08-15T16:35:52.880Z,1629045352.880 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:35:53.245Z,1629045353.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:35:53.245Z,1629045353.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:35:53.245Z,1629045353.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:35:53.246Z,1629045353.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:35:53.658Z,1629045353.658 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
453,000,00D36,18A,80,80,AB,FF
2021-08-15T16:35:53.658Z,1629045353.658 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:35:53.658Z,1629045353.658 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:35:53.659Z,1629045353.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:35:54.056Z,1629045354.056 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:35:54.494Z,1629045354.494 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00D2F,188,80,80,AB,FF
2021-08-15T16:35:54.494Z,1629045354.494 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:35:54.897Z,1629045354.897 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163554.69*51

2021-08-15T16:35:54.921Z,1629045354.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 165.000015 m, bearing: 11.898078 deg, deltaT: 4.468749 s, approachRate: -0.093982 m/s, LOS rate: -5.496549 deg/s, posRepo size: 4
2021-08-15T16:35:54.923Z,1629045354.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.000015 m,
      bearing: 11.898078 deg,
      approachRate: -0.093982 m/s,
      LOS rate: -5.496549 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 342.455590 deg,
      new cmd heading: 340.894016 deg.

2021-08-15T16:35:57.364Z,1629045357.364 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:35:57.701Z,1629045357.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:35:57.701Z,1629045357.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:35:57.701Z,1629045357.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:35:57.702Z,1629045357.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:35:58.097Z,1629045358.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00D2F,188,80,80,AB,FF
2021-08-15T16:35:58.097Z,1629045358.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:35:58.097Z,1629045358.097 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:35:58.099Z,1629045358.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:35:58.529Z,1629045358.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:35:58.923Z,1629045358.923 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00D1A,189,80,80,AB,FF
2021-08-15T16:35:58.923Z,1629045358.923 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:35:59.329Z,1629045359.329 [Micromodem](INFO): Nmea in: $SNTTA,0.440219,0.440100,,,163559.12*5B

2021-08-15T16:35:59.406Z,1629045359.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.740005 m, bearing: 355.175492 deg, deltaT: 4.396181 s, approachRate: -0.286615 m/s, LOS rate: -3.803890 deg/s, posRepo size: 4
2021-08-15T16:35:59.413Z,1629045359.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.740005 m,
      bearing: 355.175492 deg,
      approachRate: -0.286615 m/s,
      LOS rate: -3.803890 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 289.701273 deg,
      new cmd heading: 284.150601 deg.

2021-08-15T16:36:01.787Z,1629045361.787 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:36:02.129Z,1629045362.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:36:02.129Z,1629045362.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:36:02.129Z,1629045362.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:36:02.130Z,1629045362.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:36:02.554Z,1629045362.554 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00D1A,189,80,80,AB,FF
2021-08-15T16:36:02.554Z,1629045362.554 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:36:02.554Z,1629045362.554 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:36:02.569Z,1629045362.569 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:36:02.978Z,1629045362.978 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:36:03.754Z,1629045363.754 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,372,000,00CFC,189,80,80,A7,FF
2021-08-15T16:36:03.754Z,1629045363.754 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:36:04.198Z,1629045364.198 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 161.940018 m, bearing: 359.098835 deg, deltaT: 4.838000 s, approachRate: -0.372052 m/s, LOS rate: 0.810943 deg/s, posRepo size: 4
2021-08-15T16:36:04.201Z,1629045364.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.940018 m,
      bearing: 359.098835 deg,
      approachRate: -0.372052 m/s,
      LOS rate: 0.810943 deg/s,
      cmd update: 3.243772 deg/s,
      cmd heading: 231.647539 deg,
      new cmd heading: 226.658719 deg.

2021-08-15T16:36:06.663Z,1629045366.663 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:36:06.990Z,1629045366.990 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:36:06.990Z,1629045366.990 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:36:06.991Z,1629045366.991 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:36:06.992Z,1629045366.992 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:36:07.389Z,1629045367.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
372,000,00CFC,189,80,80,A7,FF
2021-08-15T16:36:07.389Z,1629045367.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:36:07.389Z,1629045367.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:36:07.391Z,1629045367.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:36:07.793Z,1629045367.793 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:36:08.204Z,1629045368.204 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2EA,000,00CD3,188,80,80,A7,FF
2021-08-15T16:36:08.204Z,1629045368.204 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:36:08.641Z,1629045368.641 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163608.42*52

2021-08-15T16:36:08.697Z,1629045368.697 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 159.479996 m, bearing: 351.365203 deg, deltaT: 4.453287 s, approachRate: -0.552406 m/s, LOS rate: -1.736612 deg/s, posRepo size: 4
2021-08-15T16:36:08.699Z,1629045368.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.479996 m,
      bearing: 351.365203 deg,
      approachRate: -0.552406 m/s,
      LOS rate: -1.736612 deg/s,
      cmd update: -6.946448 deg/s,
      cmd heading: 246.084282 deg,
      new cmd heading: 247.579093 deg.

2021-08-15T16:36:11.059Z,1629045371.059 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:36:11.429Z,1629045371.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:36:11.429Z,1629045371.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:36:11.429Z,1629045371.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:36:11.431Z,1629045371.431 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:36:11.833Z,1629045371.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2EA,000,00CD3,188,80,80,A7,FF
2021-08-15T16:36:11.834Z,1629045371.834 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:36:11.834Z,1629045371.834 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:36:11.836Z,1629045371.836 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:36:12.237Z,1629045372.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:36:12.641Z,1629045372.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,151,000,004AB,186,80,80,A2,FF
2021-08-15T16:36:12.641Z,1629045372.641 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:36:13.081Z,1629045373.081 [Micromodem](INFO): Nmea in: $SNTTA,0.022710,,,,163612.86*49

2021-08-15T16:36:13.162Z,1629045373.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.200001 m, bearing: 356.731737 deg, deltaT: 4.458625 s, approachRate: -28.098349 m/s, LOS rate: 1.203630 deg/s, posRepo size: 4
2021-08-15T16:36:13.163Z,1629045373.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.20 m.
2021-08-15T16:36:13.170Z,1629045373.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.200001 m,
      bearing: 356.731737 deg,
      approachRate: -28.098349 m/s,
      LOS rate: 1.203630 deg/s,
      cmd update: 4.814520 deg/s,
      cmd heading: 215.261161 deg,
      new cmd heading: 211.833082 deg.

2021-08-15T16:36:13.494Z,1629045373.494 [PowerOnly](INFO): Powering up loadControl
2021-08-15T16:36:13.600Z,1629045373.600 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T16:36:13.600Z,1629045373.600 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T16:36:13.600Z,1629045373.600 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T16:36:13.601Z,1629045373.601 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T16:36:13.601Z,1629045373.601 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T16:36:13.601Z,1629045373.601 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T16:36:13.969Z,1629045373.969 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T16:36:13.969Z,1629045373.969 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T16:36:13.970Z,1629045373.970 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T16:36:13.970Z,1629045373.970 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T16:36:15.518Z,1629045375.518 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:36:15.873Z,1629045375.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:36:15.873Z,1629045375.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:36:15.873Z,1629045375.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:36:15.874Z,1629045375.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:36:16.273Z,1629045376.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
151,000,004AB,186,80,80,A2,FF
2021-08-15T16:36:16.273Z,1629045376.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:36:16.273Z,1629045376.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:36:16.275Z,1629045376.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:36:16.684Z,1629045376.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:36:17.514Z,1629045377.514 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163617.30*59

2021-08-15T16:36:18.315Z,1629045378.315 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:36:19.905Z,1629045379.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
B,186,80,80,A2,FF
2021-08-15T16:36:19.905Z,1629045379.905 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
B,186,80,80,A2,FF
2021-08-15T16:36:19.906Z,1629045379.906 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T16:36:21.209Z,1629045381.209 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:36:21.527Z,1629045381.527 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:36:21.527Z,1629045381.527 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:36:21.527Z,1629045381.527 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:36:21.545Z,1629045381.545 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:36:21.933Z,1629045381.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
B,186,80,80,A2,FF
2021-08-15T16:36:21.933Z,1629045381.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:36:21.933Z,1629045381.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:36:21.935Z,1629045381.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:36:22.353Z,1629045382.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:36:22.742Z,1629045382.742 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEA,000,00C34,188,80,80,A2,FF
2021-08-15T16:36:22.742Z,1629045382.742 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:36:22.799Z,1629045382.799 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:36:23.190Z,1629045383.190 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163622.96*53

2021-08-15T16:36:23.228Z,1629045383.228 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.940002 m, bearing: 0.939911 deg, deltaT: 10.103381 s, approachRate: 11.455572 m/s, LOS rate: 0.416512 deg/s, posRepo size: 4
2021-08-15T16:36:23.230Z,1629045383.230 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.940002 m,
      bearing: 0.939911 deg,
      approachRate: 11.455572 m/s,
      LOS rate: 0.416512 deg/s,
      cmd update: 1.666048 deg/s,
      cmd heading: 263.999473 deg,
      new cmd heading: 266.098767 deg.

2021-08-15T16:36:23.593Z,1629045383.593 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T16:36:23.593Z,1629045383.593 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T16:36:23.593Z,1629045383.593 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T16:36:23.594Z,1629045383.594 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T16:36:23.594Z,1629045383.594 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T16:36:23.594Z,1629045383.594 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T16:36:23.985Z,1629045383.985 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T16:36:23.985Z,1629045383.985 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T16:36:23.985Z,1629045383.985 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T16:36:23.986Z,1629045383.986 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T16:36:25.609Z,1629045385.609 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:36:25.969Z,1629045385.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:36:25.969Z,1629045385.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:36:25.969Z,1629045385.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:36:25.970Z,1629045385.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:36:26.401Z,1629045386.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEA,000,00C34,188,80,80,A2,FF
2021-08-15T16:36:26.401Z,1629045386.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:36:26.402Z,1629045386.402 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:36:26.403Z,1629045386.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:36:26.792Z,1629045386.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:36:27.178Z,1629045387.178 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C97,000,00C34,188,80,80,A2,FF
2021-08-15T16:36:27.179Z,1629045387.179 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:36:27.603Z,1629045387.603 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163627.43*5E

2021-08-15T16:36:27.647Z,1629045387.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.940002 m, bearing: 2.527646 deg, deltaT: 4.464933 s, approachRate: 0.000000 m/s, LOS rate: 0.355601 deg/s, posRepo size: 4
2021-08-15T16:36:27.649Z,1629045387.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.940002 m,
      bearing: 2.527646 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.355601 deg/s,
      cmd update: 1.422404 deg/s,
      cmd heading: 271.444665 deg,
      new cmd heading: 272.088687 deg.

2021-08-15T16:36:30.043Z,1629045390.043 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:36:30.417Z,1629045390.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:36:30.417Z,1629045390.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:36:30.417Z,1629045390.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:36:30.418Z,1629045390.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:36:30.822Z,1629045390.822 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C97,000,00C34,188,80,80,A2,FF
2021-08-15T16:36:30.822Z,1629045390.822 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:36:30.822Z,1629045390.822 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:36:30.829Z,1629045390.829 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:36:31.233Z,1629045391.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:36:31.638Z,1629045391.638 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B8D,000,00BE8,189,80,80,53,FF
2021-08-15T16:36:31.638Z,1629045391.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:36:32.069Z,1629045392.069 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163631.85*53

2021-08-15T16:36:32.091Z,1629045392.091 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.380005 m, bearing: 359.056242 deg, deltaT: 4.439299 s, approachRate: -1.027189 m/s, LOS rate: -0.781969 deg/s, posRepo size: 4
2021-08-15T16:36:32.094Z,1629045392.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.380005 m,
      bearing: 359.056242 deg,
      approachRate: -1.027189 m/s,
      LOS rate: -0.781969 deg/s,
      cmd update: -3.127875 deg/s,
      cmd heading: 277.759283 deg,
      new cmd heading: 278.315934 deg.

2021-08-15T16:36:34.523Z,1629045394.523 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:36:34.857Z,1629045394.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:36:34.857Z,1629045394.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:36:34.857Z,1629045394.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:36:34.858Z,1629045394.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:36:35.270Z,1629045395.270 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B8D,000,00BE8,189,80,80,53,FF
2021-08-15T16:36:35.270Z,1629045395.270 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:36:35.270Z,1629045395.270 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:36:35.272Z,1629045395.272 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:36:35.677Z,1629045395.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:36:36.078Z,1629045396.078 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B39,000,00BD1,189,80,80,6B,FF
2021-08-15T16:36:36.078Z,1629045396.078 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:36:36.538Z,1629045396.538 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163636.30*5A

2021-08-15T16:36:36.566Z,1629045396.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.000000 m, bearing: 347.237037 deg, deltaT: 4.395720 s, approachRate: -0.313943 m/s, LOS rate: -2.688799 deg/s, posRepo size: 4
2021-08-15T16:36:36.568Z,1629045396.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.000000 m,
      bearing: 347.237037 deg,
      approachRate: -0.313943 m/s,
      LOS rate: -2.688799 deg/s,
      cmd update: -10.755194 deg/s,
      cmd heading: 264.008526 deg,
      new cmd heading: 262.540114 deg.

2021-08-15T16:36:38.929Z,1629045398.929 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:36:39.301Z,1629045399.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:36:39.301Z,1629045399.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:36:39.302Z,1629045399.302 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:36:39.303Z,1629045399.303 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:36:39.709Z,1629045399.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B39,000,00BD1,189,80,80,6B,FF
2021-08-15T16:36:39.710Z,1629045399.710 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:36:39.710Z,1629045399.710 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:36:39.711Z,1629045399.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:36:40.112Z,1629045400.112 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:36:40.942Z,1629045400.942 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163640.74*5B

2021-08-15T16:36:41.747Z,1629045401.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:36:43.341Z,1629045403.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,189,80,80,6B,FF
2021-08-15T16:36:43.341Z,1629045403.341 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,189,80,80,6B,FF
2021-08-15T16:36:43.341Z,1629045403.341 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T16:36:44.590Z,1629045404.590 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:36:44.957Z,1629045404.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:36:44.957Z,1629045404.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:36:44.957Z,1629045404.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:36:44.958Z,1629045404.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:36:45.361Z,1629045405.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,189,80,80,6B,FF
2021-08-15T16:36:45.361Z,1629045405.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:36:45.361Z,1629045405.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:36:45.363Z,1629045405.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:36:45.764Z,1629045405.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:36:46.169Z,1629045406.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE3,000,00BC1,186,80,80,92,FF
2021-08-15T16:36:46.170Z,1629045406.170 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:36:46.601Z,1629045406.601 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163646.39*54

2021-08-15T16:36:46.641Z,1629045406.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.040009 m, bearing: 264.753159 deg, deltaT: 10.095103 s, approachRate: -0.095095 m/s, LOS rate: -8.170682 deg/s, posRepo size: 4
2021-08-15T16:36:46.643Z,1629045406.643 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.040009 m,
      bearing: 264.753159 deg,
      approachRate: -0.095095 m/s,
      LOS rate: -8.170682 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 155.433143 deg,
      new cmd heading: 150.603394 deg.

2021-08-15T16:36:49.023Z,1629045409.023 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:36:49.405Z,1629045409.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:36:49.405Z,1629045409.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:36:49.405Z,1629045409.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:36:49.406Z,1629045409.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:36:49.813Z,1629045409.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE3,000,00BC1,186,80,80,92,FF
2021-08-15T16:36:49.813Z,1629045409.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:36:49.813Z,1629045409.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:36:49.815Z,1629045409.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:36:50.220Z,1629045410.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:36:50.621Z,1629045410.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D7,000,00BCE,186,80,80,95,FF
2021-08-15T16:36:50.622Z,1629045410.622 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:36:51.054Z,1629045411.054 [Micromodem](INFO): Nmea in: $SNTTA,0.098280,,,,163650.84*40

2021-08-15T16:36:51.146Z,1629045411.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.820007 m, bearing: 210.412542 deg, deltaT: 4.487191 s, approachRate: 0.173828 m/s, LOS rate: -12.110164 deg/s, posRepo size: 4
2021-08-15T16:36:51.146Z,1629045411.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.110164 deg/s. Setting heading cmd to target bearing of 210.412542deg and heading rate command to 0 deg/s.
2021-08-15T16:36:53.538Z,1629045413.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:36:53.855Z,1629045413.855 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:36:53.855Z,1629045413.855 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:36:53.855Z,1629045413.855 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:36:53.866Z,1629045413.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:36:53.882Z,1629045413.882 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D7,000,00BCE,186,80,80,95,FF
2021-08-15T16:36:53.882Z,1629045413.882 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:36:53.882Z,1629045413.882 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:36:53.885Z,1629045413.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:36:54.258Z,1629045414.258 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:36:54.669Z,1629045414.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF6,000,00BE8,186,80,80,95,FF
2021-08-15T16:36:54.669Z,1629045414.669 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:36:55.093Z,1629045415.093 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163654.91*55

2021-08-15T16:36:55.160Z,1629045415.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.380005 m, bearing: 256.244164 deg, deltaT: 4.023850 s, approachRate: 0.387688 m/s, LOS rate: 11.389993 deg/s, posRepo size: 4
2021-08-15T16:36:55.162Z,1629045415.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.380005 m,
      bearing: 256.244164 deg,
      approachRate: 0.387688 m/s,
      LOS rate: 11.389993 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 210.412542 deg,
      new cmd heading: 210.412542 deg.

2021-08-15T16:36:57.549Z,1629045417.549 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:36:57.894Z,1629045417.894 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:36:57.894Z,1629045417.894 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:36:57.894Z,1629045417.894 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:36:57.895Z,1629045417.895 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:36:58.289Z,1629045418.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CF6,000,00BE8,186,80,80,95,FF
2021-08-15T16:36:58.289Z,1629045418.289 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:36:58.289Z,1629045418.289 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:36:58.291Z,1629045418.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:36:58.711Z,1629045418.711 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:36:59.135Z,1629045419.135 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9E,000,00C0A,186,80,80,A9,FF
2021-08-15T16:36:59.136Z,1629045419.136 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:36:59.549Z,1629045419.549 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163659.32*51

2021-08-15T16:36:59.575Z,1629045419.575 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.420013 m, bearing: 218.534826 deg, deltaT: 4.508314 s, approachRate: 0.452499 m/s, LOS rate: -8.364399 deg/s, posRepo size: 4
2021-08-15T16:36:59.601Z,1629045419.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.420013 m,
      bearing: 218.534826 deg,
      approachRate: 0.452499 m/s,
      LOS rate: -8.364399 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 264.461024 deg,
      new cmd heading: 268.883576 deg.

2021-08-15T16:37:01.968Z,1629045421.968 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:37:02.333Z,1629045422.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:37:02.333Z,1629045422.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:37:02.333Z,1629045422.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:37:02.334Z,1629045422.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:37:02.739Z,1629045422.739 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9E,000,00C0A,186,80,80,A9,FF
2021-08-15T16:37:02.739Z,1629045422.739 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:37:02.740Z,1629045422.740 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:37:02.742Z,1629045422.742 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:37:03.173Z,1629045423.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:37:03.546Z,1629045423.546 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EC2,000,00C33,186,80,80,A9,FF
2021-08-15T16:37:03.546Z,1629045423.546 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:37:03.991Z,1629045423.991 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163703.77*5E

2021-08-15T16:37:04.007Z,1629045424.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.880005 m, bearing: 203.305922 deg, deltaT: 4.432793 s, approachRate: 0.554953 m/s, LOS rate: -3.435510 deg/s, posRepo size: 4
2021-08-15T16:37:04.010Z,1629045424.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.880005 m,
      bearing: 203.305922 deg,
      approachRate: 0.554953 m/s,
      LOS rate: -3.435510 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 211.265491 deg,
      new cmd heading: 206.851555 deg.

2021-08-15T16:37:06.415Z,1629045426.415 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:37:06.777Z,1629045426.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:37:06.778Z,1629045426.778 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:37:06.778Z,1629045426.778 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:37:06.779Z,1629045426.779 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:37:07.192Z,1629045427.192 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EC2,000,00C33,186,80,80,A9,FF
2021-08-15T16:37:07.193Z,1629045427.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:37:07.193Z,1629045427.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:37:07.194Z,1629045427.194 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:37:07.592Z,1629045427.592 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:37:08.000Z,1629045428.000 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E2,000,00C5C,186,80,80,A9,FF
2021-08-15T16:37:08.001Z,1629045428.001 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:37:08.434Z,1629045428.434 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163708.22*55

2021-08-15T16:37:08.515Z,1629045428.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.340012 m, bearing: 183.224428 deg, deltaT: 4.401253 s, approachRate: 0.558933 m/s, LOS rate: -4.562677 deg/s, posRepo size: 4
2021-08-15T16:37:08.517Z,1629045428.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 152.340012 m,
      bearing: 183.224428 deg,
      approachRate: 0.558933 m/s,
      LOS rate: -4.562677 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 158.500337 deg,
      new cmd heading: 152.763797 deg.

2021-08-15T16:37:10.889Z,1629045430.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:37:11.225Z,1629045431.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:37:11.225Z,1629045431.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:37:11.226Z,1629045431.226 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:37:11.227Z,1629045431.227 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:37:11.633Z,1629045431.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E2,000,00C5C,186,80,80,A9,FF
2021-08-15T16:37:11.633Z,1629045431.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:37:11.634Z,1629045431.634 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:37:11.635Z,1629045431.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:37:12.029Z,1629045432.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:37:12.454Z,1629045432.454 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,119,000,00C87,185,80,80,89,FF
2021-08-15T16:37:12.455Z,1629045432.455 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:37:12.870Z,1629045432.870 [Micromodem](INFO): Nmea in: $SNTTA,0.113334,,,,163712.66*47

2021-08-15T16:37:12.886Z,1629045432.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 154.919998 m, bearing: 184.646569 deg, deltaT: 4.508712 s, approachRate: 0.572223 m/s, LOS rate: 0.315421 deg/s, posRepo size: 4
2021-08-15T16:37:12.888Z,1629045432.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.919998 m,
      bearing: 184.646569 deg,
      approachRate: 0.572223 m/s,
      LOS rate: 0.315421 deg/s,
      cmd update: 1.261683 deg/s,
      cmd heading: 104.519368 deg,
      new cmd heading: 100.305820 deg.

2021-08-15T16:37:15.307Z,1629045435.307 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:37:15.669Z,1629045435.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:37:15.669Z,1629045435.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:37:15.669Z,1629045435.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:37:15.670Z,1629045435.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:37:16.069Z,1629045436.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
119,000,00C87,185,80,80,89,FF
2021-08-15T16:37:16.069Z,1629045436.069 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:37:16.069Z,1629045436.069 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:37:16.071Z,1629045436.071 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:37:16.509Z,1629045436.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:37:17.279Z,1629045437.279 [Micromodem](INFO): Nmea in: $SNTTA,0.412384,0.412584,,,163717.10*5C

2021-08-15T16:37:18.111Z,1629045438.111 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:37:18.894Z,1629045438.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,183,000,06B49,186,80,80,80,FF
2021-08-15T16:37:18.894Z,1629045438.894 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:37:19.359Z,1629045439.359 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1610.400024 m, bearing: 154.992469 deg, deltaT: 6.381808 s, approachRate: 228.067032 m/s, LOS rate: -4.646661 deg/s, posRepo size: 4
2021-08-15T16:37:19.366Z,1629045439.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 1610.400024 m,
      bearing: 154.992469 deg,
      approachRate: 228.067032 m/s,
      LOS rate: -4.646661 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 112.589330 deg,
      new cmd heading: 113.129351 deg.

2021-08-15T16:37:21.749Z,1629045441.749 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:37:22.133Z,1629045442.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:37:22.133Z,1629045442.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:37:22.134Z,1629045442.134 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:37:22.135Z,1629045442.135 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:37:22.529Z,1629045442.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
183,000,06B49,186,80,80,80,FF
2021-08-15T16:37:22.529Z,1629045442.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:37:22.530Z,1629045442.530 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:37:22.531Z,1629045442.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:37:22.936Z,1629045442.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:37:23.341Z,1629045443.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DAD,000,00CF7,189,80,80,80,FF
2021-08-15T16:37:23.342Z,1629045443.342 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:37:23.769Z,1629045443.769 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163723.56*5F

2021-08-15T16:37:23.808Z,1629045443.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 161.640015 m, bearing: 187.124302 deg, deltaT: 4.469638 s, approachRate: -324.133636 m/s, LOS rate: 7.188912 deg/s, posRepo size: 4
2021-08-15T16:37:23.810Z,1629045443.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 161.640015 m,
      bearing: 187.124302 deg,
      approachRate: -324.133636 m/s,
      LOS rate: 7.188912 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 58.914493 deg,
      new cmd heading: 54.073117 deg.

2021-08-15T16:37:26.192Z,1629045446.192 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:37:26.584Z,1629045446.584 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:37:26.584Z,1629045446.584 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:37:26.585Z,1629045446.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:37:26.585Z,1629045446.585 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:37:26.973Z,1629045446.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DAD,000,00CF7,189,80,80,80,FF
2021-08-15T16:37:26.974Z,1629045446.974 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:37:26.974Z,1629045446.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:37:26.975Z,1629045446.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:37:27.399Z,1629045447.399 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:37:27.794Z,1629045447.794 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,388,000,00D18,189,80,80,80,FF
2021-08-15T16:37:27.794Z,1629045447.794 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:37:28.230Z,1629045448.230 [Micromodem](INFO): Nmea in: $SNTTA,0.113395,,,,163728.00*45

2021-08-15T16:37:28.251Z,1629045448.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.619995 m, bearing: 97.187472 deg, deltaT: 4.439928 s, approachRate: 0.445949 m/s, LOS rate: -20.256371 deg/s, posRepo size: 4
2021-08-15T16:37:28.252Z,1629045448.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -20.256371 deg/s. Setting heading cmd to target bearing of 97.187472deg and heading rate command to 0 deg/s.
2021-08-15T16:37:30.658Z,1629045450.658 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:37:31.021Z,1629045451.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:37:31.021Z,1629045451.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:37:31.021Z,1629045451.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:37:31.022Z,1629045451.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:37:31.425Z,1629045451.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
388,000,00D18,189,80,80,80,FF
2021-08-15T16:37:31.425Z,1629045451.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:37:31.425Z,1629045451.425 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:37:31.427Z,1629045451.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:37:31.837Z,1629045451.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:37:32.230Z,1629045452.230 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E9,000,00D18,189,80,80,80,FF
2021-08-15T16:37:32.230Z,1629045452.230 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:37:32.674Z,1629045452.674 [Micromodem](INFO): Nmea in: $SNTTA,0.112216,,,,163732.45*44

2021-08-15T16:37:32.704Z,1629045452.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.619995 m, bearing: 89.860325 deg, deltaT: 4.440924 s, approachRate: 0.000000 m/s, LOS rate: -1.649915 deg/s, posRepo size: 4
2021-08-15T16:37:32.706Z,1629045452.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.619995 m,
      bearing: 89.860325 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -1.649915 deg/s,
      cmd update: -6.599660 deg/s,
      cmd heading: 97.187472 deg,
      new cmd heading: 97.187472 deg.

2021-08-15T16:37:35.151Z,1629045455.151 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:37:35.497Z,1629045455.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:37:35.497Z,1629045455.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:37:35.497Z,1629045455.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:37:35.498Z,1629045455.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:37:35.869Z,1629045455.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E9,000,00D18,189,80,80,80,FF
2021-08-15T16:37:35.869Z,1629045455.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:37:35.869Z,1629045455.869 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:37:35.871Z,1629045455.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:37:36.277Z,1629045456.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:37:36.681Z,1629045456.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CD,000,00D4B,189,80,80,80,FF
2021-08-15T16:37:36.682Z,1629045456.682 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:37:37.136Z,1629045457.136 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163736.90*51

2021-08-15T16:37:37.177Z,1629045457.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.680008 m, bearing: 90.787551 deg, deltaT: 4.474053 s, approachRate: 0.683946 m/s, LOS rate: 0.207245 deg/s, posRepo size: 4
2021-08-15T16:37:37.179Z,1629045457.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.680008 m,
      bearing: 90.787551 deg,
      approachRate: 0.683946 m/s,
      LOS rate: 0.207245 deg/s,
      cmd update: 0.828980 deg/s,
      cmd heading: 67.660608 deg,
      new cmd heading: 64.881788 deg.

2021-08-15T16:37:39.566Z,1629045459.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:37:39.917Z,1629045459.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:37:39.917Z,1629045459.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:37:39.918Z,1629045459.918 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:37:39.919Z,1629045459.919 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:37:40.313Z,1629045460.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CD,000,00D4B,189,80,80,80,FF
2021-08-15T16:37:40.313Z,1629045460.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:37:40.313Z,1629045460.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:37:40.315Z,1629045460.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:37:40.724Z,1629045460.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:37:41.165Z,1629045461.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00D57,189,80,80,79,FF
2021-08-15T16:37:41.166Z,1629045461.166 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:37:41.561Z,1629045461.561 [Micromodem](INFO): Nmea in: $SNTTA,0.113502,,,,163741.35*44

2021-08-15T16:37:41.604Z,1629045461.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.400009 m, bearing: 35.223146 deg, deltaT: 4.443648 s, approachRate: 0.162029 m/s, LOS rate: -12.504232 deg/s, posRepo size: 4
2021-08-15T16:37:41.605Z,1629045461.605 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.504232 deg/s. Setting heading cmd to target bearing of 35.223146deg and heading rate command to 0 deg/s.
2021-08-15T16:37:43.979Z,1629045463.979 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:37:44.361Z,1629045464.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:37:44.361Z,1629045464.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:37:44.361Z,1629045464.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:37:44.362Z,1629045464.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:37:44.761Z,1629045464.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00D57,189,80,80,79,FF
2021-08-15T16:37:44.761Z,1629045464.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:37:44.761Z,1629045464.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:37:44.763Z,1629045464.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:37:45.184Z,1629045465.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:37:45.574Z,1629045465.574 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00D57,189,80,80,79,FF
2021-08-15T16:37:45.574Z,1629045465.574 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:37:46.005Z,1629045466.005 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163745.79*52

2021-08-15T16:37:46.052Z,1629045466.052 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.400009 m, bearing: 19.833932 deg, deltaT: 4.428386 s, approachRate: 0.000000 m/s, LOS rate: -3.475129 deg/s, posRepo size: 4
2021-08-15T16:37:46.054Z,1629045466.054 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.400009 m,
      bearing: 19.833932 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -3.475129 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 35.223146 deg,
      new cmd heading: 35.223146 deg.

2021-08-15T16:37:48.475Z,1629045468.475 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:37:48.794Z,1629045468.794 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:37:48.794Z,1629045468.794 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:37:48.795Z,1629045468.795 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:37:48.796Z,1629045468.796 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:37:49.217Z,1629045469.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00D57,189,80,80,79,FF
2021-08-15T16:37:49.217Z,1629045469.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:37:49.217Z,1629045469.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:37:49.219Z,1629045469.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:37:49.609Z,1629045469.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:37:50.018Z,1629045470.018 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00D57,189,80,80,79,FF
2021-08-15T16:37:50.019Z,1629045470.019 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:37:50.456Z,1629045470.456 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163750.25*5F

2021-08-15T16:37:50.506Z,1629045470.506 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.400009 m, bearing: 1.845441 deg, deltaT: 4.442623 s, approachRate: 0.000000 m/s, LOS rate: -4.049070 deg/s, posRepo size: 4
2021-08-15T16:37:50.508Z,1629045470.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.400009 m,
      bearing: 1.845441 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -4.049070 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 341.671668 deg,
      new cmd heading: 336.448776 deg.

2021-08-15T16:37:52.859Z,1629045472.859 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:37:53.262Z,1629045473.262 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:37:53.262Z,1629045473.262 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:37:53.263Z,1629045473.263 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:37:53.264Z,1629045473.264 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:37:53.649Z,1629045473.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00D57,189,80,80,79,FF
2021-08-15T16:37:53.649Z,1629045473.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:37:53.649Z,1629045473.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:37:53.651Z,1629045473.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:37:54.074Z,1629045474.074 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:37:54.484Z,1629045474.484 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4F3,000,00D3E,18A,80,80,79,FF
2021-08-15T16:37:54.484Z,1629045474.484 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:37:54.901Z,1629045474.901 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163754.68*52

2021-08-15T16:37:54.924Z,1629045474.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 165.900009 m, bearing: 344.623670 deg, deltaT: 4.438613 s, approachRate: -0.337943 m/s, LOS rate: -3.879988 deg/s, posRepo size: 4
2021-08-15T16:37:54.926Z,1629045474.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 165.900009 m,
      bearing: 344.623670 deg,
      approachRate: -0.337943 m/s,
      LOS rate: -3.879988 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 288.362854 deg,
      new cmd heading: 283.434921 deg.

2021-08-15T16:37:57.369Z,1629045477.369 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:37:57.689Z,1629045477.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:37:57.689Z,1629045477.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:37:57.689Z,1629045477.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:37:57.690Z,1629045477.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:37:58.094Z,1629045478.094 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4F3,000,00D3E,18A,80,80,79,FF
2021-08-15T16:37:58.095Z,1629045478.095 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:37:58.095Z,1629045478.095 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:37:58.097Z,1629045478.097 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:37:58.517Z,1629045478.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:37:58.940Z,1629045478.940 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D9,000,00D1C,189,80,80,79,FF
2021-08-15T16:37:58.941Z,1629045478.941 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:37:59.337Z,1629045479.337 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163759.12*52

2021-08-15T16:37:59.386Z,1629045479.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.860001 m, bearing: 352.948987 deg, deltaT: 4.482563 s, approachRate: -0.455099 m/s, LOS rate: 1.857267 deg/s, posRepo size: 4
2021-08-15T16:37:59.388Z,1629045479.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 163.860001 m,
      bearing: 352.948987 deg,
      approachRate: -0.455099 m/s,
      LOS rate: 1.857267 deg/s,
      cmd update: 7.429069 deg/s,
      cmd heading: 234.618440 deg,
      new cmd heading: 229.887440 deg.

2021-08-15T16:38:01.763Z,1629045481.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:38:02.133Z,1629045482.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:38:02.133Z,1629045482.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:38:02.133Z,1629045482.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:38:02.134Z,1629045482.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:38:02.541Z,1629045482.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D9,000,00D1C,189,80,80,79,FF
2021-08-15T16:38:02.541Z,1629045482.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:38:02.541Z,1629045482.541 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:38:02.543Z,1629045482.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:38:02.954Z,1629045482.954 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:38:03.354Z,1629045483.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A7,000,00CE6,186,80,80,79,FF
2021-08-15T16:38:03.355Z,1629045483.355 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:38:03.786Z,1629045483.786 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163803.57*53

2021-08-15T16:38:03.859Z,1629045483.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 160.620010 m, bearing: 350.750759 deg, deltaT: 4.479409 s, approachRate: -0.723308 m/s, LOS rate: -0.490741 deg/s, posRepo size: 4
2021-08-15T16:38:03.866Z,1629045483.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 160.620010 m,
      bearing: 350.750759 deg,
      approachRate: -0.723308 m/s,
      LOS rate: -0.490741 deg/s,
      cmd update: -1.962963 deg/s,
      cmd heading: 267.684207 deg,
      new cmd heading: 270.780658 deg.

2021-08-15T16:38:06.191Z,1629045486.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:38:06.573Z,1629045486.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:38:06.574Z,1629045486.574 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:38:06.574Z,1629045486.574 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:38:06.575Z,1629045486.575 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:38:06.982Z,1629045486.982 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A7,000,00CE6,186,80,80,79,FF
2021-08-15T16:38:06.982Z,1629045486.982 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:38:06.982Z,1629045486.982 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:38:06.983Z,1629045486.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:38:07.397Z,1629045487.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:38:07.794Z,1629045487.794 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF8,000,00CBA,182,80,80,79,FF
2021-08-15T16:38:07.794Z,1629045487.794 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:38:08.233Z,1629045488.233 [Micromodem](INFO): Nmea in: $SNTTA,0.108674,,,,163808.01*49

2021-08-15T16:38:08.249Z,1629045488.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.979996 m, bearing: 350.355291 deg, deltaT: 4.375406 s, approachRate: -0.603376 m/s, LOS rate: -0.090384 deg/s, posRepo size: 4
2021-08-15T16:38:08.251Z,1629045488.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.979996 m,
      bearing: 350.355291 deg,
      approachRate: -0.603376 m/s,
      LOS rate: -0.090384 deg/s,
      cmd update: -0.361537 deg/s,
      cmd heading: 259.039274 deg,
      new cmd heading: 258.249402 deg.

2021-08-15T16:38:10.662Z,1629045490.662 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:38:11.021Z,1629045491.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:38:11.021Z,1629045491.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:38:11.021Z,1629045491.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:38:11.022Z,1629045491.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:38:11.437Z,1629045491.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF8,000,00CBA,182,80,80,79,FF
2021-08-15T16:38:11.437Z,1629045491.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:38:11.438Z,1629045491.438 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:38:11.444Z,1629045491.444 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:38:11.833Z,1629045491.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:38:12.228Z,1629045492.228 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E6B,000,00CBA,182,80,80,79,FF
2021-08-15T16:38:12.228Z,1629045492.228 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:38:12.665Z,1629045492.665 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163812.47*52

2021-08-15T16:38:12.728Z,1629045492.728 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.979996 m, bearing: 348.629412 deg, deltaT: 4.400459 s, approachRate: 0.000000 m/s, LOS rate: -0.392204 deg/s, posRepo size: 4
2021-08-15T16:38:12.730Z,1629045492.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.979996 m,
      bearing: 348.629412 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.392204 deg/s,
      cmd update: -1.568818 deg/s,
      cmd heading: 257.447393 deg,
      new cmd heading: 257.276000 deg.

2021-08-15T16:38:15.143Z,1629045495.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:38:15.481Z,1629045495.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:38:15.481Z,1629045495.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:38:15.481Z,1629045495.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:38:15.482Z,1629045495.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:38:15.869Z,1629045495.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E6B,000,00CBA,182,80,80,79,FF
2021-08-15T16:38:15.869Z,1629045495.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:38:15.869Z,1629045495.869 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:38:15.871Z,1629045495.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:38:16.277Z,1629045496.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:38:16.681Z,1629045496.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CBA,000,00C63,189,80,80,79,FF
2021-08-15T16:38:16.682Z,1629045496.682 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:38:17.133Z,1629045497.133 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163816.90*5C

2021-08-15T16:38:17.191Z,1629045497.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.759995 m, bearing: 350.674206 deg, deltaT: 4.488467 s, approachRate: -1.162981 m/s, LOS rate: 0.455566 deg/s, posRepo size: 4
2021-08-15T16:38:17.199Z,1629045497.199 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 152.759995 m,
      bearing: 350.674206 deg,
      approachRate: -1.162981 m/s,
      LOS rate: 0.455566 deg/s,
      cmd update: 1.822266 deg/s,
      cmd heading: 250.403672 deg,
      new cmd heading: 249.695553 deg.

2021-08-15T16:38:19.574Z,1629045499.574 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:38:19.927Z,1629045499.927 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:38:19.928Z,1629045499.928 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:38:19.928Z,1629045499.928 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:38:19.929Z,1629045499.929 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:38:20.313Z,1629045500.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CBA,000,00C63,189,80,80,79,FF
2021-08-15T16:38:20.313Z,1629045500.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:38:20.313Z,1629045500.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:38:20.315Z,1629045500.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:38:20.720Z,1629045500.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:38:21.177Z,1629045501.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00C42,189,80,80,86,FF
2021-08-15T16:38:21.178Z,1629045501.178 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:38:21.569Z,1629045501.569 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163821.34*56

2021-08-15T16:38:21.628Z,1629045501.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 150.780014 m, bearing: 356.198054 deg, deltaT: 4.475634 s, approachRate: -0.442391 m/s, LOS rate: 1.234204 deg/s, posRepo size: 4
2021-08-15T16:38:21.630Z,1629045501.630 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.780014 m,
      bearing: 356.198054 deg,
      approachRate: -0.442391 m/s,
      LOS rate: 1.234204 deg/s,
      cmd update: 4.936818 deg/s,
      cmd heading: 258.559439 deg,
      new cmd heading: 259.304093 deg.

2021-08-15T16:38:23.995Z,1629045503.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:38:24.364Z,1629045504.364 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:38:24.364Z,1629045504.364 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:38:24.365Z,1629045504.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:38:24.365Z,1629045504.365 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:38:24.757Z,1629045504.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00C42,189,80,80,86,FF
2021-08-15T16:38:24.757Z,1629045504.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:38:24.757Z,1629045504.757 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:38:24.759Z,1629045504.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:38:25.184Z,1629045505.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:38:25.569Z,1629045505.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00C2C,18A,80,80,96,FF
2021-08-15T16:38:25.570Z,1629045505.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:38:25.997Z,1629045505.997 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163825.79*5B

2021-08-15T16:38:26.034Z,1629045506.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.460007 m, bearing: 337.306543 deg, deltaT: 4.412493 s, approachRate: -0.299152 m/s, LOS rate: -4.281369 deg/s, posRepo size: 4
2021-08-15T16:38:26.036Z,1629045506.036 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.460007 m,
      bearing: 337.306543 deg,
      approachRate: -0.299152 m/s,
      LOS rate: -4.281369 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 280.323483 deg,
      new cmd heading: 282.348131 deg.

2021-08-15T16:38:28.440Z,1629045508.440 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:38:28.797Z,1629045508.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:38:28.797Z,1629045508.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:38:28.797Z,1629045508.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:38:28.798Z,1629045508.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:38:29.201Z,1629045509.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00C2C,18A,80,80,96,FF
2021-08-15T16:38:29.201Z,1629045509.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:38:29.201Z,1629045509.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:38:29.203Z,1629045509.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:38:29.608Z,1629045509.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:38:30.458Z,1629045510.458 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163830.23*50

2021-08-15T16:38:31.263Z,1629045511.263 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:38:32.842Z,1629045512.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,18A,80,80,96,FF
2021-08-15T16:38:32.842Z,1629045512.842 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,18A,80,80,96,FF
2021-08-15T16:38:32.842Z,1629045512.842 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T16:38:34.075Z,1629045514.075 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:38:34.468Z,1629045514.468 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:38:34.468Z,1629045514.468 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:38:34.469Z,1629045514.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:38:34.469Z,1629045514.469 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:38:34.857Z,1629045514.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,18A,80,80,96,FF
2021-08-15T16:38:34.857Z,1629045514.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:38:34.857Z,1629045514.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:38:34.859Z,1629045514.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:38:35.272Z,1629045515.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:38:35.681Z,1629045515.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC1,000,00C06,188,80,80,2D,FF
2021-08-15T16:38:35.682Z,1629045515.682 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:38:36.113Z,1629045516.113 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163835.89*55

2021-08-15T16:38:36.136Z,1629045516.136 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.180008 m, bearing: 306.175824 deg, deltaT: 10.081653 s, approachRate: -0.226153 m/s, LOS rate: -3.087859 deg/s, posRepo size: 4
2021-08-15T16:38:36.138Z,1629045516.138 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.180008 m,
      bearing: 306.175824 deg,
      approachRate: -0.226153 m/s,
      LOS rate: -3.087859 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 159.298320 deg,
      new cmd heading: 154.177524 deg.

2021-08-15T16:38:38.548Z,1629045518.548 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:38:38.901Z,1629045518.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:38:38.901Z,1629045518.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:38:38.901Z,1629045518.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:38:38.902Z,1629045518.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:38:39.313Z,1629045519.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC1,000,00C06,188,80,80,2D,FF
2021-08-15T16:38:39.313Z,1629045519.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:38:39.313Z,1629045519.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:38:39.315Z,1629045519.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:38:39.716Z,1629045519.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:38:40.125Z,1629045520.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2F,000,00BFB,186,80,80,A9,FF
2021-08-15T16:38:40.126Z,1629045520.126 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:38:40.557Z,1629045520.557 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163840.34*51

2021-08-15T16:38:40.583Z,1629045520.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.520004 m, bearing: 284.010904 deg, deltaT: 4.434126 s, approachRate: -0.148846 m/s, LOS rate: -4.998712 deg/s, posRepo size: 4
2021-08-15T16:38:40.585Z,1629045520.585 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.520004 m,
      bearing: 284.010904 deg,
      approachRate: -0.148846 m/s,
      LOS rate: -4.998712 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 106.086395 deg,
      new cmd heading: 100.808002 deg.

2021-08-15T16:38:42.960Z,1629045522.960 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:38:43.354Z,1629045523.354 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:38:43.354Z,1629045523.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:38:43.354Z,1629045523.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:38:43.355Z,1629045523.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:38:43.757Z,1629045523.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2F,000,00BFB,186,80,80,A9,FF
2021-08-15T16:38:43.757Z,1629045523.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:38:43.758Z,1629045523.758 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:38:43.759Z,1629045523.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:38:44.153Z,1629045524.153 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:38:44.562Z,1629045524.562 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C5C,000,00C05,189,80,80,A9,FF
2021-08-15T16:38:44.562Z,1629045524.562 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:38:44.981Z,1629045524.981 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163844.79*5C

2021-08-15T16:38:44.997Z,1629045524.997 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.119995 m, bearing: 286.847427 deg, deltaT: 4.478154 s, approachRate: 0.133982 m/s, LOS rate: 0.633413 deg/s, posRepo size: 4
2021-08-15T16:38:44.999Z,1629045524.999 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.119995 m,
      bearing: 286.847427 deg,
      approachRate: 0.133982 m/s,
      LOS rate: 0.633413 deg/s,
      cmd update: 2.533654 deg/s,
      cmd heading: 52.396329 deg,
      new cmd heading: 47.845473 deg.

2021-08-15T16:38:47.469Z,1629045527.469 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:38:47.802Z,1629045527.802 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:38:47.802Z,1629045527.802 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:38:47.802Z,1629045527.802 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:38:47.803Z,1629045527.803 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:38:48.189Z,1629045528.189 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C5C,000,00C05,189,80,80,A9,FF
2021-08-15T16:38:48.189Z,1629045528.189 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:38:48.189Z,1629045528.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:38:48.191Z,1629045528.191 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:38:48.606Z,1629045528.606 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:38:49.046Z,1629045529.046 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F58,000,00C1E,186,80,80,8E,FF
2021-08-15T16:38:49.047Z,1629045529.047 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:38:49.469Z,1629045529.469 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163849.22*5F

2021-08-15T16:38:49.537Z,1629045529.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.620010 m, bearing: 231.423311 deg, deltaT: 4.520346 s, approachRate: 0.331836 m/s, LOS rate: -12.261034 deg/s, posRepo size: 4
2021-08-15T16:38:49.538Z,1629045529.538 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.261034 deg/s. Setting heading cmd to target bearing of 231.423311deg and heading rate command to 0 deg/s.
2021-08-15T16:38:51.887Z,1629045531.887 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:38:52.229Z,1629045532.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:38:52.229Z,1629045532.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:38:52.229Z,1629045532.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:38:52.230Z,1629045532.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:38:52.646Z,1629045532.646 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F58,000,00C1E,186,80,80,8E,FF
2021-08-15T16:38:52.646Z,1629045532.646 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:38:52.646Z,1629045532.646 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:38:52.649Z,1629045532.649 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:38:53.093Z,1629045533.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:38:53.476Z,1629045533.476 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E02,000,00C3E,187,80,80,6B,FF
2021-08-15T16:38:53.477Z,1629045533.477 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:38:53.901Z,1629045533.901 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163853.68*5A

2021-08-15T16:38:53.924Z,1629045533.924 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 150.539993 m, bearing: 229.663717 deg, deltaT: 4.425288 s, approachRate: 0.433866 m/s, LOS rate: -0.397622 deg/s, posRepo size: 4
2021-08-15T16:38:53.926Z,1629045533.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.539993 m,
      bearing: 229.663717 deg,
      approachRate: 0.433866 m/s,
      LOS rate: -0.397622 deg/s,
      cmd update: -1.590489 deg/s,
      cmd heading: 231.423311 deg,
      new cmd heading: 231.423311 deg.

2021-08-15T16:38:56.312Z,1629045536.312 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:38:56.693Z,1629045536.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:38:56.693Z,1629045536.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:38:56.693Z,1629045536.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:38:56.694Z,1629045536.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:38:57.116Z,1629045537.116 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E02,000,00C3E,187,80,80,6B,FF
2021-08-15T16:38:57.117Z,1629045537.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:38:57.117Z,1629045537.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:38:57.126Z,1629045537.126 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:38:57.527Z,1629045537.527 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:38:57.901Z,1629045537.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAD,000,00C3E,187,80,80,6B,FF
2021-08-15T16:38:57.902Z,1629045537.902 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:38:58.330Z,1629045538.330 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163858.15*5B

2021-08-15T16:38:58.383Z,1629045538.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 150.539993 m, bearing: 201.510443 deg, deltaT: 4.390078 s, approachRate: 0.000000 m/s, LOS rate: -6.412933 deg/s, posRepo size: 4
2021-08-15T16:38:58.387Z,1629045538.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.539993 m,
      bearing: 201.510443 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -6.412933 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 224.450214 deg,
      new cmd heading: 223.761424 deg.

2021-08-15T16:39:00.769Z,1629045540.769 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:39:01.169Z,1629045541.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:39:01.169Z,1629045541.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:39:01.169Z,1629045541.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:39:01.170Z,1629045541.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:39:01.548Z,1629045541.548 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAD,000,00C3E,187,80,80,6B,FF
2021-08-15T16:39:01.548Z,1629045541.548 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:39:01.549Z,1629045541.549 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:39:01.551Z,1629045541.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:39:01.936Z,1629045541.936 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:39:02.349Z,1629045542.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,010,000,00C96,183,80,80,6B,FF
2021-08-15T16:39:02.350Z,1629045542.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:39:02.781Z,1629045542.781 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163902.58*5C

2021-08-15T16:39:02.832Z,1629045542.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.819992 m, bearing: 170.177892 deg, deltaT: 4.415843 s, approachRate: 1.195694 m/s, LOS rate: -7.095486 deg/s, posRepo size: 4
2021-08-15T16:39:02.834Z,1629045542.834 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.819992 m,
      bearing: 170.177892 deg,
      approachRate: 1.195694 m/s,
      LOS rate: -7.095486 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 171.364192 deg,
      new cmd heading: 166.095568 deg.

2021-08-15T16:39:05.236Z,1629045545.236 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:39:05.588Z,1629045545.588 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:39:05.588Z,1629045545.588 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:39:05.588Z,1629045545.588 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:39:05.589Z,1629045545.589 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:39:05.973Z,1629045545.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
010,000,00C96,183,80,80,6B,FF
2021-08-15T16:39:05.973Z,1629045545.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:39:05.973Z,1629045545.973 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:39:05.975Z,1629045545.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:39:06.385Z,1629045546.385 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:39:06.790Z,1629045546.790 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4C,000,00CBE,185,80,80,6B,FF
2021-08-15T16:39:06.790Z,1629045546.790 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:39:07.230Z,1629045547.230 [Micromodem](INFO): Nmea in: $SNTTA,0.110703,,,,163907.00*4E

2021-08-15T16:39:07.267Z,1629045547.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.220016 m, bearing: 203.953437 deg, deltaT: 4.479143 s, approachRate: 0.535822 m/s, LOS rate: 7.540627 deg/s, posRepo size: 4
2021-08-15T16:39:07.269Z,1629045547.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.220016 m,
      bearing: 203.953437 deg,
      approachRate: 0.535822 m/s,
      LOS rate: 7.540627 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 117.659811 deg,
      new cmd heading: 112.639934 deg.

2021-08-15T16:39:09.667Z,1629045549.667 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:39:10.017Z,1629045550.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:39:10.017Z,1629045550.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:39:10.017Z,1629045550.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:39:10.018Z,1629045550.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:39:10.437Z,1629045550.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4C,000,00CBE,185,80,80,6B,FF
2021-08-15T16:39:10.438Z,1629045550.438 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:39:10.438Z,1629045550.438 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:39:10.450Z,1629045550.450 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:39:10.833Z,1629045550.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:39:11.230Z,1629045551.230 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E4C,000,00CBE,185,80,80,6B,FF
2021-08-15T16:39:11.230Z,1629045551.230 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:39:11.653Z,1629045551.653 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163911.48*5F

2021-08-15T16:39:11.692Z,1629045551.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 158.220016 m, bearing: 200.408323 deg, deltaT: 4.455368 s, approachRate: 0.000000 m/s, LOS rate: -0.795695 deg/s, posRepo size: 4
2021-08-15T16:39:11.694Z,1629045551.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 158.220016 m,
      bearing: 200.408323 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.795695 deg/s,
      cmd update: -3.182780 deg/s,
      cmd heading: 171.076205 deg,
      new cmd heading: 175.783145 deg.

2021-08-15T16:39:14.108Z,1629045554.108 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:39:14.496Z,1629045554.496 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:39:14.496Z,1629045554.496 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:39:14.497Z,1629045554.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:39:14.497Z,1629045554.497 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:39:14.861Z,1629045554.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E4C,000,00CBE,185,80,80,6B,FF
2021-08-15T16:39:14.861Z,1629045554.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:39:14.861Z,1629045554.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:39:14.863Z,1629045554.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:39:15.272Z,1629045555.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:39:15.682Z,1629045555.682 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22F,000,00D1F,188,80,80,6B,FF
2021-08-15T16:39:15.682Z,1629045555.682 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:39:16.113Z,1629045556.113 [Micromodem](INFO): Nmea in: $SNTTA,0.113362,,,,163915.89*4C

2021-08-15T16:39:16.150Z,1629045556.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 164.040009 m, bearing: 135.371262 deg, deltaT: 4.441947 s, approachRate: 1.310234 m/s, LOS rate: -14.641566 deg/s, posRepo size: 4
2021-08-15T16:39:16.151Z,1629045556.151 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.641566 deg/s. Setting heading cmd to target bearing of 135.371262deg and heading rate command to 0 deg/s.
2021-08-15T16:39:18.553Z,1629045558.553 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:39:18.913Z,1629045558.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:39:18.913Z,1629045558.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:39:18.913Z,1629045558.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:39:18.914Z,1629045558.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:39:19.309Z,1629045559.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22F,000,00D1F,188,80,80,6B,FF
2021-08-15T16:39:19.309Z,1629045559.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:39:19.309Z,1629045559.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:39:19.311Z,1629045559.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:39:19.765Z,1629045559.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:39:20.177Z,1629045560.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F2,000,00D4B,189,80,80,4E,FF
2021-08-15T16:39:20.178Z,1629045560.178 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:39:20.573Z,1629045560.573 [Micromodem](INFO): Nmea in: $SNTTA,0.117258,,,,163920.34*40

2021-08-15T16:39:20.621Z,1629045560.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.680008 m, bearing: 123.306238 deg, deltaT: 4.487927 s, approachRate: 0.588245 m/s, LOS rate: -2.688329 deg/s, posRepo size: 4
2021-08-15T16:39:20.624Z,1629045560.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.680008 m,
      bearing: 123.306238 deg,
      approachRate: 0.588245 m/s,
      LOS rate: -2.688329 deg/s,
      cmd update: -10.753316 deg/s,
      cmd heading: 135.371262 deg,
      new cmd heading: 135.371262 deg.

2021-08-15T16:39:23.022Z,1629045563.022 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:39:23.397Z,1629045563.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:39:23.397Z,1629045563.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:39:23.397Z,1629045563.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:39:23.398Z,1629045563.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:39:23.797Z,1629045563.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F2,000,00D4B,189,80,80,4E,FF
2021-08-15T16:39:23.797Z,1629045563.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:39:23.797Z,1629045563.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:39:23.799Z,1629045563.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:39:24.230Z,1629045564.230 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:39:24.609Z,1629045564.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3F4,000,00D4B,189,80,80,4E,FF
2021-08-15T16:39:24.610Z,1629045564.610 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:39:25.055Z,1629045565.055 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163924.83*5E

2021-08-15T16:39:25.143Z,1629045565.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.680008 m, bearing: 92.568987 deg, deltaT: 4.449495 s, approachRate: 0.000000 m/s, LOS rate: -6.908032 deg/s, posRepo size: 4
2021-08-15T16:39:25.150Z,1629045565.150 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 166.680008 m,
      bearing: 92.568987 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -6.908032 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 87.589441 deg,
      new cmd heading: 82.572181 deg.

2021-08-15T16:39:27.514Z,1629045567.514 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:39:27.843Z,1629045567.843 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:39:27.843Z,1629045567.843 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:39:27.843Z,1629045567.843 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:39:27.844Z,1629045567.844 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:39:28.257Z,1629045568.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3F4,000,00D4B,189,80,80,4E,FF
2021-08-15T16:39:28.258Z,1629045568.258 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:39:28.258Z,1629045568.258 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:39:28.259Z,1629045568.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:39:28.656Z,1629045568.656 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:39:29.485Z,1629045569.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3DC,000,00D9C,189,80,80,A5,FF
2021-08-15T16:39:29.486Z,1629045569.486 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:39:29.488Z,1629045569.488 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163929.29*53

2021-08-15T16:39:29.900Z,1629045569.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 171.539993 m, bearing: 73.002851 deg, deltaT: 4.896538 s, approachRate: 0.992535 m/s, LOS rate: -3.995912 deg/s, posRepo size: 4
2021-08-15T16:39:29.902Z,1629045569.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 171.539993 m,
      bearing: 73.002851 deg,
      approachRate: 0.992535 m/s,
      LOS rate: -3.995912 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 28.758432 deg,
      new cmd heading: 24.913703 deg.

2021-08-15T16:39:32.304Z,1629045572.304 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:39:32.685Z,1629045572.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:39:32.685Z,1629045572.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:39:32.685Z,1629045572.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:39:32.686Z,1629045572.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:39:33.113Z,1629045573.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3DC,000,00D9C,189,80,80,A5,FF
2021-08-15T16:39:33.113Z,1629045573.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:39:33.114Z,1629045573.114 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:39:33.133Z,1629045573.133 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:39:33.524Z,1629045573.524 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:39:34.311Z,1629045574.311 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A7,000,00DBB,185,80,80,A8,FF
2021-08-15T16:39:34.311Z,1629045574.311 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:39:34.318Z,1629045574.318 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163934.16*53

2021-08-15T16:39:34.760Z,1629045574.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 173.399994 m, bearing: 83.407661 deg, deltaT: 4.792289 s, approachRate: 0.388124 m/s, LOS rate: 2.171157 deg/s, posRepo size: 4
2021-08-15T16:39:34.762Z,1629045574.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.399994 m,
      bearing: 83.407661 deg,
      approachRate: 0.388124 m/s,
      LOS rate: 2.171157 deg/s,
      cmd update: 8.684627 deg/s,
      cmd heading: 331.301026 deg,
      new cmd heading: 326.592694 deg.

2021-08-15T16:39:37.231Z,1629045577.231 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:39:37.537Z,1629045577.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:39:37.537Z,1629045577.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:39:37.537Z,1629045577.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:39:37.538Z,1629045577.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:39:37.945Z,1629045577.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A7,000,00DBB,185,80,80,A8,FF
2021-08-15T16:39:37.945Z,1629045577.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:39:37.946Z,1629045577.946 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:39:37.947Z,1629045577.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:39:38.353Z,1629045578.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:39:38.758Z,1629045578.758 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA9,000,00DBB,185,80,80,A8,FF
2021-08-15T16:39:38.758Z,1629045578.758 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:39:39.213Z,1629045579.213 [Micromodem](INFO): Nmea in: $SNTTA,0.115936,,,,163938.98*4E

2021-08-15T16:39:39.279Z,1629045579.279 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 173.399994 m, bearing: 92.130168 deg, deltaT: 4.449226 s, approachRate: 0.000000 m/s, LOS rate: 1.960455 deg/s, posRepo size: 4
2021-08-15T16:39:39.285Z,1629045579.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.399994 m,
      bearing: 92.130168 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 1.960455 deg/s,
      cmd update: 7.841820 deg/s,
      cmd heading: 9.992530 deg,
      new cmd heading: 13.957548 deg.

2021-08-15T16:39:41.630Z,1629045581.630 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:39:41.985Z,1629045581.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:39:41.986Z,1629045581.986 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:39:41.986Z,1629045581.986 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:39:41.987Z,1629045581.987 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:39:42.398Z,1629045582.398 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA9,000,00DBB,185,80,80,A8,FF
2021-08-15T16:39:42.398Z,1629045582.398 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:39:42.398Z,1629045582.398 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:39:42.399Z,1629045582.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:39:42.797Z,1629045582.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:39:43.201Z,1629045583.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4F9,000,00DBB,185,80,80,A8,FF
2021-08-15T16:39:43.202Z,1629045583.202 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:39:43.637Z,1629045583.637 [Micromodem](INFO): Nmea in: $SNTTA,0.118404,,,,163943.43*45

2021-08-15T16:39:43.679Z,1629045583.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 173.399994 m, bearing: 8.202840 deg, deltaT: 4.470968 s, approachRate: 0.000000 m/s, LOS rate: -18.771624 deg/s, posRepo size: 4
2021-08-15T16:39:43.679Z,1629045583.679 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -18.771624 deg/s. Setting heading cmd to target bearing of 8.202840deg and heading rate command to 0 deg/s.
2021-08-15T16:39:46.044Z,1629045586.044 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:39:46.445Z,1629045586.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:39:46.445Z,1629045586.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:39:46.446Z,1629045586.446 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:39:46.448Z,1629045586.448 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:39:46.837Z,1629045586.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4F9,000,00DBB,185,80,80,A8,FF
2021-08-15T16:39:46.838Z,1629045586.838 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:39:46.838Z,1629045586.838 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:39:46.839Z,1629045586.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:39:47.249Z,1629045587.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:39:47.646Z,1629045587.646 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00DBB,185,80,80,A8,FF
2021-08-15T16:39:47.646Z,1629045587.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:39:48.081Z,1629045588.081 [Micromodem](INFO): Nmea in: $SNTTA,0.118474,,,,163947.87*4E

2021-08-15T16:39:48.113Z,1629045588.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 173.399994 m, bearing: 354.300900 deg, deltaT: 4.411690 s, approachRate: 0.000000 m/s, LOS rate: -3.151159 deg/s, posRepo size: 4
2021-08-15T16:39:48.114Z,1629045588.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 173.399994 m,
      bearing: 354.300900 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -3.151159 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 8.202840 deg,
      new cmd heading: 8.202840 deg.

2021-08-15T16:39:50.534Z,1629045590.534 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:39:50.873Z,1629045590.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:39:50.873Z,1629045590.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:39:50.873Z,1629045590.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:39:50.874Z,1629045590.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:39:51.293Z,1629045591.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00DBB,185,80,80,A8,FF
2021-08-15T16:39:51.293Z,1629045591.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:39:51.293Z,1629045591.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:39:51.295Z,1629045591.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:39:51.716Z,1629045591.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:39:52.117Z,1629045592.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00DAD,185,80,80,A8,FF
2021-08-15T16:39:52.118Z,1629045592.118 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:39:52.545Z,1629045592.545 [Micromodem](INFO): Nmea in: $SNTTA,,,,,163952.33*54

2021-08-15T16:39:52.594Z,1629045592.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 172.559998 m, bearing: 339.088293 deg, deltaT: 4.461427 s, approachRate: -0.188280 m/s, LOS rate: -3.409807 deg/s, posRepo size: 4
2021-08-15T16:39:52.596Z,1629045592.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 172.559998 m,
      bearing: 339.088293 deg,
      approachRate: -0.188280 m/s,
      LOS rate: -3.409807 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 314.964455 deg,
      new cmd heading: 309.533111 deg.

2021-08-15T16:39:54.956Z,1629045594.956 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:39:55.355Z,1629045595.355 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:39:55.355Z,1629045595.355 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:39:55.356Z,1629045595.356 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:39:55.357Z,1629045595.357 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:39:55.806Z,1629045595.806 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00DAD,185,80,80,A8,FF
2021-08-15T16:39:55.806Z,1629045595.806 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:39:55.806Z,1629045595.806 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:39:55.808Z,1629045595.808 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:39:56.209Z,1629045596.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:39:57.041Z,1629045597.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,31D,000,00D8E,188,80,80,A5,FF
2021-08-15T16:39:57.041Z,1629045597.041 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:39:57.048Z,1629045597.048 [Micromodem](INFO): Nmea in: $SNTTA,0.121797,,,,163956.84*49

2021-08-15T16:39:57.511Z,1629045597.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 170.699997 m, bearing: 348.693069 deg, deltaT: 4.969907 s, approachRate: -0.374253 m/s, LOS rate: 1.932587 deg/s, posRepo size: 4
2021-08-15T16:39:57.513Z,1629045597.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 170.699997 m,
      bearing: 348.693069 deg,
      approachRate: -0.374253 m/s,
      LOS rate: 1.932587 deg/s,
      cmd update: 7.730347 deg/s,
      cmd heading: 255.027081 deg,
      new cmd heading: 250.512465 deg.

2021-08-15T16:39:59.871Z,1629045599.871 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:40:00.253Z,1629045600.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:40:00.253Z,1629045600.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:40:00.253Z,1629045600.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:40:00.254Z,1629045600.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:40:00.649Z,1629045600.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
31D,000,00D8E,188,80,80,A5,FF
2021-08-15T16:40:00.650Z,1629045600.650 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:40:00.650Z,1629045600.650 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:40:00.651Z,1629045600.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:40:01.061Z,1629045601.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:40:01.464Z,1629045601.464 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,185,000,00D59,188,80,80,A5,FF
2021-08-15T16:40:01.465Z,1629045601.465 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:40:01.885Z,1629045601.885 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164001.68*52

2021-08-15T16:40:01.907Z,1629045601.907 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.520020 m, bearing: 347.690971 deg, deltaT: 4.420837 s, approachRate: -0.719316 m/s, LOS rate: -0.226676 deg/s, posRepo size: 4
2021-08-15T16:40:01.938Z,1629045601.938 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.520020 m,
      bearing: 347.690971 deg,
      approachRate: -0.719316 m/s,
      LOS rate: -0.226676 deg/s,
      cmd update: -0.906704 deg/s,
      cmd heading: 289.109306 deg,
      new cmd heading: 291.920779 deg.

2021-08-15T16:40:04.330Z,1629045604.330 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:40:04.685Z,1629045604.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:40:04.686Z,1629045604.686 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:40:04.686Z,1629045604.686 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:40:04.687Z,1629045604.687 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:40:05.106Z,1629045605.106 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
185,000,00D59,188,80,80,A5,FF
2021-08-15T16:40:05.106Z,1629045605.106 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:40:05.107Z,1629045605.107 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:40:05.122Z,1629045605.122 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:40:05.521Z,1629045605.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:40:05.907Z,1629045605.907 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD5,000,00D59,188,80,80,A5,FF
2021-08-15T16:40:05.907Z,1629045605.907 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:40:06.329Z,1629045606.329 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164006.15*5F

2021-08-15T16:40:06.368Z,1629045606.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.520020 m, bearing: 350.460640 deg, deltaT: 4.377162 s, approachRate: 0.000000 m/s, LOS rate: 0.632755 deg/s, posRepo size: 4
2021-08-15T16:40:06.370Z,1629045606.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.520020 m,
      bearing: 350.460640 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.632755 deg/s,
      cmd update: 2.531018 deg/s,
      cmd heading: 285.128246 deg,
      new cmd heading: 284.739171 deg.

2021-08-15T16:40:08.750Z,1629045608.750 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:40:09.162Z,1629045609.162 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:40:09.162Z,1629045609.162 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:40:09.162Z,1629045609.162 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:40:09.163Z,1629045609.163 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:40:09.529Z,1629045609.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD5,000,00D59,188,80,80,A5,FF
2021-08-15T16:40:09.529Z,1629045609.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:40:09.529Z,1629045609.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:40:09.531Z,1629045609.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:40:09.952Z,1629045609.952 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:40:10.342Z,1629045610.342 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E39,000,00CFD,186,80,80,A5,FF
2021-08-15T16:40:10.342Z,1629045610.342 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:40:10.786Z,1629045610.786 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164010.56*5F

2021-08-15T16:40:10.851Z,1629045610.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 162.000000 m, bearing: 353.522149 deg, deltaT: 4.469246 s, approachRate: -1.235112 m/s, LOS rate: 0.685017 deg/s, posRepo size: 4
2021-08-15T16:40:10.853Z,1629045610.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.000000 m,
      bearing: 353.522149 deg,
      approachRate: -1.235112 m/s,
      LOS rate: 0.685017 deg/s,
      cmd update: 2.740068 deg/s,
      cmd heading: 296.435888 deg,
      new cmd heading: 297.572796 deg.

2021-08-15T16:40:13.271Z,1629045613.271 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:40:13.569Z,1629045613.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:40:13.569Z,1629045613.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:40:13.569Z,1629045613.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:40:13.570Z,1629045613.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:40:13.973Z,1629045613.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E39,000,00CFD,186,80,80,A5,FF
2021-08-15T16:40:13.973Z,1629045613.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:40:13.973Z,1629045613.973 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:40:13.975Z,1629045613.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:40:14.389Z,1629045614.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:40:14.785Z,1629045614.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE3,000,00CD7,186,80,80,A5,FF
2021-08-15T16:40:14.786Z,1629045614.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:40:15.221Z,1629045615.221 [Micromodem](INFO): Nmea in: $SNTTA,0.109047,,,,164015.01*4D

2021-08-15T16:40:15.272Z,1629045615.272 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 159.719986 m, bearing: 352.545132 deg, deltaT: 4.445021 s, approachRate: -0.512937 m/s, LOS rate: -0.219800 deg/s, posRepo size: 4
2021-08-15T16:40:15.274Z,1629045615.274 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 159.719986 m,
      bearing: 352.545132 deg,
      approachRate: -0.512937 m/s,
      LOS rate: -0.219800 deg/s,
      cmd update: -0.879202 deg/s,
      cmd heading: 308.610552 deg,
      new cmd heading: 309.778895 deg.

2021-08-15T16:40:17.638Z,1629045617.638 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:40:18.017Z,1629045618.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:40:18.017Z,1629045618.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:40:18.018Z,1629045618.018 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:40:18.019Z,1629045618.019 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:40:18.417Z,1629045618.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CE3,000,00CD7,186,80,80,A5,FF
2021-08-15T16:40:18.417Z,1629045618.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:40:18.417Z,1629045618.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:40:18.419Z,1629045618.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:40:18.833Z,1629045618.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:40:19.230Z,1629045619.230 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CBB,000,00CB1,189,80,80,A5,FF
2021-08-15T16:40:19.230Z,1629045619.230 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:40:19.673Z,1629045619.673 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164019.45*54

2021-08-15T16:40:19.699Z,1629045619.699 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.440002 m, bearing: 349.271449 deg, deltaT: 4.467585 s, approachRate: -0.510339 m/s, LOS rate: -0.732763 deg/s, posRepo size: 4
2021-08-15T16:40:19.701Z,1629045619.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.440002 m,
      bearing: 349.271449 deg,
      approachRate: -0.510339 m/s,
      LOS rate: -0.732763 deg/s,
      cmd update: -2.931053 deg/s,
      cmd heading: 304.681054 deg,
      new cmd heading: 304.343134 deg.

2021-08-15T16:40:22.086Z,1629045622.086 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:40:22.470Z,1629045622.470 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:40:22.470Z,1629045622.470 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:40:22.470Z,1629045622.470 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:40:22.471Z,1629045622.471 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:40:22.861Z,1629045622.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CBB,000,00CB1,189,80,80,A5,FF
2021-08-15T16:40:22.861Z,1629045622.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:40:22.862Z,1629045622.862 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:40:22.863Z,1629045622.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:40:23.269Z,1629045623.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:40:23.670Z,1629045623.670 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C21,000,00C9C,189,80,80,A5,FF
2021-08-15T16:40:23.670Z,1629045623.670 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:40:24.129Z,1629045624.129 [Micromodem](INFO): Nmea in: $SNTTA,0.167037,,,,164023.89*47

2021-08-15T16:40:24.157Z,1629045624.157 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 156.180008 m, bearing: 359.011791 deg, deltaT: 4.426512 s, approachRate: -0.284647 m/s, LOS rate: 2.200455 deg/s, posRepo size: 4
2021-08-15T16:40:24.159Z,1629045624.159 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 156.180008 m,
      bearing: 359.011791 deg,
      approachRate: -0.284647 m/s,
      LOS rate: 2.200455 deg/s,
      cmd update: 8.801821 deg/s,
      cmd heading: 291.727511 deg,
      new cmd heading: 290.488771 deg.

2021-08-15T16:40:26.572Z,1629045626.572 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:40:26.901Z,1629045626.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:40:26.901Z,1629045626.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:40:26.901Z,1629045626.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:40:26.902Z,1629045626.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:40:27.305Z,1629045627.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C21,000,00C9C,189,80,80,A5,FF
2021-08-15T16:40:27.305Z,1629045627.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:40:27.305Z,1629045627.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:40:27.307Z,1629045627.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:40:27.719Z,1629045627.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:40:28.128Z,1629045628.128 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BCB,000,00C67,18A,80,80,9A,FF
2021-08-15T16:40:28.129Z,1629045628.129 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:40:28.561Z,1629045628.561 [Micromodem](INFO): Nmea in: $SNTTA,0.105415,,,,164028.34*4A

2021-08-15T16:40:28.607Z,1629045628.607 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 153.000015 m, bearing: 355.300102 deg, deltaT: 4.406213 s, approachRate: -0.721707 m/s, LOS rate: -0.842376 deg/s, posRepo size: 4
2021-08-15T16:40:28.610Z,1629045628.610 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.000015 m,
      bearing: 355.300102 deg,
      approachRate: -0.721707 m/s,
      LOS rate: -0.842376 deg/s,
      cmd update: -3.369505 deg/s,
      cmd heading: 330.609113 deg,
      new cmd heading: 334.621106 deg.

2021-08-15T16:40:30.967Z,1629045630.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:40:31.354Z,1629045631.354 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:40:31.354Z,1629045631.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:40:31.354Z,1629045631.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:40:31.355Z,1629045631.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:40:31.753Z,1629045631.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BCB,000,00C67,18A,80,80,9A,FF
2021-08-15T16:40:31.753Z,1629045631.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:40:31.753Z,1629045631.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:40:31.755Z,1629045631.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:40:32.162Z,1629045632.162 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:40:32.572Z,1629045632.572 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C77,000,00C53,189,80,80,2C,FF
2021-08-15T16:40:32.573Z,1629045632.573 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:40:33.005Z,1629045633.005 [Micromodem](INFO): Nmea in: $SNTTA,0.109493,,,,164032.78*4B

2021-08-15T16:40:33.027Z,1629045633.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.800003 m, bearing: 353.898766 deg, deltaT: 4.449480 s, approachRate: -0.269697 m/s, LOS rate: -0.314944 deg/s, posRepo size: 4
2021-08-15T16:40:33.030Z,1629045633.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.800003 m,
      bearing: 353.898766 deg,
      approachRate: -0.269697 m/s,
      LOS rate: -0.314944 deg/s,
      cmd update: -1.259775 deg/s,
      cmd heading: 315.618332 deg,
      new cmd heading: 314.180015 deg.

2021-08-15T16:40:35.490Z,1629045635.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:40:35.789Z,1629045635.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:40:35.789Z,1629045635.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:40:35.789Z,1629045635.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:40:35.790Z,1629045635.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:40:36.193Z,1629045636.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C77,000,00C53,189,80,80,2C,FF
2021-08-15T16:40:36.193Z,1629045636.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:40:36.193Z,1629045636.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:40:36.195Z,1629045636.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:40:36.601Z,1629045636.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:40:37.006Z,1629045637.006 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24D,000,00C1A,189,80,80,6A,FF
2021-08-15T16:40:37.006Z,1629045637.006 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:40:37.468Z,1629045637.468 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164037.22*59

2021-08-15T16:40:37.552Z,1629045637.552 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.380005 m, bearing: 295.374700 deg, deltaT: 4.423320 s, approachRate: -0.773174 m/s, LOS rate: -13.230801 deg/s, posRepo size: 4
2021-08-15T16:40:37.553Z,1629045637.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.230801 deg/s. Setting heading cmd to target bearing of 295.374700deg and heading rate command to 0 deg/s.
2021-08-15T16:40:39.564Z,1629045639.564 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:40:39.873Z,1629045639.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:40:39.873Z,1629045639.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:40:39.873Z,1629045639.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:40:39.874Z,1629045639.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:40:40.277Z,1629045640.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24D,000,00C1A,189,80,80,6A,FF
2021-08-15T16:40:40.277Z,1629045640.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:40:40.277Z,1629045640.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:40:40.279Z,1629045640.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:40:40.676Z,1629045640.676 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:40:41.106Z,1629045641.106 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F4,000,00BF1,186,80,80,70,FF
2021-08-15T16:40:41.112Z,1629045641.112 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:40:41.553Z,1629045641.553 [Micromodem](INFO): Nmea in: $SNTTA,0.096995,,,,164041.31*4E

2021-08-15T16:40:41.582Z,1629045641.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.919998 m, bearing: 296.181045 deg, deltaT: 4.167091 s, approachRate: -0.590342 m/s, LOS rate: 0.193503 deg/s, posRepo size: 4
2021-08-15T16:40:41.584Z,1629045641.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.919998 m,
      bearing: 296.181045 deg,
      approachRate: -0.590342 m/s,
      LOS rate: 0.193503 deg/s,
      cmd update: 0.774012 deg/s,
      cmd heading: 295.374700 deg,
      new cmd heading: 295.374700 deg.

2021-08-15T16:40:43.931Z,1629045643.931 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:40:44.309Z,1629045644.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:40:44.309Z,1629045644.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:40:44.309Z,1629045644.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:40:44.310Z,1629045644.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:40:44.717Z,1629045644.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F4,000,00BF1,186,80,80,70,FF
2021-08-15T16:40:44.717Z,1629045644.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:40:44.718Z,1629045644.718 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:40:44.719Z,1629045644.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:40:45.160Z,1629045645.160 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:40:45.529Z,1629045645.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BB4,000,00BC8,189,80,80,87,FF
2021-08-15T16:40:45.530Z,1629045645.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:40:45.957Z,1629045645.957 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164045.75*5E

2021-08-15T16:40:45.992Z,1629045645.992 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.460007 m, bearing: 358.467042 deg, deltaT: 4.397827 s, approachRate: -0.559365 m/s, LOS rate: 14.162904 deg/s, posRepo size: 4
2021-08-15T16:40:45.993Z,1629045645.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.162904 deg/s. Setting heading cmd to target bearing of 358.467042deg and heading rate command to 0 deg/s.
2021-08-15T16:40:48.463Z,1629045648.463 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:40:48.761Z,1629045648.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:40:48.761Z,1629045648.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:40:48.762Z,1629045648.762 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:40:48.763Z,1629045648.763 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:40:49.174Z,1629045649.174 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BB4,000,00BC8,189,80,80,87,FF
2021-08-15T16:40:49.174Z,1629045649.174 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:40:49.174Z,1629045649.174 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:40:49.175Z,1629045649.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:40:49.565Z,1629045649.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:40:49.976Z,1629045649.976 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00BA5,18A,80,80,97,FF
2021-08-15T16:40:49.977Z,1629045649.977 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:40:50.401Z,1629045650.401 [Micromodem](INFO): Nmea in: $SNTTA,0.096371,,,,164050.21*4F

2021-08-15T16:40:50.425Z,1629045650.425 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.360001 m, bearing: 359.539765 deg, deltaT: 4.406535 s, approachRate: -0.476566 m/s, LOS rate: 0.243439 deg/s, posRepo size: 4
2021-08-15T16:40:50.434Z,1629045650.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.360001 m,
      bearing: 359.539765 deg,
      approachRate: -0.476566 m/s,
      LOS rate: 0.243439 deg/s,
      cmd update: 0.973756 deg/s,
      cmd heading: 358.467042 deg,
      new cmd heading: 358.467042 deg.

2021-08-15T16:40:52.834Z,1629045652.834 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:40:53.201Z,1629045653.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:40:53.201Z,1629045653.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:40:53.201Z,1629045653.201 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:40:53.202Z,1629045653.202 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:40:53.605Z,1629045653.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00BA5,18A,80,80,97,FF
2021-08-15T16:40:53.605Z,1629045653.605 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:40:53.605Z,1629045653.605 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:40:53.607Z,1629045653.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:40:54.013Z,1629045654.013 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:40:54.414Z,1629045654.414 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CC8,000,00B87,188,80,80,A3,FF
2021-08-15T16:40:54.414Z,1629045654.414 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:40:54.854Z,1629045654.854 [Micromodem](INFO): Nmea in: $SNTTA,0.121903,,,,164054.64*48

2021-08-15T16:40:54.880Z,1629045654.880 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.560013 m, bearing: 349.051353 deg, deltaT: 4.479169 s, approachRate: -0.401858 m/s, LOS rate: -2.341598 deg/s, posRepo size: 4
2021-08-15T16:40:54.882Z,1629045654.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.560013 m,
      bearing: 349.051353 deg,
      approachRate: -0.401858 m/s,
      LOS rate: -2.341598 deg/s,
      cmd update: -9.366390 deg/s,
      cmd heading: 2.824239 deg,
      new cmd heading: 3.222725 deg.

2021-08-15T16:40:57.290Z,1629045657.290 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:40:57.649Z,1629045657.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:40:57.649Z,1629045657.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:40:57.649Z,1629045657.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:40:57.650Z,1629045657.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:40:58.053Z,1629045658.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CC8,000,00B87,188,80,80,A3,FF
2021-08-15T16:40:58.053Z,1629045658.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:40:58.054Z,1629045658.054 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:40:58.055Z,1629045658.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:40:58.472Z,1629045658.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:40:58.861Z,1629045658.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24B,000,00B5E,189,80,80,A7,FF
2021-08-15T16:40:58.862Z,1629045658.862 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:40:59.299Z,1629045659.299 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164059.09*58

2021-08-15T16:40:59.325Z,1629045659.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.100006 m, bearing: 297.402310 deg, deltaT: 4.404104 s, approachRate: -0.558571 m/s, LOS rate: -11.727480 deg/s, posRepo size: 4
2021-08-15T16:40:59.326Z,1629045659.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.727480 deg/s. Setting heading cmd to target bearing of 297.402310deg and heading rate command to 0 deg/s.
2021-08-15T16:41:01.729Z,1629045661.729 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:41:02.095Z,1629045662.095 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:41:02.115Z,1629045662.115 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:41:02.115Z,1629045662.115 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:41:02.116Z,1629045662.116 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:41:02.509Z,1629045662.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24B,000,00B5E,189,80,80,A7,FF
2021-08-15T16:41:02.509Z,1629045662.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:41:02.509Z,1629045662.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:41:02.511Z,1629045662.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:41:02.907Z,1629045662.907 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:41:03.313Z,1629045663.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA6,000,00B2A,187,80,80,A1,FF
2021-08-15T16:41:03.314Z,1629045663.314 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:41:03.737Z,1629045663.737 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164103.54*5E

2021-08-15T16:41:03.798Z,1629045663.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.980011 m, bearing: 354.972554 deg, deltaT: 4.550842 s, approachRate: -0.685586 m/s, LOS rate: 12.650460 deg/s, posRepo size: 4
2021-08-15T16:41:03.799Z,1629045663.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.650460 deg/s. Setting heading cmd to target bearing of 354.972554deg and heading rate command to 0 deg/s.
2021-08-15T16:41:06.156Z,1629045666.156 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:41:06.537Z,1629045666.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:41:06.537Z,1629045666.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:41:06.538Z,1629045666.538 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:41:06.539Z,1629045666.539 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:41:06.938Z,1629045666.938 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA6,000,00B2A,187,80,80,A1,FF
2021-08-15T16:41:06.938Z,1629045666.938 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:41:06.939Z,1629045666.939 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:41:06.942Z,1629045666.942 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:41:07.369Z,1629045667.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:41:07.744Z,1629045667.744 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,243,000,00AFF,189,80,80,9F,FF
2021-08-15T16:41:07.745Z,1629045667.745 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:41:08.188Z,1629045668.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.399994 m, bearing: 296.595637 deg, deltaT: 4.389874 s, approachRate: -0.587720 m/s, LOS rate: -13.298085 deg/s, posRepo size: 4
2021-08-15T16:41:08.189Z,1629045668.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.298085 deg/s. Setting heading cmd to target bearing of 296.595637deg and heading rate command to 0 deg/s.
2021-08-15T16:41:09.384Z,1629045669.384 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T16:41:10.617Z,1629045670.617 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:41:10.973Z,1629045670.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:41:10.973Z,1629045670.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:41:10.974Z,1629045670.974 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:41:10.974Z,1629045670.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:41:11.386Z,1629045671.386 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
243,000,00AFF,189,80,80,9F,FF
2021-08-15T16:41:11.386Z,1629045671.386 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:41:11.386Z,1629045671.386 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:41:11.388Z,1629045671.388 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:41:11.785Z,1629045671.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:41:12.197Z,1629045672.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A1,000,00AD0,185,80,80,97,FF
2021-08-15T16:41:12.198Z,1629045672.198 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:41:12.646Z,1629045672.646 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164112.42*59

2021-08-15T16:41:12.686Z,1629045672.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 128.580002 m, bearing: 300.905487 deg, deltaT: 4.394921 s, approachRate: -0.641648 m/s, LOS rate: 0.980643 deg/s, posRepo size: 4
2021-08-15T16:41:12.715Z,1629045672.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 128.580002 m,
      bearing: 300.905487 deg,
      approachRate: -0.641648 m/s,
      LOS rate: 0.980643 deg/s,
      cmd update: 3.922573 deg/s,
      cmd heading: 296.595637 deg,
      new cmd heading: 296.595637 deg.

2021-08-15T16:41:15.040Z,1629045675.040 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:41:15.417Z,1629045675.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:41:15.417Z,1629045675.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:41:15.417Z,1629045675.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:41:15.418Z,1629045675.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:41:15.832Z,1629045675.832 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A1,000,00AD0,185,80,80,97,FF
2021-08-15T16:41:15.832Z,1629045675.832 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:41:15.833Z,1629045675.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:41:15.834Z,1629045675.834 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:41:16.228Z,1629045676.228 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:41:16.641Z,1629045676.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DCD,000,00AA3,189,80,80,A8,FF
2021-08-15T16:41:16.642Z,1629045676.642 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:41:17.080Z,1629045677.080 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164116.87*54

2021-08-15T16:41:17.148Z,1629045677.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.880005 m, bearing: 0.037610 deg, deltaT: 4.495627 s, approachRate: -0.600583 m/s, LOS rate: 13.153256 deg/s, posRepo size: 4
2021-08-15T16:41:17.149Z,1629045677.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.153256 deg/s. Setting heading cmd to target bearing of 0.037610deg and heading rate command to 0 deg/s.
2021-08-15T16:41:19.217Z,1629045679.217 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:41:19.473Z,1629045679.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:41:19.473Z,1629045679.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:41:19.473Z,1629045679.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:41:19.474Z,1629045679.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:41:19.861Z,1629045679.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DCD,000,00AA3,189,80,80,A8,FF
2021-08-15T16:41:19.861Z,1629045679.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:41:19.861Z,1629045679.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:41:19.863Z,1629045679.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:41:20.277Z,1629045680.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:41:20.689Z,1629045680.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C7,000,00A77,186,80,80,A8,FF
2021-08-15T16:41:20.689Z,1629045680.689 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:41:21.137Z,1629045681.137 [Micromodem](INFO): Nmea in: $SNTTA,0.085674,,,,164120.89*49

2021-08-15T16:41:21.185Z,1629045681.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.240005 m, bearing: 298.651934 deg, deltaT: 4.006305 s, approachRate: -0.658961 m/s, LOS rate: -15.322269 deg/s, posRepo size: 4
2021-08-15T16:41:21.186Z,1629045681.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.322269 deg/s. Setting heading cmd to target bearing of 298.651934deg and heading rate command to 0 deg/s.
2021-08-15T16:41:23.543Z,1629045683.543 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:41:23.901Z,1629045683.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:41:23.901Z,1629045683.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:41:23.902Z,1629045683.902 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:41:23.903Z,1629045683.903 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:41:24.314Z,1629045684.314 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C7,000,00A77,186,80,80,A8,FF
2021-08-15T16:41:24.314Z,1629045684.314 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:41:24.314Z,1629045684.314 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:41:24.316Z,1629045684.316 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:41:24.713Z,1629045684.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:41:25.168Z,1629045685.168 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18F,000,00A4C,186,80,80,B5,FF
2021-08-15T16:41:25.169Z,1629045685.169 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:41:25.582Z,1629045685.582 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.659996 m, bearing: 301.832261 deg, deltaT: 4.489134 s, approachRate: -0.574723 m/s, LOS rate: 0.708450 deg/s, posRepo size: 4
2021-08-15T16:41:25.584Z,1629045685.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.659996 m,
      bearing: 301.832261 deg,
      approachRate: -0.574723 m/s,
      LOS rate: 0.708450 deg/s,
      cmd update: 2.833800 deg/s,
      cmd heading: 298.651934 deg,
      new cmd heading: 298.651934 deg.

2021-08-15T16:41:25.929Z,1629045685.929 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164125.40*5F

2021-08-15T16:41:27.959Z,1629045687.959 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:41:28.354Z,1629045688.354 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:41:28.354Z,1629045688.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:41:28.354Z,1629045688.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:41:28.355Z,1629045688.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:41:28.757Z,1629045688.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18F,000,00A4C,186,80,80,B5,FF
2021-08-15T16:41:28.757Z,1629045688.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:41:28.757Z,1629045688.757 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:41:28.759Z,1629045688.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:41:29.181Z,1629045689.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:41:29.198Z,1629045689.198 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T16:41:29.570Z,1629045689.570 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBF,000,00A1B,189,80,80,B8,FF
2021-08-15T16:41:29.570Z,1629045689.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:41:30.001Z,1629045690.001 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164129.79*59

2021-08-15T16:41:30.023Z,1629045690.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.719994 m, bearing: 1.172881 deg, deltaT: 4.391541 s, approachRate: -0.669469 m/s, LOS rate: 13.512482 deg/s, posRepo size: 4
2021-08-15T16:41:30.025Z,1629045690.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.512482 deg/s. Setting heading cmd to target bearing of 1.172881deg and heading rate command to 0 deg/s.
2021-08-15T16:41:32.404Z,1629045692.404 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:41:32.797Z,1629045692.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:41:32.797Z,1629045692.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:41:32.797Z,1629045692.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:41:32.798Z,1629045692.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:41:33.193Z,1629045693.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBF,000,00A1B,189,80,80,B8,FF
2021-08-15T16:41:33.193Z,1629045693.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:41:33.193Z,1629045693.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:41:33.195Z,1629045693.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:41:33.601Z,1629045693.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:41:34.005Z,1629045694.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B3,000,009F1,185,80,80,AE,FF
2021-08-15T16:41:34.005Z,1629045694.005 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:41:34.447Z,1629045694.447 [Micromodem](INFO): Nmea in: $SNTTA,0.093373,,,,164134.22*48

2021-08-15T16:41:34.498Z,1629045694.498 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.200005 m, bearing: 299.932157 deg, deltaT: 4.425681 s, approachRate: -0.569401 m/s, LOS rate: -13.837582 deg/s, posRepo size: 4
2021-08-15T16:41:34.499Z,1629045694.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -13.837582 deg/s. Setting heading cmd to target bearing of 299.932157deg and heading rate command to 0 deg/s.
2021-08-15T16:41:36.871Z,1629045696.871 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:41:37.233Z,1629045697.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:41:37.233Z,1629045697.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:41:37.233Z,1629045697.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:41:37.234Z,1629045697.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:41:37.633Z,1629045697.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B3,000,009F1,185,80,80,AE,FF
2021-08-15T16:41:37.633Z,1629045697.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:41:37.634Z,1629045697.634 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:41:37.635Z,1629045697.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:41:38.045Z,1629045698.045 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:41:38.465Z,1629045698.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E2,000,009C2,187,80,80,A5,FF
2021-08-15T16:41:38.465Z,1629045698.465 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:41:38.893Z,1629045698.893 [Micromodem](INFO): Nmea in: $SNTTA,0.078239,,,,164138.66*4E

2021-08-15T16:41:38.940Z,1629045698.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.379997 m, bearing: 302.963559 deg, deltaT: 4.502634 s, approachRate: -0.626302 m/s, LOS rate: 0.673251 deg/s, posRepo size: 4
2021-08-15T16:41:38.942Z,1629045698.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.379997 m,
      bearing: 302.963559 deg,
      approachRate: -0.626302 m/s,
      LOS rate: 0.673251 deg/s,
      cmd update: 2.693003 deg/s,
      cmd heading: 299.932157 deg,
      new cmd heading: 299.932157 deg.

2021-08-15T16:41:39.294Z,1629045699.294 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T16:41:41.325Z,1629045701.325 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:41:41.677Z,1629045701.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:41:41.677Z,1629045701.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:41:41.677Z,1629045701.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:41:41.678Z,1629045701.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:41:42.093Z,1629045702.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E2,000,009C2,187,80,80,A5,FF
2021-08-15T16:41:42.093Z,1629045702.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:41:42.093Z,1629045702.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:41:42.095Z,1629045702.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:41:42.521Z,1629045702.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:41:42.897Z,1629045702.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E35,000,00990,187,80,80,B0,FF
2021-08-15T16:41:42.898Z,1629045702.898 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:41:43.333Z,1629045703.333 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164143.13*59

2021-08-15T16:41:43.382Z,1629045703.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.380005 m, bearing: 359.655222 deg, deltaT: 4.389776 s, approachRate: -0.683404 m/s, LOS rate: 12.914477 deg/s, posRepo size: 4
2021-08-15T16:41:43.382Z,1629045703.382 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.914477 deg/s. Setting heading cmd to target bearing of 359.655222deg and heading rate command to 0 deg/s.
2021-08-15T16:41:45.778Z,1629045705.778 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:41:46.125Z,1629045706.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:41:46.125Z,1629045706.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:41:46.125Z,1629045706.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:41:46.126Z,1629045706.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:41:46.537Z,1629045706.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E35,000,00990,187,80,80,B0,FF
2021-08-15T16:41:46.537Z,1629045706.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:41:46.537Z,1629045706.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:41:46.539Z,1629045706.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:41:46.932Z,1629045706.932 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:41:47.341Z,1629045707.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C6,000,00961,186,80,80,8A,FF
2021-08-15T16:41:47.341Z,1629045707.341 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:41:47.786Z,1629045707.786 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164147.57*5D

2021-08-15T16:41:47.813Z,1629045707.813 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.560005 m, bearing: 302.275103 deg, deltaT: 4.540521 s, approachRate: -0.621074 m/s, LOS rate: -12.637342 deg/s, posRepo size: 4
2021-08-15T16:41:47.814Z,1629045707.814 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.637342 deg/s. Setting heading cmd to target bearing of 302.275103deg and heading rate command to 0 deg/s.
2021-08-15T16:41:49.384Z,1629045709.384 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-08-15T16:41:50.191Z,1629045710.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:41:50.570Z,1629045710.570 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:41:50.570Z,1629045710.570 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:41:50.570Z,1629045710.570 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:41:50.571Z,1629045710.571 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:41:50.973Z,1629045710.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C6,000,00961,186,80,80,8A,FF
2021-08-15T16:41:50.974Z,1629045710.974 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:41:50.974Z,1629045710.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:41:50.975Z,1629045710.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:41:51.377Z,1629045711.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:41:51.789Z,1629045711.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,212,000,00931,188,80,80,76,FF
2021-08-15T16:41:51.790Z,1629045711.790 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:41:52.217Z,1629045712.217 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164152.01*5A

2021-08-15T16:41:52.254Z,1629045712.254 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.680008 m, bearing: 302.986645 deg, deltaT: 4.385009 s, approachRate: -0.656783 m/s, LOS rate: 0.162267 deg/s, posRepo size: 4
2021-08-15T16:41:52.256Z,1629045712.256 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.680008 m,
      bearing: 302.986645 deg,
      approachRate: -0.656783 m/s,
      LOS rate: 0.162267 deg/s,
      cmd update: 0.649068 deg/s,
      cmd heading: 302.275103 deg,
      new cmd heading: 302.275103 deg.

2021-08-15T16:41:54.670Z,1629045714.670 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:41:55.025Z,1629045715.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:41:55.025Z,1629045715.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:41:55.025Z,1629045715.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:41:55.026Z,1629045715.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:41:55.417Z,1629045715.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
212,000,00931,188,80,80,76,FF
2021-08-15T16:41:55.417Z,1629045715.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:41:55.417Z,1629045715.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:41:55.419Z,1629045715.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:41:55.837Z,1629045715.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:41:56.233Z,1629045716.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E55,000,00903,186,80,80,86,FF
2021-08-15T16:41:56.234Z,1629045716.234 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:41:56.677Z,1629045716.677 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164156.45*5E

2021-08-15T16:41:56.727Z,1629045716.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.920006 m, bearing: 359.027254 deg, deltaT: 4.410034 s, approachRate: -0.625846 m/s, LOS rate: 12.707523 deg/s, posRepo size: 4
2021-08-15T16:41:56.732Z,1629045716.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.707523 deg/s. Setting heading cmd to target bearing of 359.027254deg and heading rate command to 0 deg/s.
2021-08-15T16:41:59.153Z,1629045719.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:41:59.484Z,1629045719.484 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:41:59.484Z,1629045719.484 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:41:59.485Z,1629045719.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:41:59.486Z,1629045719.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:41:59.874Z,1629045719.874 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E55,000,00903,186,80,80,86,FF
2021-08-15T16:41:59.874Z,1629045719.874 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:41:59.875Z,1629045719.875 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:41:59.878Z,1629045719.878 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:42:00.279Z,1629045720.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:42:00.674Z,1629045720.674 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CD,000,008D4,186,80,80,B7,FF
2021-08-15T16:42:00.675Z,1629045720.675 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:42:01.133Z,1629045721.133 [Micromodem](INFO): Nmea in: $SNTTA,0.103078,,,,164200.91*44

2021-08-15T16:42:01.189Z,1629045721.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.100006 m, bearing: 302.511073 deg, deltaT: 4.503112 s, approachRate: -0.626234 m/s, LOS rate: -12.550472 deg/s, posRepo size: 4
2021-08-15T16:42:01.190Z,1629045721.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.550472 deg/s. Setting heading cmd to target bearing of 302.511073deg and heading rate command to 0 deg/s.
2021-08-15T16:42:03.551Z,1629045723.551 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:42:03.897Z,1629045723.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:42:03.897Z,1629045723.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:42:03.897Z,1629045723.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:42:03.898Z,1629045723.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:42:04.305Z,1629045724.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CD,000,008D4,186,80,80,B7,FF
2021-08-15T16:42:04.305Z,1629045724.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:42:04.305Z,1629045724.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:42:04.307Z,1629045724.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:42:04.709Z,1629045724.709 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:42:05.153Z,1629045725.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B4,000,008A7,186,80,80,94,FF
2021-08-15T16:42:05.154Z,1629045725.154 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:42:05.561Z,1629045725.561 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164205.34*5D

2021-08-15T16:42:05.599Z,1629045725.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.400009 m, bearing: 303.573358 deg, deltaT: 4.511229 s, approachRate: -0.598506 m/s, LOS rate: 0.235476 deg/s, posRepo size: 4
2021-08-15T16:42:05.601Z,1629045725.601 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.400009 m,
      bearing: 303.573358 deg,
      approachRate: -0.598506 m/s,
      LOS rate: 0.235476 deg/s,
      cmd update: 0.941904 deg/s,
      cmd heading: 302.511073 deg,
      new cmd heading: 302.511073 deg.

2021-08-15T16:42:07.983Z,1629045727.983 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:42:08.349Z,1629045728.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:42:08.349Z,1629045728.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:42:08.349Z,1629045728.349 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:42:08.350Z,1629045728.350 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:42:08.753Z,1629045728.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B4,000,008A7,186,80,80,94,FF
2021-08-15T16:42:08.754Z,1629045728.754 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:42:08.754Z,1629045728.754 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:42:08.755Z,1629045728.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:42:09.203Z,1629045729.203 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:42:09.219Z,1629045729.219 [Micromodem](INFO): Nmea in: ,164209.79*5F

2021-08-15T16:42:09.220Z,1629045729.220 [Micromodem](ERROR): Response from modem failed NMEA checksum: ,164209.79*5F
 expected 0
2021-08-15T16:42:09.561Z,1629045729.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF0,000,0087B,187,80,80,99,FF
2021-08-15T16:42:09.562Z,1629045729.562 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:42:09.998Z,1629045729.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.759995 m, bearing: 4.052288 deg, deltaT: 4.325876 s, approachRate: -0.610284 m/s, LOS rate: 13.980738 deg/s, posRepo size: 4
2021-08-15T16:42:09.998Z,1629045729.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.980738 deg/s. Setting heading cmd to target bearing of 4.052288deg and heading rate command to 0 deg/s.
2021-08-15T16:42:12.436Z,1629045732.436 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:42:12.800Z,1629045732.800 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:42:12.800Z,1629045732.800 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:42:12.800Z,1629045732.800 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:42:12.801Z,1629045732.801 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:42:13.193Z,1629045733.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF0,000,0087B,187,80,80,99,FF
2021-08-15T16:42:13.193Z,1629045733.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:42:13.193Z,1629045733.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:42:13.195Z,1629045733.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:42:13.606Z,1629045733.606 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:42:14.001Z,1629045734.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BD,000,0084D,186,80,80,9E,FF
2021-08-15T16:42:14.001Z,1629045734.001 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:42:14.465Z,1629045734.465 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164214.23*5B

2021-08-15T16:42:14.516Z,1629045734.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.000000 m, bearing: 306.842943 deg, deltaT: 4.456068 s, approachRate: -0.619379 m/s, LOS rate: -12.838528 deg/s, posRepo size: 4
2021-08-15T16:42:14.517Z,1629045734.517 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.838528 deg/s. Setting heading cmd to target bearing of 306.842943deg and heading rate command to 0 deg/s.
2021-08-15T16:42:16.875Z,1629045736.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:42:17.237Z,1629045737.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:42:17.237Z,1629045737.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:42:17.237Z,1629045737.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:42:17.238Z,1629045737.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:42:17.641Z,1629045737.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BD,000,0084D,186,80,80,9E,FF
2021-08-15T16:42:17.641Z,1629045737.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:42:17.641Z,1629045737.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:42:17.643Z,1629045737.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:42:18.053Z,1629045738.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:42:18.476Z,1629045738.476 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,206,000,0081C,187,80,80,77,FF
2021-08-15T16:42:18.477Z,1629045738.477 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:42:18.905Z,1629045738.905 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164218.67*57

2021-08-15T16:42:18.928Z,1629045738.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.059998 m, bearing: 304.794378 deg, deltaT: 4.456831 s, approachRate: -0.659662 m/s, LOS rate: -0.459646 deg/s, posRepo size: 4
2021-08-15T16:42:18.930Z,1629045738.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 87.059998 m,
      bearing: 304.794378 deg,
      approachRate: -0.659662 m/s,
      LOS rate: -0.459646 deg/s,
      cmd update: -1.838584 deg/s,
      cmd heading: 306.842943 deg,
      new cmd heading: 306.842943 deg.

2021-08-15T16:42:21.327Z,1629045741.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:42:21.673Z,1629045741.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:42:21.673Z,1629045741.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:42:21.674Z,1629045741.674 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:42:21.675Z,1629045741.675 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:42:22.086Z,1629045742.086 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
206,000,0081C,187,80,80,77,FF
2021-08-15T16:42:22.087Z,1629045742.087 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:42:22.087Z,1629045742.087 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:42:22.089Z,1629045742.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:42:22.516Z,1629045742.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:42:22.887Z,1629045742.887 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5E,000,007E9,186,80,80,83,FF
2021-08-15T16:42:22.887Z,1629045742.887 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:42:23.329Z,1629045743.329 [Micromodem](INFO): Nmea in: $SNTTA,0.068180,,,,164223.12*44

2021-08-15T16:42:23.378Z,1629045743.378 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.000000 m, bearing: 2.028493 deg, deltaT: 4.400856 s, approachRate: -0.695319 m/s, LOS rate: 13.005221 deg/s, posRepo size: 4
2021-08-15T16:42:23.379Z,1629045743.379 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.005221 deg/s. Setting heading cmd to target bearing of 2.028493deg and heading rate command to 0 deg/s.
2021-08-15T16:42:25.770Z,1629045745.770 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:42:26.126Z,1629045746.126 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:42:26.126Z,1629045746.126 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:42:26.126Z,1629045746.126 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:42:26.127Z,1629045746.127 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:42:26.525Z,1629045746.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5E,000,007E9,186,80,80,83,FF
2021-08-15T16:42:26.525Z,1629045746.525 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:42:26.526Z,1629045746.526 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:42:26.527Z,1629045746.527 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:42:26.941Z,1629045746.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:42:27.338Z,1629045747.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF0,000,007B9,189,80,80,98,FF
2021-08-15T16:42:27.338Z,1629045747.338 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:42:27.773Z,1629045747.773 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164227.57*58

2021-08-15T16:42:27.823Z,1629045747.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.120003 m, bearing: 3.762674 deg, deltaT: 4.492044 s, approachRate: -0.641133 m/s, LOS rate: 0.386056 deg/s, posRepo size: 4
2021-08-15T16:42:27.830Z,1629045747.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.120003 m,
      bearing: 3.762674 deg,
      approachRate: -0.641133 m/s,
      LOS rate: 0.386056 deg/s,
      cmd update: 1.544224 deg/s,
      cmd heading: 2.028493 deg,
      new cmd heading: 2.028493 deg.

2021-08-15T16:42:29.391Z,1629045749.391 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-15T16:42:30.191Z,1629045750.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:42:30.565Z,1629045750.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:42:30.565Z,1629045750.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:42:30.565Z,1629045750.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:42:30.566Z,1629045750.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:42:30.969Z,1629045750.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CF0,000,007B9,189,80,80,98,FF
2021-08-15T16:42:30.969Z,1629045750.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:42:30.969Z,1629045750.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:42:30.971Z,1629045750.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:42:31.381Z,1629045751.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:42:32.210Z,1629045752.210 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164232.00*5E

2021-08-15T16:42:33.011Z,1629045753.011 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:42:34.605Z,1629045754.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,189,80,80,98,FF
2021-08-15T16:42:34.605Z,1629045754.605 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,189,80,80,98,FF
2021-08-15T16:42:34.605Z,1629045754.605 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T16:42:35.514Z,1629045755.514 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:42:35.840Z,1629045755.840 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:42:35.840Z,1629045755.840 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:42:35.840Z,1629045755.840 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:42:35.841Z,1629045755.841 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:42:36.221Z,1629045756.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,189,80,80,98,FF
2021-08-15T16:42:36.221Z,1629045756.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:42:36.221Z,1629045756.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:42:36.223Z,1629045756.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:42:36.628Z,1629045756.628 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:42:37.037Z,1629045757.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE0,000,0075A,188,80,80,8C,FF
2021-08-15T16:42:37.038Z,1629045757.038 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:42:37.489Z,1629045757.489 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164237.25*5C

2021-08-15T16:42:37.546Z,1629045757.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.420006 m, bearing: 4.113177 deg, deltaT: 9.671053 s, approachRate: -0.589387 m/s, LOS rate: 0.036243 deg/s, posRepo size: 4
2021-08-15T16:42:37.548Z,1629045757.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.420006 m,
      bearing: 4.113177 deg,
      approachRate: -0.589387 m/s,
      LOS rate: 0.036243 deg/s,
      cmd update: 0.144970 deg/s,
      cmd heading: 16.980745 deg,
      new cmd heading: 17.732825 deg.

2021-08-15T16:42:39.888Z,1629045759.888 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:42:40.261Z,1629045760.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:42:40.261Z,1629045760.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:42:40.261Z,1629045760.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:42:40.262Z,1629045760.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:42:40.669Z,1629045760.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE0,000,0075A,188,80,80,8C,FF
2021-08-15T16:42:40.669Z,1629045760.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:42:40.669Z,1629045760.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:42:40.671Z,1629045760.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:42:41.105Z,1629045761.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:42:41.509Z,1629045761.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F93,000,00729,187,80,80,7E,FF
2021-08-15T16:42:41.509Z,1629045761.509 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:42:41.915Z,1629045761.915 [Micromodem](INFO): Nmea in: $SNTTA,0.063185,,,,164241.70*4A

2021-08-15T16:42:41.931Z,1629045761.931 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.480003 m, bearing: 359.938019 deg, deltaT: 4.492817 s, approachRate: -0.654378 m/s, LOS rate: -0.929294 deg/s, posRepo size: 4
2021-08-15T16:42:41.933Z,1629045761.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.480003 m,
      bearing: 359.938019 deg,
      approachRate: -0.654378 m/s,
      LOS rate: -0.929294 deg/s,
      cmd update: -3.717176 deg/s,
      cmd heading: 17.629868 deg,
      new cmd heading: 17.687086 deg.

2021-08-15T16:42:44.346Z,1629045764.346 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:42:44.709Z,1629045764.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:42:44.709Z,1629045764.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:42:44.709Z,1629045764.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:42:44.710Z,1629045764.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:42:45.157Z,1629045765.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F93,000,00729,187,80,80,7E,FF
2021-08-15T16:42:45.157Z,1629045765.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:42:45.157Z,1629045765.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:42:45.159Z,1629045765.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:42:45.525Z,1629045765.525 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:42:45.925Z,1629045765.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15E,000,006F8,185,80,80,A3,FF
2021-08-15T16:42:45.925Z,1629045765.925 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:42:46.351Z,1629045766.351 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164246.19*55

2021-08-15T16:42:46.391Z,1629045766.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.540001 m, bearing: 354.785570 deg, deltaT: 4.382160 s, approachRate: -0.670903 m/s, LOS rate: -1.175778 deg/s, posRepo size: 4
2021-08-15T16:42:46.393Z,1629045766.393 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.540001 m,
      bearing: 354.785570 deg,
      approachRate: -0.670903 m/s,
      LOS rate: -1.175778 deg/s,
      cmd update: -4.703113 deg/s,
      cmd heading: 1.250411 deg,
      new cmd heading: 359.584618 deg.

2021-08-15T16:42:48.805Z,1629045768.805 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:42:49.213Z,1629045769.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:42:49.213Z,1629045769.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:42:49.213Z,1629045769.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:42:49.214Z,1629045769.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:42:49.569Z,1629045769.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15E,000,006F8,185,80,80,A3,FF
2021-08-15T16:42:49.569Z,1629045769.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:42:49.569Z,1629045769.569 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:42:49.571Z,1629045769.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:42:49.956Z,1629045769.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:42:50.368Z,1629045770.368 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10A,000,006C8,187,80,80,8C,FF
2021-08-15T16:42:50.369Z,1629045770.369 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:42:50.789Z,1629045770.789 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164250.60*5C

2021-08-15T16:42:50.823Z,1629045770.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.660004 m, bearing: 358.041658 deg, deltaT: 4.456633 s, approachRate: -0.646227 m/s, LOS rate: 0.730616 deg/s, posRepo size: 4
2021-08-15T16:42:50.830Z,1629045770.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.660004 m,
      bearing: 358.041658 deg,
      approachRate: -0.646227 m/s,
      LOS rate: 0.730616 deg/s,
      cmd update: 2.922464 deg/s,
      cmd heading: 340.308995 deg,
      new cmd heading: 338.297210 deg.

2021-08-15T16:42:53.256Z,1629045773.256 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:42:53.601Z,1629045773.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:42:53.601Z,1629045773.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:42:53.601Z,1629045773.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:42:53.602Z,1629045773.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:42:53.997Z,1629045773.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10A,000,006C8,187,80,80,8C,FF
2021-08-15T16:42:53.997Z,1629045773.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:42:53.998Z,1629045773.998 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:42:53.999Z,1629045773.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:42:54.418Z,1629045774.418 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:42:54.813Z,1629045774.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5F,000,00691,186,80,80,AD,FF
2021-08-15T16:42:54.814Z,1629045774.814 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:42:55.241Z,1629045775.241 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164255.03*5C

2021-08-15T16:42:55.317Z,1629045775.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.360001 m, bearing: 0.726948 deg, deltaT: 4.485268 s, approachRate: -0.735743 m/s, LOS rate: 0.598692 deg/s, posRepo size: 4
2021-08-15T16:42:55.319Z,1629045775.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.360001 m,
      bearing: 0.726948 deg,
      approachRate: -0.735743 m/s,
      LOS rate: 0.598692 deg/s,
      cmd update: 2.394767 deg/s,
      cmd heading: 353.422277 deg,
      new cmd heading: 354.679112 deg.

2021-08-15T16:42:57.705Z,1629045777.705 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:42:58.045Z,1629045778.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:42:58.045Z,1629045778.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:42:58.046Z,1629045778.046 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:42:58.046Z,1629045778.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:42:58.469Z,1629045778.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5F,000,00691,186,80,80,AD,FF
2021-08-15T16:42:58.469Z,1629045778.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:42:58.469Z,1629045778.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:42:58.472Z,1629045778.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:42:58.848Z,1629045778.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:42:59.259Z,1629045779.259 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EED,000,00661,187,80,80,58,FF
2021-08-15T16:42:59.260Z,1629045779.260 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:42:59.673Z,1629045779.673 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164259.50*56

2021-08-15T16:42:59.720Z,1629045779.720 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.480003 m, bearing: 356.826841 deg, deltaT: 4.477568 s, approachRate: -0.643206 m/s, LOS rate: -0.871033 deg/s, posRepo size: 4
2021-08-15T16:42:59.722Z,1629045779.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.480003 m,
      bearing: 356.826841 deg,
      approachRate: -0.643206 m/s,
      LOS rate: -0.871033 deg/s,
      cmd update: -3.484132 deg/s,
      cmd heading: 4.140675 deg,
      new cmd heading: 4.986621 deg.

2021-08-15T16:43:02.119Z,1629045782.119 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:43:02.518Z,1629045782.518 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:43:02.518Z,1629045782.518 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:43:02.518Z,1629045782.518 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:43:02.519Z,1629045782.519 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:43:02.914Z,1629045782.914 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EED,000,00661,187,80,80,58,FF
2021-08-15T16:43:02.914Z,1629045782.914 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:43:02.914Z,1629045782.914 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:43:02.916Z,1629045782.916 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:43:03.316Z,1629045783.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:43:03.717Z,1629045783.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F98,000,00631,187,80,80,6D,FF
2021-08-15T16:43:03.717Z,1629045783.717 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:43:04.183Z,1629045784.183 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164303.95*51

2021-08-15T16:43:04.211Z,1629045784.211 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.600002 m, bearing: 356.792826 deg, deltaT: 4.382658 s, approachRate: -0.657136 m/s, LOS rate: -0.007761 deg/s, posRepo size: 4
2021-08-15T16:43:04.213Z,1629045784.213 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.600002 m,
      bearing: 356.792826 deg,
      approachRate: -0.657136 m/s,
      LOS rate: -0.007761 deg/s,
      cmd update: -0.031044 deg/s,
      cmd heading: 348.857726 deg,
      new cmd heading: 347.235214 deg.

2021-08-15T16:43:06.601Z,1629045786.601 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:43:06.949Z,1629045786.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:43:06.949Z,1629045786.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:43:06.949Z,1629045786.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:43:06.950Z,1629045786.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:43:07.362Z,1629045787.362 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F98,000,00631,187,80,80,6D,FF
2021-08-15T16:43:07.362Z,1629045787.362 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:43:07.362Z,1629045787.362 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:43:07.364Z,1629045787.364 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:43:07.765Z,1629045787.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:43:08.161Z,1629045788.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F78,000,005FB,186,80,80,6C,FF
2021-08-15T16:43:08.162Z,1629045788.162 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:43:08.593Z,1629045788.593 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164308.40*52

2021-08-15T16:43:08.647Z,1629045788.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.359993 m, bearing: 356.615105 deg, deltaT: 4.504975 s, approachRate: -0.719207 m/s, LOS rate: -0.039450 deg/s, posRepo size: 4
2021-08-15T16:43:08.649Z,1629045788.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.359993 m,
      bearing: 356.615105 deg,
      approachRate: -0.719207 m/s,
      LOS rate: -0.039450 deg/s,
      cmd update: -0.157800 deg/s,
      cmd heading: 348.718313 deg,
      new cmd heading: 348.705540 deg.

2021-08-15T16:43:11.019Z,1629045791.019 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:43:11.393Z,1629045791.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:43:11.393Z,1629045791.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:43:11.393Z,1629045791.393 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:43:11.394Z,1629045791.394 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:43:11.797Z,1629045791.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F78,000,005FB,186,80,80,6C,FF
2021-08-15T16:43:11.797Z,1629045791.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:43:11.797Z,1629045791.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:43:11.799Z,1629045791.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:43:12.209Z,1629045792.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:43:12.605Z,1629045792.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED5,000,005CA,187,80,80,69,FF
2021-08-15T16:43:12.605Z,1629045792.605 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:43:13.049Z,1629045793.049 [Micromodem](INFO): Nmea in: $SNTTA,0.049216,,,,164312.83*40

2021-08-15T16:43:13.168Z,1629045793.168 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.420002 m, bearing: 359.141100 deg, deltaT: 4.420724 s, approachRate: -0.665047 m/s, LOS rate: 0.571399 deg/s, posRepo size: 4
2021-08-15T16:43:13.170Z,1629045793.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 51.420002 m,
      bearing: 359.141100 deg,
      approachRate: -0.665047 m/s,
      LOS rate: 0.571399 deg/s,
      cmd update: 2.285594 deg/s,
      cmd heading: 348.020338 deg,
      new cmd heading: 347.941950 deg.

2021-08-15T16:43:15.520Z,1629045795.520 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:43:15.837Z,1629045795.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:43:15.837Z,1629045795.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:43:15.837Z,1629045795.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:43:15.838Z,1629045795.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:43:16.245Z,1629045796.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED5,000,005CA,187,80,80,69,FF
2021-08-15T16:43:16.245Z,1629045796.245 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:43:16.245Z,1629045796.245 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:43:16.247Z,1629045796.247 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:43:16.648Z,1629045796.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:43:17.053Z,1629045797.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F05,000,00595,186,80,80,74,FF
2021-08-15T16:43:17.053Z,1629045797.053 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:43:17.517Z,1629045797.517 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164317.28*52

2021-08-15T16:43:17.586Z,1629045797.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.239998 m, bearing: 357.237198 deg, deltaT: 4.477727 s, approachRate: -0.710183 m/s, LOS rate: -0.425194 deg/s, posRepo size: 4
2021-08-15T16:43:17.589Z,1629045797.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.239998 m,
      bearing: 357.237198 deg,
      approachRate: -0.710183 m/s,
      LOS rate: -0.425194 deg/s,
      cmd update: -1.700775 deg/s,
      cmd heading: 358.263244 deg,
      new cmd heading: 359.282768 deg.

2021-08-15T16:43:19.903Z,1629045799.903 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:43:20.285Z,1629045800.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:43:20.286Z,1629045800.286 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:43:20.286Z,1629045800.286 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:43:20.287Z,1629045800.287 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:43:20.685Z,1629045800.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F05,000,00595,186,80,80,74,FF
2021-08-15T16:43:20.685Z,1629045800.685 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:43:20.685Z,1629045800.685 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:43:20.687Z,1629045800.687 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:43:21.137Z,1629045801.137 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:43:21.509Z,1629045801.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F90,000,00560,187,80,80,AC,FF
2021-08-15T16:43:21.510Z,1629045801.510 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:43:21.933Z,1629045801.933 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164321.72*58

2021-08-15T16:43:21.976Z,1629045801.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.059998 m, bearing: 357.372600 deg, deltaT: 4.428893 s, approachRate: -0.718012 m/s, LOS rate: 0.030572 deg/s, posRepo size: 4
2021-08-15T16:43:21.978Z,1629045801.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.059998 m,
      bearing: 357.372600 deg,
      approachRate: -0.718012 m/s,
      LOS rate: 0.030572 deg/s,
      cmd update: 0.122289 deg/s,
      cmd heading: 350.716555 deg,
      new cmd heading: 350.045638 deg.

2021-08-15T16:43:24.360Z,1629045804.360 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:43:24.727Z,1629045804.727 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:43:24.727Z,1629045804.727 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:43:24.727Z,1629045804.727 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:43:24.728Z,1629045804.728 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:43:25.173Z,1629045805.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F90,000,00560,187,80,80,AC,FF
2021-08-15T16:43:25.173Z,1629045805.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:43:25.174Z,1629045805.174 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:43:25.175Z,1629045805.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:43:25.541Z,1629045805.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:43:25.937Z,1629045805.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F6F,000,00529,186,80,80,66,FF
2021-08-15T16:43:25.937Z,1629045805.937 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:43:26.363Z,1629045806.363 [Micromodem](INFO): Nmea in: $SNTTA,0.046526,,,,164326.21*44

2021-08-15T16:43:26.408Z,1629045806.408 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.759998 m, bearing: 358.289430 deg, deltaT: 4.377121 s, approachRate: -0.753920 m/s, LOS rate: 0.209460 deg/s, posRepo size: 4
2021-08-15T16:43:26.416Z,1629045806.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.759998 m,
      bearing: 358.289430 deg,
      approachRate: -0.753920 m/s,
      LOS rate: 0.209460 deg/s,
      cmd update: 0.837838 deg/s,
      cmd heading: 351.251822 deg,
      new cmd heading: 351.306724 deg.

2021-08-15T16:43:28.794Z,1629045808.794 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:43:29.197Z,1629045809.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:43:29.197Z,1629045809.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:43:29.197Z,1629045809.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:43:29.198Z,1629045809.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:43:29.569Z,1629045809.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F6F,000,00529,186,80,80,66,FF
2021-08-15T16:43:29.569Z,1629045809.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:43:29.569Z,1629045809.569 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:43:29.571Z,1629045809.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:43:29.989Z,1629045809.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:43:30.386Z,1629045810.386 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F55,000,004FC,186,80,80,81,FF
2021-08-15T16:43:30.386Z,1629045810.386 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:43:30.821Z,1629045810.821 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164330.60*5B

2021-08-15T16:43:30.870Z,1629045810.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.060001 m, bearing: 358.310932 deg, deltaT: 4.452810 s, approachRate: -0.606358 m/s, LOS rate: 0.004829 deg/s, posRepo size: 4
2021-08-15T16:43:30.871Z,1629045810.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.06 m.
2021-08-15T16:43:30.877Z,1629045810.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.060001 m,
      bearing: 358.310932 deg,
      approachRate: -0.606358 m/s,
      LOS rate: 0.004829 deg/s,
      cmd update: 0.019315 deg/s,
      cmd heading: 354.978905 deg,
      new cmd heading: 355.370406 deg.

2021-08-15T16:43:31.262Z,1629045811.262 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T16:43:31.262Z,1629045811.262 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T16:43:31.262Z,1629045811.262 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T16:43:31.263Z,1629045811.263 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T16:43:31.263Z,1629045811.263 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T16:43:31.263Z,1629045811.263 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T16:43:31.656Z,1629045811.656 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T16:43:31.656Z,1629045811.656 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T16:43:31.656Z,1629045811.656 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T16:43:31.656Z,1629045811.656 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T16:43:33.282Z,1629045813.282 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:43:33.609Z,1629045813.609 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:43:33.609Z,1629045813.609 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:43:33.609Z,1629045813.609 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:43:33.610Z,1629045813.610 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:43:34.013Z,1629045814.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F55,000,004FC,186,80,80,81,FF
2021-08-15T16:43:34.013Z,1629045814.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:43:34.013Z,1629045814.013 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:43:34.015Z,1629045814.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:43:34.439Z,1629045814.439 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:43:34.817Z,1629045814.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F80,000,004C2,186,80,80,84,FF
2021-08-15T16:43:34.818Z,1629045814.818 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:43:34.858Z,1629045814.858 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:43:35.273Z,1629045815.273 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164335.05*5D

2021-08-15T16:43:35.329Z,1629045815.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.579998 m, bearing: 355.863866 deg, deltaT: 4.448209 s, approachRate: -0.782338 m/s, LOS rate: -0.550124 deg/s, posRepo size: 4
2021-08-15T16:43:35.329Z,1629045815.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 35.58 m.
2021-08-15T16:43:35.331Z,1629045815.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.579998 m,
      bearing: 355.863866 deg,
      approachRate: -0.782338 m/s,
      LOS rate: -0.550124 deg/s,
      cmd update: -2.200495 deg/s,
      cmd heading: 355.064508 deg,
      new cmd heading: 355.074041 deg.

2021-08-15T16:43:37.689Z,1629045817.689 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:43:38.049Z,1629045818.049 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:43:38.049Z,1629045818.049 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:43:38.049Z,1629045818.049 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:43:38.050Z,1629045818.050 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:43:38.557Z,1629045818.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F80,000,004C2,186,80,80,84,FF
2021-08-15T16:43:38.557Z,1629045818.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:43:38.557Z,1629045818.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:43:38.559Z,1629045818.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:43:38.916Z,1629045818.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:43:39.325Z,1629045819.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8E,000,0048C,187,80,80,81,FF
2021-08-15T16:43:39.326Z,1629045819.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:43:39.386Z,1629045819.386 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:43:39.739Z,1629045819.739 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164339.59*58

2021-08-15T16:43:39.787Z,1629045819.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.340000 m, bearing: 355.289529 deg, deltaT: 4.527731 s, approachRate: -0.715590 m/s, LOS rate: -0.126849 deg/s, posRepo size: 4
2021-08-15T16:43:39.788Z,1629045819.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 32.34 m.
2021-08-15T16:43:39.790Z,1629045819.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.340000 m,
      bearing: 355.289529 deg,
      approachRate: -0.715590 m/s,
      LOS rate: -0.126849 deg/s,
      cmd update: -0.507395 deg/s,
      cmd heading: 345.057046 deg,
      new cmd heading: 344.167569 deg.

2021-08-15T16:43:42.164Z,1629045822.164 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:43:42.549Z,1629045822.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:43:42.549Z,1629045822.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:43:42.549Z,1629045822.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:43:42.550Z,1629045822.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:43:42.958Z,1629045822.958 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8E,000,0048C,187,80,80,81,FF
2021-08-15T16:43:42.958Z,1629045822.958 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:43:42.958Z,1629045822.958 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:43:42.960Z,1629045822.960 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:43:43.364Z,1629045823.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:43:43.757Z,1629045823.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4A,000,0045D,186,80,80,77,FF
2021-08-15T16:43:43.757Z,1629045823.757 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:43:43.814Z,1629045823.814 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:43:44.229Z,1629045824.229 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164343.99*59

2021-08-15T16:43:44.275Z,1629045824.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.519999 m, bearing: 353.970237 deg, deltaT: 4.427523 s, approachRate: -0.636925 m/s, LOS rate: -0.297975 deg/s, posRepo size: 4
2021-08-15T16:43:44.275Z,1629045824.276 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 29.52 m.
2021-08-15T16:43:44.278Z,1629045824.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 29.52 m.
2021-08-15T16:43:44.278Z,1629045824.278 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-15T16:43:44.280Z,1629045824.280 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.519999 m,
      bearing: 353.970237 deg,
      approachRate: -0.636925 m/s,
      LOS rate: -0.297975 deg/s,
      cmd update: -1.191901 deg/s,
      cmd heading: 342.810543 deg,
      new cmd heading: 342.576521 deg.

2021-08-15T16:43:46.618Z,1629045826.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:43:46.993Z,1629045826.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:43:46.993Z,1629045826.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:43:46.993Z,1629045826.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:43:46.994Z,1629045826.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:43:47.408Z,1629045827.408 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4A,000,0045D,186,80,80,77,FF
2021-08-15T16:43:47.409Z,1629045827.409 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:43:47.409Z,1629045827.409 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:43:47.411Z,1629045827.411 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:43:47.805Z,1629045827.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:43:48.201Z,1629045828.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE3,000,0042D,186,80,80,8C,FF
2021-08-15T16:43:48.201Z,1629045828.201 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:43:48.310Z,1629045828.310 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:43:48.645Z,1629045828.645 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164348.44*52

2021-08-15T16:43:48.672Z,1629045828.672 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.639999 m, bearing: 354.336007 deg, deltaT: 4.496754 s, approachRate: -0.640462 m/s, LOS rate: 0.081341 deg/s, posRepo size: 4
2021-08-15T16:43:48.674Z,1629045828.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 26.639999 m,
      bearing: 354.336007 deg,
      approachRate: -0.640462 m/s,
      LOS rate: 0.081341 deg/s,
      cmd update: 0.325364 deg/s,
      cmd heading: 337.466109 deg,
      new cmd heading: 337.016508 deg.

2021-08-15T16:43:51.055Z,1629045831.055 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:43:51.461Z,1629045831.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:43:51.462Z,1629045831.462 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:43:51.462Z,1629045831.462 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:43:51.464Z,1629045831.464 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:43:51.837Z,1629045831.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE3,000,0042D,186,80,80,8C,FF
2021-08-15T16:43:51.837Z,1629045831.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:43:51.837Z,1629045831.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:43:51.839Z,1629045831.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:43:52.253Z,1629045832.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:43:52.649Z,1629045832.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E42,000,00400,187,80,80,4E,FF
2021-08-15T16:43:52.649Z,1629045832.649 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:43:52.709Z,1629045832.709 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:43:53.105Z,1629045833.105 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164352.87*56

2021-08-15T16:43:53.175Z,1629045833.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.939999 m, bearing: 357.071061 deg, deltaT: 4.398445 s, approachRate: -0.613853 m/s, LOS rate: 0.621823 deg/s, posRepo size: 4
2021-08-15T16:43:53.177Z,1629045833.177 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.939999 m,
      bearing: 357.071061 deg,
      approachRate: -0.613853 m/s,
      LOS rate: 0.621823 deg/s,
      cmd update: 2.487292 deg/s,
      cmd heading: 338.900143 deg,
      new cmd heading: 339.054209 deg.

2021-08-15T16:43:55.590Z,1629045835.590 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:43:55.881Z,1629045835.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:43:55.881Z,1629045835.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:43:55.881Z,1629045835.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:43:55.882Z,1629045835.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:43:56.313Z,1629045836.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E42,000,00400,187,80,80,4E,FF
2021-08-15T16:43:56.313Z,1629045836.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:43:56.313Z,1629045836.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:43:56.315Z,1629045836.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:43:56.691Z,1629045836.691 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:43:57.125Z,1629045837.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA4,000,003D0,186,80,80,7E,FF
2021-08-15T16:43:57.125Z,1629045837.125 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:43:57.187Z,1629045837.187 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:43:57.541Z,1629045837.541 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164357.35*5A

2021-08-15T16:43:57.587Z,1629045837.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.059998 m, bearing: 355.752698 deg, deltaT: 4.478143 s, approachRate: -0.643124 m/s, LOS rate: -0.294400 deg/s, posRepo size: 4
2021-08-15T16:43:57.589Z,1629045837.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.059998 m,
      bearing: 355.752698 deg,
      approachRate: -0.643124 m/s,
      LOS rate: -0.294400 deg/s,
      cmd update: -1.177598 deg/s,
      cmd heading: 350.048509 deg,
      new cmd heading: 351.051114 deg.

2021-08-15T16:43:59.944Z,1629045839.944 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:44:00.321Z,1629045840.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:44:00.321Z,1629045840.321 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:44:00.321Z,1629045840.321 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:44:00.322Z,1629045840.322 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:44:00.757Z,1629045840.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA4,000,003D0,186,80,80,7E,FF
2021-08-15T16:44:00.757Z,1629045840.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:44:00.757Z,1629045840.757 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:44:00.759Z,1629045840.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:44:01.168Z,1629045841.168 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:44:01.533Z,1629045841.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,004,000,0039E,183,80,80,79,FF
2021-08-15T16:44:01.533Z,1629045841.533 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:44:01.605Z,1629045841.605 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:44:02.003Z,1629045842.003 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.059998 m, bearing: 351.305398 deg, deltaT: 4.417866 s, approachRate: -0.679061 m/s, LOS rate: -1.006663 deg/s, posRepo size: 4
2021-08-15T16:44:02.007Z,1629045842.007 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.059998 m,
      bearing: 351.305398 deg,
      approachRate: -0.679061 m/s,
      LOS rate: -1.006663 deg/s,
      cmd update: -4.026650 deg/s,
      cmd heading: 344.850911 deg,
      new cmd heading: 344.377016 deg.

2021-08-15T16:44:02.357Z,1629045842.357 [Micromodem](INFO): Nmea in: $SNTTA,0.028243,,,,164401.83*42

2021-08-15T16:44:04.398Z,1629045844.398 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:44:04.761Z,1629045844.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:44:04.761Z,1629045844.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:44:04.761Z,1629045844.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:44:04.762Z,1629045844.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:44:05.173Z,1629045845.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
004,000,0039E,183,80,80,79,FF
2021-08-15T16:44:05.173Z,1629045845.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:44:05.173Z,1629045845.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:44:05.175Z,1629045845.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:44:05.585Z,1629045845.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:44:05.977Z,1629045845.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD2,000,0036B,184,80,80,76,FF
2021-08-15T16:44:05.978Z,1629045845.978 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:44:06.061Z,1629045846.061 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:44:06.432Z,1629045846.432 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164406.21*5C

2021-08-15T16:44:06.493Z,1629045846.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.000000 m, bearing: 345.472771 deg, deltaT: 4.456618 s, approachRate: -0.686619 m/s, LOS rate: -1.308756 deg/s, posRepo size: 4
2021-08-15T16:44:06.495Z,1629045846.495 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.000000 m,
      bearing: 345.472771 deg,
      approachRate: -0.686619 m/s,
      LOS rate: -1.308756 deg/s,
      cmd update: -5.235025 deg/s,
      cmd heading: 326.930164 deg,
      new cmd heading: 325.138816 deg.

2021-08-15T16:44:08.152Z,1629045848.152 [CBIT](IMPORTANT): Beginning ground fault scan
2021-08-15T16:44:08.298Z,1629045848.298 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T16:44:08.838Z,1629045848.838 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:44:09.232Z,1629045849.232 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:44:09.232Z,1629045849.232 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:44:09.232Z,1629045849.232 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:44:09.233Z,1629045849.233 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:44:09.303Z,1629045849.303 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T16:44:09.625Z,1629045849.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD2,000,0036B,184,80,80,76,FF
2021-08-15T16:44:09.625Z,1629045849.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:44:09.625Z,1629045849.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:44:09.627Z,1629045849.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:44:10.052Z,1629045850.052 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:44:10.306Z,1629045850.306 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T16:44:10.464Z,1629045850.464 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB5,000,0034A,186,80,80,61,FF
2021-08-15T16:44:10.465Z,1629045850.465 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:44:10.514Z,1629045850.514 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:44:10.886Z,1629045850.886 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164410.66*58

2021-08-15T16:44:11.038Z,1629045851.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.019999 m, bearing: 342.337168 deg, deltaT: 4.452638 s, approachRate: -0.444681 m/s, LOS rate: -0.704212 deg/s, posRepo size: 4
2021-08-15T16:44:11.045Z,1629045851.045 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.019999 m,
      bearing: 342.337168 deg,
      approachRate: -0.444681 m/s,
      LOS rate: -0.704212 deg/s,
      cmd update: -2.816850 deg/s,
      cmd heading: 303.567310 deg,
      new cmd heading: 300.806075 deg.

2021-08-15T16:44:11.310Z,1629045851.310 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T16:44:12.315Z,1629045852.315 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T16:44:13.135Z,1629045853.135 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:44:13.320Z,1629045853.320 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T16:44:13.497Z,1629045853.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:44:13.497Z,1629045853.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:44:13.497Z,1629045853.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:44:13.498Z,1629045853.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:44:13.863Z,1629045853.863 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB5,000,0034A,186,80,80,61,FF
2021-08-15T16:44:13.864Z,1629045853.864 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:44:13.865Z,1629045853.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:44:13.868Z,1629045853.868 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:44:14.293Z,1629045854.293 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:44:14.322Z,1629045854.322 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T16:44:15.134Z,1629045855.134 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164414.90*55

2021-08-15T16:44:15.326Z,1629045855.326 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T16:44:15.903Z,1629045855.903 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:44:16.330Z,1629045856.330 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T16:44:17.334Z,1629045857.334 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T16:44:17.513Z,1629045857.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,186,80,80,61,FF
2021-08-15T16:44:17.513Z,1629045857.513 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,186,80,80,61,FF
2021-08-15T16:44:17.513Z,1629045857.513 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T16:44:18.338Z,1629045858.338 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T16:44:18.754Z,1629045858.754 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:44:19.165Z,1629045859.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:44:19.165Z,1629045859.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:44:19.165Z,1629045859.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:44:19.166Z,1629045859.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:44:19.350Z,1629045859.350 [CTD_Seabird](INFO): Ground Fault scan is active; will mark data as invalid.
2021-08-15T16:44:19.521Z,1629045859.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,186,80,80,61,FF
2021-08-15T16:44:19.521Z,1629045859.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:44:19.522Z,1629045859.522 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:44:19.523Z,1629045859.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:44:19.795Z,1629045859.795 [CBIT](IMPORTANT): No ground fault detected
mA:
CHAN A0 (Batt): -0.005815
CHAN A1 (24V): -0.024058
CHAN A2 (12V): -0.005531
CHAN A3 (5V): -0.001419
CHAN B0 (3.3V): 0.000549
CHAN B1 (3.15aV): 0.000925
CHAN B2 (3.15bV): 0.000057
CHAN B3 (GND): 0.001900
OPEN: 0.006419
Full Scale Calc: 4.765 mA, -1.589 mA
2021-08-15T16:44:19.945Z,1629045859.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:44:20.321Z,1629045860.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D21,000,002F7,189,80,80,B9,FF
2021-08-15T16:44:20.321Z,1629045860.321 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:44:20.370Z,1629045860.370 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:44:20.777Z,1629045860.777 [Micromodem](INFO): Nmea in: $SNTTA,0.037722,,,,164420.55*46

2021-08-15T16:44:20.803Z,1629045860.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.040000 m, bearing: 325.092826 deg, deltaT: 9.855783 s, approachRate: -0.505287 m/s, LOS rate: -1.749667 deg/s, posRepo size: 4
2021-08-15T16:44:20.818Z,1629045860.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.040000 m,
      bearing: 325.092826 deg,
      approachRate: -0.505287 m/s,
      LOS rate: -1.749667 deg/s,
      cmd update: -6.998670 deg/s,
      cmd heading: 275.816204 deg,
      new cmd heading: 274.576401 deg.

2021-08-15T16:44:23.218Z,1629045863.218 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:44:23.553Z,1629045863.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:44:23.553Z,1629045863.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:44:23.553Z,1629045863.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:44:23.554Z,1629045863.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:44:23.973Z,1629045863.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D21,000,002F7,189,80,80,B9,FF
2021-08-15T16:44:23.973Z,1629045863.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:44:23.974Z,1629045863.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:44:23.975Z,1629045863.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:44:24.372Z,1629045864.372 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:44:24.774Z,1629045864.774 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E04,000,002F8,186,80,80,99,FF
2021-08-15T16:44:24.774Z,1629045864.774 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:44:24.807Z,1629045864.807 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:44:25.217Z,1629045865.217 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164425.01*5F

2021-08-15T16:44:25.265Z,1629045865.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.100000 m, bearing: 297.414085 deg, deltaT: 4.436884 s, approachRate: 0.013523 m/s, LOS rate: -6.238329 deg/s, posRepo size: 4
2021-08-15T16:44:25.267Z,1629045865.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.100000 m,
      bearing: 297.414085 deg,
      approachRate: 0.013523 m/s,
      LOS rate: -6.238329 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 244.735860 deg,
      new cmd heading: 241.511398 deg.

2021-08-15T16:44:27.630Z,1629045867.630 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:44:27.998Z,1629045867.998 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:44:27.998Z,1629045867.998 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:44:27.999Z,1629045867.999 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:44:27.999Z,1629045867.999 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:44:28.399Z,1629045868.399 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E04,000,002F8,186,80,80,99,FF
2021-08-15T16:44:28.399Z,1629045868.399 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:44:28.399Z,1629045868.399 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:44:28.401Z,1629045868.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:44:28.819Z,1629045868.819 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:44:29.222Z,1629045869.222 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E50,000,0030E,186,80,80,95,FF
2021-08-15T16:44:29.236Z,1629045869.236 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:44:29.309Z,1629045869.309 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:44:29.654Z,1629045869.654 [Micromodem](INFO): Nmea in: $SNTTA,0.030104,,,,164429.43*4D

2021-08-15T16:44:29.683Z,1629045869.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.419999 m, bearing: 276.599903 deg, deltaT: 4.502335 s, approachRate: 0.293181 m/s, LOS rate: -4.622975 deg/s, posRepo size: 4
2021-08-15T16:44:29.705Z,1629045869.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.419999 m,
      bearing: 276.599903 deg,
      approachRate: 0.293181 m/s,
      LOS rate: -4.622975 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 190.707875 deg,
      new cmd heading: 186.186419 deg.

2021-08-15T16:44:32.087Z,1629045872.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:44:32.464Z,1629045872.464 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:44:32.464Z,1629045872.464 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:44:32.465Z,1629045872.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:44:32.465Z,1629045872.465 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:44:32.845Z,1629045872.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E50,000,0030E,186,80,80,95,FF
2021-08-15T16:44:32.845Z,1629045872.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:44:32.845Z,1629045872.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:44:32.847Z,1629045872.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:44:33.264Z,1629045873.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:44:33.666Z,1629045873.666 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C0F,000,0032B,189,80,80,70,FF
2021-08-15T16:44:33.667Z,1629045873.667 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:44:33.755Z,1629045873.755 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:44:34.101Z,1629045874.101 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164433.88*59

2021-08-15T16:44:34.124Z,1629045874.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.159998 m, bearing: 291.007450 deg, deltaT: 4.445524 s, approachRate: 0.391405 m/s, LOS rate: 3.240911 deg/s, posRepo size: 4
2021-08-15T16:44:34.126Z,1629045874.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.159998 m,
      bearing: 291.007450 deg,
      approachRate: 0.391405 m/s,
      LOS rate: 3.240911 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 137.410029 deg,
      new cmd heading: 132.897729 deg.

2021-08-15T16:44:36.562Z,1629045876.562 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:44:36.889Z,1629045876.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:44:36.889Z,1629045876.889 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:44:36.889Z,1629045876.889 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:44:36.890Z,1629045876.890 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:44:37.289Z,1629045877.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C0F,000,0032B,189,80,80,70,FF
2021-08-15T16:44:37.289Z,1629045877.289 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:44:37.289Z,1629045877.289 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:44:37.291Z,1629045877.291 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:44:37.712Z,1629045877.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:44:38.101Z,1629045878.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD0,000,0035B,185,80,80,58,FF
2021-08-15T16:44:38.102Z,1629045878.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:44:38.165Z,1629045878.165 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:44:38.553Z,1629045878.553 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164438.33*52

2021-08-15T16:44:38.613Z,1629045878.613 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.039998 m, bearing: 223.487218 deg, deltaT: 4.410398 s, approachRate: 0.653002 m/s, LOS rate: -15.309328 deg/s, posRepo size: 4
2021-08-15T16:44:38.614Z,1629045878.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.309328 deg/s. Setting heading cmd to target bearing of 223.487218deg and heading rate command to 0 deg/s.
2021-08-15T16:44:40.963Z,1629045880.963 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:44:41.333Z,1629045881.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:44:41.333Z,1629045881.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:44:41.333Z,1629045881.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:44:41.334Z,1629045881.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:44:41.741Z,1629045881.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD0,000,0035B,185,80,80,58,FF
2021-08-15T16:44:41.741Z,1629045881.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:44:41.741Z,1629045881.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:44:41.743Z,1629045881.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:44:42.141Z,1629045882.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:44:42.545Z,1629045882.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F66,000,00377,186,80,80,5A,FF
2021-08-15T16:44:42.545Z,1629045882.545 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:44:42.600Z,1629045882.600 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:44:42.977Z,1629045882.977 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164442.78*50

2021-08-15T16:44:43.016Z,1629045883.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.719999 m, bearing: 211.680676 deg, deltaT: 4.435090 s, approachRate: 0.378798 m/s, LOS rate: -2.662075 deg/s, posRepo size: 4
2021-08-15T16:44:43.017Z,1629045883.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 15.72 m. Rolling out.
2021-08-15T16:44:43.017Z,1629045883.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-15T16:44:45.473Z,1629045885.473 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:44:45.777Z,1629045885.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:44:45.777Z,1629045885.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:44:45.778Z,1629045885.778 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:44:45.778Z,1629045885.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:44:46.184Z,1629045886.184 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F66,000,00377,186,80,80,5A,FF
2021-08-15T16:44:46.185Z,1629045886.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:44:46.185Z,1629045886.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:44:46.187Z,1629045886.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:44:46.585Z,1629045886.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:44:46.990Z,1629045886.990 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,130,000,00398,186,80,80,68,FF
2021-08-15T16:44:46.990Z,1629045886.990 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:44:47.010Z,1629045887.010 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:44:47.429Z,1629045887.429 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164447.22*5A

2021-08-15T16:44:47.571Z,1629045887.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.700001 m, bearing: 182.352732 deg, deltaT: 4.410348 s, approachRate: 0.448944 m/s, LOS rate: -6.649803 deg/s, posRepo size: 4
2021-08-15T16:44:49.515Z,1629045889.515 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:44:49.823Z,1629045889.823 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:44:49.824Z,1629045889.824 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:44:49.824Z,1629045889.824 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:44:49.825Z,1629045889.825 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:44:50.223Z,1629045890.223 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
130,000,00398,186,80,80,68,FF
2021-08-15T16:44:50.223Z,1629045890.223 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:44:50.224Z,1629045890.224 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:44:50.226Z,1629045890.226 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:44:50.626Z,1629045890.626 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:44:51.029Z,1629045891.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D0,000,003A2,187,80,80,3B,FF
2021-08-15T16:44:51.030Z,1629045891.030 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:44:51.127Z,1629045891.127 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:44:51.489Z,1629045891.489 [Micromodem](INFO): Nmea in: $SNTTA,0.060695,,,,164451.26*4B

2021-08-15T16:44:51.576Z,1629045891.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.299999 m, bearing: 183.665781 deg, deltaT: 4.120927 s, approachRate: 0.145598 m/s, LOS rate: 0.318630 deg/s, posRepo size: 4
2021-08-15T16:44:53.887Z,1629045893.887 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:44:54.289Z,1629045894.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:44:54.289Z,1629045894.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:44:54.289Z,1629045894.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:44:54.290Z,1629045894.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:44:54.665Z,1629045894.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D0,000,003A2,187,80,80,3B,FF
2021-08-15T16:44:54.665Z,1629045894.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:44:54.666Z,1629045894.666 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:44:54.668Z,1629045894.668 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:44:55.120Z,1629045895.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:44:55.497Z,1629045895.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F48,000,003D4,186,80,80,56,FF
2021-08-15T16:44:55.498Z,1629045895.498 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:44:55.571Z,1629045895.571 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:44:55.913Z,1629045895.913 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164455.70*5E

2021-08-15T16:44:55.945Z,1629045895.945 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.299999 m, bearing: 224.710751 deg, deltaT: 4.439506 s, approachRate: 0.675751 m/s, LOS rate: 9.245391 deg/s, posRepo size: 4
2021-08-15T16:44:58.324Z,1629045898.324 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:44:58.705Z,1629045898.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:44:58.705Z,1629045898.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:44:58.705Z,1629045898.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:44:58.706Z,1629045898.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:44:59.160Z,1629045899.160 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F48,000,003D4,186,80,80,56,FF
2021-08-15T16:44:59.160Z,1629045899.160 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:44:59.161Z,1629045899.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:44:59.162Z,1629045899.162 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:44:59.532Z,1629045899.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:44:59.933Z,1629045899.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA4,000,003DB,186,80,80,3C,FF
2021-08-15T16:44:59.933Z,1629045899.933 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:45:00.021Z,1629045900.021 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:45:00.360Z,1629045900.360 [Micromodem](INFO): Nmea in: $SNTTA,,0.033432,,,164500.20*41

2021-08-15T16:45:00.400Z,1629045900.400 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.720001 m, bearing: 237.887730 deg, deltaT: 4.449805 s, approachRate: 0.094387 m/s, LOS rate: 2.961249 deg/s, posRepo size: 4
2021-08-15T16:45:01.565Z,1629045901.565 [PowerOnly](INFO): Powering down loadControl
2021-08-15T16:45:02.805Z,1629045902.805 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:45:03.177Z,1629045903.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:45:03.177Z,1629045903.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:45:03.177Z,1629045903.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:45:03.178Z,1629045903.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:45:03.581Z,1629045903.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA4,000,003DB,186,80,80,3C,FF
2021-08-15T16:45:03.581Z,1629045903.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:45:03.581Z,1629045903.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:45:03.583Z,1629045903.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:45:03.973Z,1629045903.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:45:04.377Z,1629045904.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1E,000,003DC,187,80,80,92,FF
2021-08-15T16:45:04.378Z,1629045904.378 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:45:04.401Z,1629045904.401 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:45:04.813Z,1629045904.813 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164504.62*58

2021-08-15T16:45:04.855Z,1629045904.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.779999 m, bearing: 246.050680 deg, deltaT: 4.380062 s, approachRate: 0.013698 m/s, LOS rate: 1.863661 deg/s, posRepo size: 4
2021-08-15T16:45:07.271Z,1629045907.271 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:45:07.621Z,1629045907.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:45:07.621Z,1629045907.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:45:07.621Z,1629045907.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:45:07.622Z,1629045907.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:45:08.017Z,1629045908.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1E,000,003DC,187,80,80,92,FF
2021-08-15T16:45:08.017Z,1629045908.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:45:08.017Z,1629045908.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:45:08.019Z,1629045908.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:45:08.443Z,1629045908.443 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:45:08.833Z,1629045908.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE2,000,003EB,187,80,80,7C,FF
2021-08-15T16:45:08.833Z,1629045908.833 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:45:08.853Z,1629045908.853 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:45:09.273Z,1629045909.273 [Micromodem](INFO): Nmea in: $SNTTA,0.056807,,,,164509.05*46

2021-08-15T16:45:09.322Z,1629045909.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.679996 m, bearing: 249.863292 deg, deltaT: 4.452056 s, approachRate: 0.202153 m/s, LOS rate: 0.856371 deg/s, posRepo size: 4
2021-08-15T16:45:11.686Z,1629045911.686 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:45:12.057Z,1629045912.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:45:12.057Z,1629045912.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:45:12.057Z,1629045912.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:45:12.058Z,1629045912.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:45:12.484Z,1629045912.484 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE2,000,003EB,187,80,80,7C,FF
2021-08-15T16:45:12.485Z,1629045912.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:45:12.485Z,1629045912.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:45:12.486Z,1629045912.486 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:45:12.870Z,1629045912.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:45:13.261Z,1629045913.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D41,000,003FB,189,80,80,65,FF
2021-08-15T16:45:13.262Z,1629045913.262 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:45:13.355Z,1629045913.355 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:45:13.683Z,1629045913.683 [Micromodem](INFO): Nmea in: $SNTTA,0.035507,,,,164513.52*47

2021-08-15T16:45:13.727Z,1629045913.727 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.639997 m, bearing: 258.547686 deg, deltaT: 4.502288 s, approachRate: 0.213225 m/s, LOS rate: 1.928885 deg/s, posRepo size: 4
2021-08-15T16:45:16.150Z,1629045916.150 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:45:16.505Z,1629045916.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:45:16.505Z,1629045916.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:45:16.505Z,1629045916.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:45:16.506Z,1629045916.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:45:16.905Z,1629045916.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D41,000,003FB,189,80,80,65,FF
2021-08-15T16:45:16.905Z,1629045916.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:45:16.905Z,1629045916.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:45:16.907Z,1629045916.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:45:17.305Z,1629045917.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:45:17.717Z,1629045917.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D2E,000,0040B,189,80,80,4B,FF
2021-08-15T16:45:17.718Z,1629045917.718 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:45:17.768Z,1629045917.768 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:45:18.153Z,1629045918.153 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164517.94*53

2021-08-15T16:45:18.192Z,1629045918.192 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.600000 m, bearing: 259.778650 deg, deltaT: 4.413337 s, approachRate: 0.217523 m/s, LOS rate: 0.278919 deg/s, posRepo size: 4
2021-08-15T16:45:20.590Z,1629045920.590 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:45:20.985Z,1629045920.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:45:20.985Z,1629045920.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:45:20.985Z,1629045920.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:45:20.986Z,1629045920.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:45:21.341Z,1629045921.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D2E,000,0040B,189,80,80,4B,FF
2021-08-15T16:45:21.341Z,1629045921.341 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:45:21.341Z,1629045921.341 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:45:21.343Z,1629045921.343 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:45:21.760Z,1629045921.760 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:45:22.154Z,1629045922.154 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CED,000,0041C,18A,80,80,48,FF
2021-08-15T16:45:22.154Z,1629045922.154 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:45:22.184Z,1629045922.184 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:45:22.597Z,1629045922.597 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164522.38*53

2021-08-15T16:45:22.648Z,1629045922.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.619999 m, bearing: 262.895839 deg, deltaT: 4.415332 s, approachRate: 0.231013 m/s, LOS rate: 0.705992 deg/s, posRepo size: 4
2021-08-15T16:45:25.028Z,1629045925.028 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:45:25.397Z,1629045925.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:45:25.397Z,1629045925.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:45:25.397Z,1629045925.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:45:25.398Z,1629045925.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:45:25.794Z,1629045925.794 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CED,000,0041C,18A,80,80,48,FF
2021-08-15T16:45:25.794Z,1629045925.794 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:45:25.794Z,1629045925.794 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:45:25.797Z,1629045925.797 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:45:26.193Z,1629045926.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:45:26.594Z,1629045926.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D03,000,00429,188,80,80,4E,FF
2021-08-15T16:45:26.595Z,1629045926.595 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:45:26.686Z,1629045926.686 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:45:27.061Z,1629045927.061 [Micromodem](INFO): Nmea in: $SNTTA,0.031034,,,,164526.83*4C

2021-08-15T16:45:27.146Z,1629045927.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.399998 m, bearing: 261.508436 deg, deltaT: 4.501918 s, approachRate: 0.173259 m/s, LOS rate: -0.308180 deg/s, posRepo size: 4
2021-08-15T16:45:29.514Z,1629045929.514 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:45:29.830Z,1629045929.830 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:45:29.830Z,1629045929.830 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:45:29.830Z,1629045929.830 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:45:29.832Z,1629045929.832 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:45:30.233Z,1629045930.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D03,000,00429,188,80,80,4E,FF
2021-08-15T16:45:30.233Z,1629045930.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:45:30.233Z,1629045930.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:45:30.235Z,1629045930.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:45:30.661Z,1629045930.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:45:31.045Z,1629045931.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D52,000,00439,18A,80,80,61,FF
2021-08-15T16:45:31.046Z,1629045931.046 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:45:31.134Z,1629045931.134 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:45:31.498Z,1629045931.498 [Micromodem](INFO): Nmea in: $SNTTA,,0.039176,,,164531.27*4B

2021-08-15T16:45:31.569Z,1629045931.569 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.359999 m, bearing: 257.473652 deg, deltaT: 4.448424 s, approachRate: 0.215807 m/s, LOS rate: -0.907014 deg/s, posRepo size: 4
2021-08-15T16:45:33.927Z,1629045933.927 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:45:34.286Z,1629045934.286 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:45:34.288Z,1629045934.288 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:45:34.288Z,1629045934.288 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:45:34.289Z,1629045934.289 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:45:34.683Z,1629045934.683 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D52,000,00439,18A,80,80,61,FF
2021-08-15T16:45:34.683Z,1629045934.683 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:45:34.683Z,1629045934.683 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:45:34.686Z,1629045934.686 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:45:35.121Z,1629045935.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:45:35.501Z,1629045935.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D69,000,00454,189,80,80,65,FF
2021-08-15T16:45:35.502Z,1629045935.502 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:45:35.582Z,1629045935.582 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:45:35.913Z,1629045935.913 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164535.72*5B

2021-08-15T16:45:35.961Z,1629045935.961 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.979998 m, bearing: 256.577067 deg, deltaT: 4.448221 s, approachRate: 0.364190 m/s, LOS rate: -0.201560 deg/s, posRepo size: 4
2021-08-15T16:45:38.331Z,1629045938.331 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:45:38.721Z,1629045938.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:45:38.721Z,1629045938.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:45:38.721Z,1629045938.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:45:38.722Z,1629045938.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:45:39.161Z,1629045939.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D69,000,00454,189,80,80,65,FF
2021-08-15T16:45:39.161Z,1629045939.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:45:39.161Z,1629045939.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:45:39.163Z,1629045939.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:45:39.524Z,1629045939.524 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:45:39.933Z,1629045939.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,13D,000,0045C,186,80,80,35,FF
2021-08-15T16:45:39.933Z,1629045939.933 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:45:39.953Z,1629045939.953 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:45:40.347Z,1629045940.347 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164540.20*5E

2021-08-15T16:45:40.388Z,1629045940.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.460001 m, bearing: 207.309997 deg, deltaT: 4.371033 s, approachRate: 0.109815 m/s, LOS rate: -11.271264 deg/s, posRepo size: 4
2021-08-15T16:45:42.798Z,1629045942.798 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:45:43.173Z,1629045943.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:45:43.173Z,1629045943.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:45:43.173Z,1629045943.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:45:43.174Z,1629045943.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:45:43.566Z,1629045943.566 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
13D,000,0045C,186,80,80,35,FF
2021-08-15T16:45:43.566Z,1629045943.566 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:45:43.566Z,1629045943.566 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:45:43.568Z,1629045943.568 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:45:43.969Z,1629045943.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:45:44.377Z,1629045944.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,16E,000,00469,186,80,80,41,FF
2021-08-15T16:45:44.377Z,1629045944.377 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:45:44.398Z,1629045944.398 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:45:44.813Z,1629045944.813 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164544.60*5E

2021-08-15T16:45:44.860Z,1629045944.860 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.239998 m, bearing: 204.774781 deg, deltaT: 4.444475 s, approachRate: 0.175498 m/s, LOS rate: -0.570420 deg/s, posRepo size: 4
2021-08-15T16:45:47.250Z,1629045947.250 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:45:47.605Z,1629045947.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:45:47.605Z,1629045947.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:45:47.605Z,1629045947.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:45:47.606Z,1629045947.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:45:48.005Z,1629045948.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
16E,000,00469,186,80,80,41,FF
2021-08-15T16:45:48.005Z,1629045948.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:45:48.005Z,1629045948.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:45:48.007Z,1629045948.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:45:48.417Z,1629045948.417 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:45:48.821Z,1629045948.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CB5,000,0047C,189,80,80,5F,FF
2021-08-15T16:45:48.822Z,1629045948.822 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:45:48.887Z,1629045948.887 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:45:49.261Z,1629045949.261 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164549.04*51

2021-08-15T16:45:49.341Z,1629045949.341 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.379999 m, bearing: 264.636062 deg, deltaT: 4.497821 s, approachRate: 0.253456 m/s, LOS rate: 13.308951 deg/s, posRepo size: 4
2021-08-15T16:45:51.685Z,1629045951.685 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:45:52.053Z,1629045952.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:45:52.053Z,1629045952.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:45:52.053Z,1629045952.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:45:52.054Z,1629045952.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:45:52.465Z,1629045952.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CB5,000,0047C,189,80,80,5F,FF
2021-08-15T16:45:52.465Z,1629045952.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:45:52.465Z,1629045952.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:45:52.467Z,1629045952.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:45:52.861Z,1629045952.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:45:53.266Z,1629045953.266 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D0F,000,00489,189,80,80,51,FF
2021-08-15T16:45:53.266Z,1629045953.266 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:45:53.334Z,1629045953.334 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:45:53.697Z,1629045953.697 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164553.50*5B

2021-08-15T16:45:53.734Z,1629045953.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.160004 m, bearing: 259.790097 deg, deltaT: 4.438567 s, approachRate: 0.175733 m/s, LOS rate: -1.091786 deg/s, posRepo size: 4
2021-08-15T16:45:56.130Z,1629045956.130 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:45:56.509Z,1629045956.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:45:56.509Z,1629045956.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:45:56.509Z,1629045956.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:45:56.510Z,1629045956.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:45:56.893Z,1629045956.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D0F,000,00489,189,80,80,51,FF
2021-08-15T16:45:56.893Z,1629045956.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:45:56.893Z,1629045956.893 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:45:56.895Z,1629045956.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:45:57.301Z,1629045957.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:45:57.713Z,1629045957.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF1,000,00494,189,80,80,2E,FF
2021-08-15T16:45:57.714Z,1629045957.714 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:45:57.773Z,1629045957.773 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:45:58.150Z,1629045958.150 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164557.93*50

2021-08-15T16:45:58.172Z,1629045958.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.820000 m, bearing: 261.015870 deg, deltaT: 4.439073 s, approachRate: 0.148679 m/s, LOS rate: 0.276133 deg/s, posRepo size: 4
2021-08-15T16:46:00.577Z,1629045960.577 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:46:00.937Z,1629045960.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:46:00.938Z,1629045960.938 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:46:00.938Z,1629045960.938 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:46:00.939Z,1629045960.939 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:46:01.349Z,1629045961.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CF1,000,00494,189,80,80,2E,FF
2021-08-15T16:46:01.349Z,1629045961.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:46:01.349Z,1629045961.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:46:01.352Z,1629045961.352 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:46:01.787Z,1629045961.787 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:46:02.153Z,1629045962.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,152,000,004AE,186,80,80,64,FF
2021-08-15T16:46:02.154Z,1629045962.154 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:46:02.173Z,1629045962.173 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:46:02.601Z,1629045962.601 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164602.39*53

2021-08-15T16:46:02.644Z,1629045962.644 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.379997 m, bearing: 205.164649 deg, deltaT: 4.400123 s, approachRate: 0.354535 m/s, LOS rate: -12.693105 deg/s, posRepo size: 4
2021-08-15T16:46:04.998Z,1629045964.998 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:46:05.393Z,1629045965.393 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:46:05.393Z,1629045965.393 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:46:05.394Z,1629045965.394 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:46:05.395Z,1629045965.395 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:46:05.797Z,1629045965.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
152,000,004AE,186,80,80,64,FF
2021-08-15T16:46:05.797Z,1629045965.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:46:05.797Z,1629045965.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:46:05.799Z,1629045965.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:46:06.196Z,1629045966.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:46:06.605Z,1629045966.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CFE,000,004B3,189,80,80,71,FF
2021-08-15T16:46:06.606Z,1629045966.606 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:46:06.688Z,1629045966.688 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:46:07.037Z,1629045967.037 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164606.83*56

2021-08-15T16:46:07.129Z,1629045967.129 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.680000 m, bearing: 261.173457 deg, deltaT: 4.514677 s, approachRate: 0.066451 m/s, LOS rate: 12.405939 deg/s, posRepo size: 4
2021-08-15T16:46:09.506Z,1629045969.506 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:46:09.841Z,1629045969.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:46:09.841Z,1629045969.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:46:09.841Z,1629045969.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:46:09.842Z,1629045969.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:46:10.233Z,1629045970.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CFE,000,004B3,189,80,80,71,FF
2021-08-15T16:46:10.233Z,1629045970.233 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:46:10.233Z,1629045970.233 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:46:10.235Z,1629045970.235 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:46:10.645Z,1629045970.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:46:11.043Z,1629045971.043 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,191,000,004C2,186,80,80,8A,FF
2021-08-15T16:46:11.043Z,1629045971.043 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:46:11.145Z,1629045971.145 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:46:11.513Z,1629045971.513 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164611.27*5E

2021-08-15T16:46:11.571Z,1629045971.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.579998 m, bearing: 202.725738 deg, deltaT: 4.457185 s, approachRate: 0.201921 m/s, LOS rate: -13.113146 deg/s, posRepo size: 4
2021-08-15T16:46:13.911Z,1629045973.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:46:14.273Z,1629045974.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:46:14.273Z,1629045974.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:46:14.273Z,1629045974.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:46:14.274Z,1629045974.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:46:14.689Z,1629045974.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
191,000,004C2,186,80,80,8A,FF
2021-08-15T16:46:14.689Z,1629045974.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:46:14.689Z,1629045974.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:46:14.691Z,1629045974.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:46:15.127Z,1629045975.127 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:46:15.513Z,1629045975.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,13A,000,004D0,185,80,80,5B,FF
2021-08-15T16:46:15.514Z,1629045975.514 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:46:15.544Z,1629045975.544 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:46:15.937Z,1629045975.937 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164615.72*5A

2021-08-15T16:46:15.959Z,1629045975.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.419998 m, bearing: 207.205140 deg, deltaT: 4.398969 s, approachRate: 0.190954 m/s, LOS rate: 1.018285 deg/s, posRepo size: 4
2021-08-15T16:46:18.339Z,1629045978.339 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:46:18.736Z,1629045978.736 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:46:18.736Z,1629045978.736 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:46:18.737Z,1629045978.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:46:18.738Z,1629045978.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:46:19.157Z,1629045979.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
13A,000,004D0,185,80,80,5B,FF
2021-08-15T16:46:19.157Z,1629045979.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:46:19.157Z,1629045979.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:46:19.159Z,1629045979.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:46:19.560Z,1629045979.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:46:19.937Z,1629045979.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D4D,000,004E6,189,80,80,7A,FF
2021-08-15T16:46:19.938Z,1629045979.938 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:46:19.999Z,1629045979.999 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:46:20.381Z,1629045980.381 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164620.19*51

2021-08-15T16:46:20.407Z,1629045980.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.739998 m, bearing: 257.377292 deg, deltaT: 4.455124 s, approachRate: 0.296288 m/s, LOS rate: 11.261673 deg/s, posRepo size: 4
2021-08-15T16:46:22.815Z,1629045982.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:46:23.173Z,1629045983.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:46:23.173Z,1629045983.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:46:23.173Z,1629045983.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:46:23.174Z,1629045983.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:46:23.586Z,1629045983.586 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D4D,000,004E6,189,80,80,7A,FF
2021-08-15T16:46:23.586Z,1629045983.586 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:46:23.586Z,1629045983.586 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:46:23.589Z,1629045983.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:46:23.992Z,1629045983.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:46:24.410Z,1629045984.410 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF3,000,004F4,18A,80,80,6C,FF
2021-08-15T16:46:24.411Z,1629045984.411 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:46:24.486Z,1629045984.486 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:46:24.829Z,1629045984.829 [Micromodem](INFO): Nmea in: $SNTTA,0.037126,,,,164624.62*46

2021-08-15T16:46:24.875Z,1629045984.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.579998 m, bearing: 261.296236 deg, deltaT: 4.486391 s, approachRate: 0.187233 m/s, LOS rate: 0.873518 deg/s, posRepo size: 4
2021-08-15T16:46:27.266Z,1629045987.266 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:46:27.622Z,1629045987.622 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:46:27.622Z,1629045987.622 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:46:27.622Z,1629045987.622 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:46:27.623Z,1629045987.623 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:46:28.025Z,1629045988.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CF3,000,004F4,18A,80,80,6C,FF
2021-08-15T16:46:28.026Z,1629045988.026 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:46:28.026Z,1629045988.026 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:46:28.028Z,1629045988.028 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:46:28.466Z,1629045988.466 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:46:28.829Z,1629045988.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,161,000,00501,185,80,80,6A,FF
2021-08-15T16:46:28.830Z,1629045988.830 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:46:28.849Z,1629045988.849 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:46:29.282Z,1629045989.282 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164629.06*56

2021-08-15T16:46:29.362Z,1629045989.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.360001 m, bearing: 204.301681 deg, deltaT: 4.363558 s, approachRate: 0.178754 m/s, LOS rate: -13.061487 deg/s, posRepo size: 4
2021-08-15T16:46:31.738Z,1629045991.738 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:46:32.057Z,1629045992.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:46:32.057Z,1629045992.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:46:32.057Z,1629045992.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:46:32.058Z,1629045992.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:46:32.499Z,1629045992.499 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
161,000,00501,185,80,80,6A,FF
2021-08-15T16:46:32.514Z,1629045992.514 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:46:32.514Z,1629045992.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:46:32.516Z,1629045992.516 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:46:32.880Z,1629045992.880 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:46:33.273Z,1629045993.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,094,000,0050C,187,80,80,68,FF
2021-08-15T16:46:33.273Z,1629045993.273 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:46:33.371Z,1629045993.371 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:46:33.697Z,1629045993.697 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164633.55*5B

2021-08-15T16:46:33.747Z,1629045993.747 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.019997 m, bearing: 215.275528 deg, deltaT: 4.522268 s, approachRate: 0.145944 m/s, LOS rate: 2.426624 deg/s, posRepo size: 4
2021-08-15T16:46:34.123Z,1629045994.123 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T16:46:34.123Z,1629045994.123 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T16:46:34.124Z,1629045994.124 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T16:46:34.125Z,1629045994.125 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T16:46:34.125Z,1629045994.125 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T16:46:34.126Z,1629045994.126 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T16:46:34.547Z,1629045994.547 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T16:46:34.547Z,1629045994.547 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T16:46:34.548Z,1629045994.548 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T16:46:34.548Z,1629045994.548 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T16:46:36.119Z,1629045996.119 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:46:36.517Z,1629045996.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:46:36.517Z,1629045996.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:46:36.517Z,1629045996.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:46:36.518Z,1629045996.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:46:36.914Z,1629045996.914 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
094,000,0050C,187,80,80,68,FF
2021-08-15T16:46:36.914Z,1629045996.914 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:46:36.914Z,1629045996.914 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:46:36.920Z,1629045996.920 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:46:37.317Z,1629045997.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:46:37.721Z,1629045997.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DAF,000,0051C,189,80,80,23,FF
2021-08-15T16:46:37.722Z,1629045997.722 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:46:38.161Z,1629045998.161 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164637.95*53

2021-08-15T16:46:38.208Z,1629045998.208 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.980000 m, bearing: 252.966492 deg, deltaT: 4.380203 s, approachRate: 0.219169 m/s, LOS rate: 8.604844 deg/s, posRepo size: 4
2021-08-15T16:46:40.577Z,1629046000.577 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:46:40.965Z,1629046000.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:46:40.965Z,1629046000.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:46:40.965Z,1629046000.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:46:40.966Z,1629046000.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:46:41.354Z,1629046001.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DAF,000,0051C,189,80,80,23,FF
2021-08-15T16:46:41.354Z,1629046001.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:46:41.354Z,1629046001.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:46:41.356Z,1629046001.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:46:41.772Z,1629046001.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:46:42.602Z,1629046002.602 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164642.39*57

2021-08-15T16:46:43.470Z,1629046003.470 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:46:45.005Z,1629046005.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,189,80,80,23,FF
2021-08-15T16:46:45.005Z,1629046005.005 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,189,80,80,23,FF
2021-08-15T16:46:45.005Z,1629046005.005 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T16:46:46.223Z,1629046006.223 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:46:46.616Z,1629046006.616 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:46:46.617Z,1629046006.617 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:46:46.617Z,1629046006.617 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:46:46.618Z,1629046006.618 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:46:47.028Z,1629046007.028 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,189,80,80,23,FF
2021-08-15T16:46:47.029Z,1629046007.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:46:47.029Z,1629046007.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:46:47.030Z,1629046007.030 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:46:47.438Z,1629046007.438 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:46:47.821Z,1629046007.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C5,000,0053D,186,80,80,5F,FF
2021-08-15T16:46:47.821Z,1629046007.821 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:46:48.261Z,1629046008.261 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164648.06*51

2021-08-15T16:46:48.284Z,1629046008.284 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.959999 m, bearing: 214.236478 deg, deltaT: 10.116794 s, approachRate: 0.195714 m/s, LOS rate: -3.828289 deg/s, posRepo size: 4
2021-08-15T16:46:50.674Z,1629046010.674 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:46:51.068Z,1629046011.068 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:46:51.069Z,1629046011.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:46:51.070Z,1629046011.070 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:46:51.071Z,1629046011.071 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:46:51.473Z,1629046011.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C5,000,0053D,186,80,80,5F,FF
2021-08-15T16:46:51.473Z,1629046011.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:46:51.473Z,1629046011.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:46:51.475Z,1629046011.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:46:51.865Z,1629046011.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:46:52.274Z,1629046012.274 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E6,000,0054F,187,80,80,7C,FF
2021-08-15T16:46:52.274Z,1629046012.274 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:46:52.709Z,1629046012.709 [Micromodem](INFO): Nmea in: $SNTTA,0.065939,,,,164652.51*46

2021-08-15T16:46:52.735Z,1629046012.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.039997 m, bearing: 212.547045 deg, deltaT: 4.425934 s, approachRate: 0.244016 m/s, LOS rate: -0.381712 deg/s, posRepo size: 4
2021-08-15T16:46:55.161Z,1629046015.161 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:46:55.509Z,1629046015.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:46:55.509Z,1629046015.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:46:55.509Z,1629046015.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:46:55.510Z,1629046015.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:46:55.905Z,1629046015.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E6,000,0054F,187,80,80,7C,FF
2021-08-15T16:46:55.905Z,1629046015.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:46:55.905Z,1629046015.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:46:55.907Z,1629046015.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:46:56.312Z,1629046016.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:46:56.709Z,1629046016.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E3,000,0055E,186,80,80,6C,FF
2021-08-15T16:46:56.709Z,1629046016.709 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:46:57.169Z,1629046017.169 [Micromodem](INFO): Nmea in: $SNTTA,0.054546,,,,164656.94*4D

2021-08-15T16:46:57.234Z,1629046017.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.940002 m, bearing: 212.416793 deg, deltaT: 4.485444 s, approachRate: 0.200650 m/s, LOS rate: -0.029039 deg/s, posRepo size: 4
2021-08-15T16:46:59.567Z,1629046019.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:46:59.941Z,1629046019.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:46:59.941Z,1629046019.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:46:59.941Z,1629046019.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:46:59.942Z,1629046019.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:47:00.345Z,1629046020.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E3,000,0055E,186,80,80,6C,FF
2021-08-15T16:47:00.345Z,1629046020.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:47:00.345Z,1629046020.345 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:47:00.347Z,1629046020.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:47:00.753Z,1629046020.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:47:01.165Z,1629046021.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BF,000,0056A,187,80,80,62,FF
2021-08-15T16:47:01.165Z,1629046021.165 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:47:01.597Z,1629046021.597 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164701.38*50

2021-08-15T16:47:01.619Z,1629046021.619 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.660000 m, bearing: 213.713873 deg, deltaT: 4.490492 s, approachRate: 0.160338 m/s, LOS rate: 0.288850 deg/s, posRepo size: 4
2021-08-15T16:47:04.014Z,1629046024.014 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:47:04.428Z,1629046024.428 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:47:04.429Z,1629046024.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:47:04.430Z,1629046024.430 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:47:04.431Z,1629046024.431 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:47:04.793Z,1629046024.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BF,000,0056A,187,80,80,62,FF
2021-08-15T16:47:04.793Z,1629046024.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:47:04.794Z,1629046024.794 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:47:04.795Z,1629046024.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:47:05.201Z,1629046025.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:47:05.597Z,1629046025.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,11B,000,0057E,186,80,80,68,FF
2021-08-15T16:47:05.597Z,1629046025.597 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:47:06.049Z,1629046026.049 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164705.83*54

2021-08-15T16:47:06.095Z,1629046026.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.860001 m, bearing: 208.517452 deg, deltaT: 4.380973 s, approachRate: 0.273912 m/s, LOS rate: -1.186134 deg/s, posRepo size: 4
2021-08-15T16:47:08.494Z,1629046028.494 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:47:08.841Z,1629046028.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:47:08.842Z,1629046028.842 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:47:08.842Z,1629046028.842 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:47:08.843Z,1629046028.843 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:47:09.237Z,1629046029.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
11B,000,0057E,186,80,80,68,FF
2021-08-15T16:47:09.237Z,1629046029.237 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:47:09.237Z,1629046029.237 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:47:09.239Z,1629046029.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:47:09.644Z,1629046029.644 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:47:10.490Z,1629046030.490 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164710.28*51

2021-08-15T16:47:10.893Z,1629046030.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E6,000,031DC,186,80,80,74,FF
2021-08-15T16:47:10.894Z,1629046030.894 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:47:11.412Z,1629046031.412 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 728.339966 m, bearing: 210.840536 deg, deltaT: 5.445655 s, approachRate: 125.141968 m/s, LOS rate: 0.426594 deg/s, posRepo size: 4
2021-08-15T16:47:13.807Z,1629046033.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:47:14.177Z,1629046034.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:47:14.177Z,1629046034.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:47:14.177Z,1629046034.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:47:14.178Z,1629046034.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:47:14.593Z,1629046034.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E6,000,031DC,186,80,80,74,FF
2021-08-15T16:47:14.593Z,1629046034.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:47:14.593Z,1629046034.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:47:14.595Z,1629046034.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:47:14.997Z,1629046034.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:47:15.391Z,1629046035.391 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,130,000,0059C,186,80,80,95,FF
2021-08-15T16:47:15.392Z,1629046035.392 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:47:15.837Z,1629046035.837 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164715.63*5B

2021-08-15T16:47:15.853Z,1629046035.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.660000 m, bearing: 206.957191 deg, deltaT: 4.424580 s, approachRate: -153.614578 m/s, LOS rate: -0.877675 deg/s, posRepo size: 4
2021-08-15T16:47:18.298Z,1629046038.298 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:47:18.625Z,1629046038.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:47:18.625Z,1629046038.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:47:18.625Z,1629046038.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:47:18.626Z,1629046038.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:47:19.022Z,1629046039.022 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
130,000,0059C,186,80,80,95,FF
2021-08-15T16:47:19.022Z,1629046039.022 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:47:19.022Z,1629046039.022 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:47:19.024Z,1629046039.024 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:47:19.468Z,1629046039.468 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:47:19.829Z,1629046039.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,031,000,005AD,184,80,80,4F,FF
2021-08-15T16:47:19.830Z,1629046039.830 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:47:20.269Z,1629046040.269 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164720.06*5E

2021-08-15T16:47:20.321Z,1629046040.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.679996 m, bearing: 219.376087 deg, deltaT: 4.345182 s, approachRate: 0.234742 m/s, LOS rate: 2.858084 deg/s, posRepo size: 4
2021-08-15T16:47:22.725Z,1629046042.725 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:47:23.076Z,1629046043.076 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:47:23.077Z,1629046043.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:47:23.077Z,1629046043.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:47:23.079Z,1629046043.079 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:47:23.505Z,1629046043.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
031,000,005AD,184,80,80,4F,FF
2021-08-15T16:47:23.505Z,1629046043.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:47:23.505Z,1629046043.505 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:47:23.507Z,1629046043.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:47:23.893Z,1629046043.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:47:24.281Z,1629046044.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10C,000,005BC,186,80,80,55,FF
2021-08-15T16:47:24.282Z,1629046044.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:47:24.703Z,1629046044.703 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164724.54*5D

2021-08-15T16:47:24.714Z,1629046044.714 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T16:47:24.753Z,1629046044.753 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.580002 m, bearing: 208.693958 deg, deltaT: 4.519940 s, approachRate: 0.199119 m/s, LOS rate: -2.363334 deg/s, posRepo size: 4
2021-08-15T16:47:27.211Z,1629046047.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:47:27.517Z,1629046047.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:47:27.517Z,1629046047.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:47:27.517Z,1629046047.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:47:27.518Z,1629046047.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:47:27.929Z,1629046047.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10C,000,005BC,186,80,80,55,FF
2021-08-15T16:47:27.929Z,1629046047.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:47:27.930Z,1629046047.930 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:47:27.931Z,1629046047.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:47:28.329Z,1629046048.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:47:28.745Z,1629046048.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,125,000,005CC,186,80,80,34,FF
2021-08-15T16:47:28.746Z,1629046048.746 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:47:29.190Z,1629046049.190 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164728.97*5E

2021-08-15T16:47:29.246Z,1629046049.246 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.539997 m, bearing: 208.222005 deg, deltaT: 4.423482 s, approachRate: 0.217023 m/s, LOS rate: -0.106693 deg/s, posRepo size: 4
2021-08-15T16:47:31.613Z,1629046051.613 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:47:31.973Z,1629046051.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:47:31.973Z,1629046051.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:47:31.973Z,1629046051.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:47:31.974Z,1629046051.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:47:32.369Z,1629046052.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
125,000,005CC,186,80,80,34,FF
2021-08-15T16:47:32.370Z,1629046052.370 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:47:32.370Z,1629046052.370 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:47:32.372Z,1629046052.372 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:47:32.792Z,1629046052.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:47:33.177Z,1629046053.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08A,000,005DB,186,80,80,6F,FF
2021-08-15T16:47:33.177Z,1629046053.177 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:47:33.630Z,1629046053.630 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164733.41*5F

2021-08-15T16:47:33.663Z,1629046053.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.440002 m, bearing: 215.978887 deg, deltaT: 4.454876 s, approachRate: 0.202027 m/s, LOS rate: 1.741212 deg/s, posRepo size: 4
2021-08-15T16:47:36.061Z,1629046056.061 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:47:36.407Z,1629046056.407 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:47:36.407Z,1629046056.407 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:47:36.408Z,1629046056.408 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:47:36.409Z,1629046056.409 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:47:36.823Z,1629046056.823 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08A,000,005DB,186,80,80,6F,FF
2021-08-15T16:47:36.823Z,1629046056.823 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:47:36.823Z,1629046056.823 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:47:36.826Z,1629046056.826 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:47:37.235Z,1629046057.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:47:37.623Z,1629046057.623 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A5,000,005E8,187,80,80,71,FF
2021-08-15T16:47:37.623Z,1629046057.623 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:47:38.053Z,1629046058.053 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164737.86*50

2021-08-15T16:47:38.083Z,1629046058.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.220001 m, bearing: 214.301106 deg, deltaT: 4.435040 s, approachRate: 0.175872 m/s, LOS rate: -0.378301 deg/s, posRepo size: 4
2021-08-15T16:47:40.517Z,1629046060.517 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:47:40.849Z,1629046060.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:47:40.849Z,1629046060.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:47:40.850Z,1629046060.850 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:47:40.850Z,1629046060.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:47:41.262Z,1629046061.262 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A5,000,005E8,187,80,80,71,FF
2021-08-15T16:47:41.262Z,1629046061.262 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:47:41.262Z,1629046061.262 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:47:41.264Z,1629046061.264 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:47:41.671Z,1629046061.671 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:47:42.061Z,1629046062.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C2,000,005EF,186,80,80,86,FF
2021-08-15T16:47:42.061Z,1629046062.061 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:47:42.522Z,1629046062.522 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164742.30*5F

2021-08-15T16:47:42.584Z,1629046062.584 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.639999 m, bearing: 212.895303 deg, deltaT: 4.381045 s, approachRate: 0.095867 m/s, LOS rate: -0.320883 deg/s, posRepo size: 4
2021-08-15T16:47:44.935Z,1629046064.935 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:47:45.297Z,1629046065.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:47:45.297Z,1629046065.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:47:45.297Z,1629046065.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:47:45.298Z,1629046065.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:47:45.703Z,1629046065.703 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C2,000,005EF,186,80,80,86,FF
2021-08-15T16:47:45.703Z,1629046065.703 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:47:45.703Z,1629046065.703 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:47:45.705Z,1629046065.705 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:47:46.109Z,1629046066.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:47:46.509Z,1629046066.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E5,000,00600,186,80,80,79,FF
2021-08-15T16:47:46.510Z,1629046066.510 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:47:46.945Z,1629046066.945 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164746.74*5B

2021-08-15T16:47:46.976Z,1629046066.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.660000 m, bearing: 210.998518 deg, deltaT: 4.500888 s, approachRate: 0.226622 m/s, LOS rate: -0.421425 deg/s, posRepo size: 4
2021-08-15T16:47:49.473Z,1629046069.473 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:47:49.745Z,1629046069.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:47:49.745Z,1629046069.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:47:49.745Z,1629046069.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:47:49.746Z,1629046069.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:47:50.137Z,1629046070.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E5,000,00600,186,80,80,79,FF
2021-08-15T16:47:50.137Z,1629046070.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:47:50.138Z,1629046070.138 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:47:50.139Z,1629046070.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:47:50.545Z,1629046070.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:47:50.950Z,1629046070.950 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07C,000,0060D,186,80,80,66,FF
2021-08-15T16:47:50.950Z,1629046070.950 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:47:51.389Z,1629046071.389 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164751.18*57

2021-08-15T16:47:51.449Z,1629046071.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.439999 m, bearing: 216.179312 deg, deltaT: 4.387981 s, approachRate: 0.177758 m/s, LOS rate: 1.180678 deg/s, posRepo size: 4
2021-08-15T16:47:53.474Z,1629046073.474 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:47:53.777Z,1629046073.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:47:53.777Z,1629046073.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:47:53.777Z,1629046073.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:47:53.778Z,1629046073.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:47:54.185Z,1629046074.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07C,000,0060D,186,80,80,66,FF
2021-08-15T16:47:54.185Z,1629046074.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:47:54.185Z,1629046074.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:47:54.187Z,1629046074.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:47:54.596Z,1629046074.596 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:47:54.993Z,1629046074.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A8,000,0061B,186,80,80,5C,FF
2021-08-15T16:47:54.994Z,1629046074.994 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:47:55.433Z,1629046075.433 [Micromodem](INFO): Nmea in: $SNTTA,0.050727,,,,164755.22*43

2021-08-15T16:47:55.526Z,1629046075.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.279999 m, bearing: 214.092566 deg, deltaT: 4.042925 s, approachRate: 0.207770 m/s, LOS rate: -0.516148 deg/s, posRepo size: 4
2021-08-15T16:47:57.859Z,1629046077.859 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:47:58.221Z,1629046078.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:47:58.221Z,1629046078.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:47:58.221Z,1629046078.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:47:58.222Z,1629046078.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:47:58.625Z,1629046078.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A8,000,0061B,186,80,80,5C,FF
2021-08-15T16:47:58.625Z,1629046078.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:47:58.626Z,1629046078.626 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:47:58.627Z,1629046078.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:47:59.044Z,1629046079.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:47:59.493Z,1629046079.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,091,000,00627,187,80,80,5D,FF
2021-08-15T16:47:59.493Z,1629046079.493 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:47:59.546Z,1629046079.546 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T16:47:59.874Z,1629046079.874 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164759.66*56

2021-08-15T16:47:59.890Z,1629046079.890 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.000004 m, bearing: 215.055760 deg, deltaT: 4.589595 s, approachRate: 0.156878 m/s, LOS rate: 0.209865 deg/s, posRepo size: 4
2021-08-15T16:48:02.300Z,1629046082.300 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:48:02.665Z,1629046082.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:48:02.665Z,1629046082.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:48:02.665Z,1629046082.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:48:02.666Z,1629046082.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:48:03.081Z,1629046083.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
091,000,00627,187,80,80,5D,FF
2021-08-15T16:48:03.082Z,1629046083.082 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:48:03.082Z,1629046083.082 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:48:03.089Z,1629046083.089 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:48:03.501Z,1629046083.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:48:03.877Z,1629046083.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08F,000,00639,186,80,80,55,FF
2021-08-15T16:48:03.877Z,1629046083.877 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:48:04.315Z,1629046084.315 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164804.13*53

2021-08-15T16:48:04.336Z,1629046084.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.080006 m, bearing: 214.815883 deg, deltaT: 4.327059 s, approachRate: 0.249593 m/s, LOS rate: -0.055436 deg/s, posRepo size: 4
2021-08-15T16:48:06.745Z,1629046086.745 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:48:07.153Z,1629046087.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:48:07.153Z,1629046087.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:48:07.153Z,1629046087.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:48:07.154Z,1629046087.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:48:07.517Z,1629046087.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08F,000,00639,186,80,80,55,FF
2021-08-15T16:48:07.517Z,1629046087.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:48:07.517Z,1629046087.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:48:07.519Z,1629046087.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:48:07.917Z,1629046087.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:48:08.326Z,1629046088.326 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08F,000,00639,186,80,80,55,FF
2021-08-15T16:48:08.326Z,1629046088.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:48:08.757Z,1629046088.757 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164808.55*5D

2021-08-15T16:48:08.801Z,1629046088.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.080006 m, bearing: 214.684703 deg, deltaT: 4.431057 s, approachRate: 0.000000 m/s, LOS rate: -0.029605 deg/s, posRepo size: 4
2021-08-15T16:48:11.219Z,1629046091.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:48:11.569Z,1629046091.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:48:11.569Z,1629046091.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:48:11.569Z,1629046091.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:48:11.570Z,1629046091.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:48:11.965Z,1629046091.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08F,000,00639,186,80,80,55,FF
2021-08-15T16:48:11.965Z,1629046091.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:48:11.965Z,1629046091.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:48:11.967Z,1629046091.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:48:12.386Z,1629046092.386 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:48:12.761Z,1629046092.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CF,000,00656,186,80,80,8D,FF
2021-08-15T16:48:12.762Z,1629046092.762 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:48:13.181Z,1629046093.181 [Micromodem](INFO): Nmea in: $SNTTA,0.458240,0.458308,,,164813.01*5B

2021-08-15T16:48:13.241Z,1629046093.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.820000 m, bearing: 211.702970 deg, deltaT: 4.467917 s, approachRate: 0.389442 m/s, LOS rate: -0.667365 deg/s, posRepo size: 4
2021-08-15T16:48:15.633Z,1629046095.633 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:48:16.009Z,1629046096.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:48:16.009Z,1629046096.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:48:16.009Z,1629046096.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:48:16.010Z,1629046096.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:48:16.417Z,1629046096.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CF,000,00656,186,80,80,8D,FF
2021-08-15T16:48:16.417Z,1629046096.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:48:16.417Z,1629046096.417 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:48:16.419Z,1629046096.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:48:16.825Z,1629046096.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:48:17.213Z,1629046097.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,068,000,00664,186,80,80,4F,FF
2021-08-15T16:48:17.213Z,1629046097.214 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:48:17.649Z,1629046097.649 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164817.46*51

2021-08-15T16:48:17.686Z,1629046097.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.660000 m, bearing: 216.536258 deg, deltaT: 4.443981 s, approachRate: 0.189020 m/s, LOS rate: 1.087603 deg/s, posRepo size: 4
2021-08-15T16:48:20.069Z,1629046100.069 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:48:20.472Z,1629046100.472 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:48:20.473Z,1629046100.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:48:20.473Z,1629046100.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:48:20.474Z,1629046100.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:48:20.857Z,1629046100.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
068,000,00664,186,80,80,4F,FF
2021-08-15T16:48:20.857Z,1629046100.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:48:20.857Z,1629046100.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:48:20.859Z,1629046100.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:48:21.263Z,1629046101.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:48:21.661Z,1629046101.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,094,000,00676,187,80,80,7B,FF
2021-08-15T16:48:21.661Z,1629046101.661 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:48:22.081Z,1629046102.081 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164821.90*5F

2021-08-15T16:48:22.111Z,1629046102.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.740002 m, bearing: 214.478800 deg, deltaT: 4.443816 s, approachRate: 0.243035 m/s, LOS rate: -0.462993 deg/s, posRepo size: 4
2021-08-15T16:48:24.507Z,1629046104.507 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T16:48:24.523Z,1629046104.523 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:48:24.893Z,1629046104.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:48:24.893Z,1629046104.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:48:24.893Z,1629046104.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:48:24.894Z,1629046104.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:48:25.285Z,1629046105.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
094,000,00676,187,80,80,7B,FF
2021-08-15T16:48:25.286Z,1629046105.286 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:48:25.286Z,1629046105.286 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:48:25.287Z,1629046105.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:48:25.732Z,1629046105.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:48:26.117Z,1629046106.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,074,000,00683,187,80,80,72,FF
2021-08-15T16:48:26.118Z,1629046106.118 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:48:26.546Z,1629046106.546 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164826.33*51

2021-08-15T16:48:26.572Z,1629046106.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.520000 m, bearing: 216.184421 deg, deltaT: 4.445675 s, approachRate: 0.175451 m/s, LOS rate: 0.383659 deg/s, posRepo size: 4
2021-08-15T16:48:28.965Z,1629046108.965 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:48:29.333Z,1629046109.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:48:29.333Z,1629046109.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:48:29.333Z,1629046109.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:48:29.334Z,1629046109.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:48:29.463Z,1629046109.463 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T16:48:29.750Z,1629046109.750 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
074,000,00683,187,80,80,72,FF
2021-08-15T16:48:29.750Z,1629046109.750 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:48:29.750Z,1629046109.750 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:48:29.774Z,1629046109.774 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:48:30.145Z,1629046110.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:48:30.545Z,1629046110.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,007,000,00690,183,80,80,6E,FF
2021-08-15T16:48:30.546Z,1629046110.546 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:48:30.978Z,1629046110.978 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164830.81*5F

2021-08-15T16:48:31.009Z,1629046111.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.299999 m, bearing: 222.101182 deg, deltaT: 4.460815 s, approachRate: 0.174856 m/s, LOS rate: 1.326386 deg/s, posRepo size: 4
2021-08-15T16:48:33.490Z,1629046113.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:48:33.786Z,1629046113.786 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:48:33.786Z,1629046113.786 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:48:33.787Z,1629046113.787 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:48:33.789Z,1629046113.789 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:48:34.181Z,1629046114.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
007,000,00690,183,80,80,6E,FF
2021-08-15T16:48:34.181Z,1629046114.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:48:34.181Z,1629046114.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:48:34.183Z,1629046114.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:48:34.589Z,1629046114.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:48:34.608Z,1629046114.608 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T16:48:34.989Z,1629046114.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCD,000,006A0,184,80,80,36,FF
2021-08-15T16:48:34.990Z,1629046114.990 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:48:35.451Z,1629046115.451 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164835.22*53

2021-08-15T16:48:35.534Z,1629046115.534 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.260010 m, bearing: 225.528079 deg, deltaT: 4.386324 s, approachRate: 0.218864 m/s, LOS rate: 0.781269 deg/s, posRepo size: 4
2021-08-15T16:48:37.525Z,1629046117.525 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:48:37.813Z,1629046117.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:48:37.813Z,1629046117.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:48:37.813Z,1629046117.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:48:37.814Z,1629046117.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:48:38.217Z,1629046118.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCD,000,006A0,184,80,80,36,FF
2021-08-15T16:48:38.217Z,1629046118.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:48:38.217Z,1629046118.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:48:38.219Z,1629046118.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:48:38.632Z,1629046118.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:48:39.477Z,1629046119.477 [Micromodem](INFO): Nmea in: $SNTTA,0.331812,0.049069,,,164839.26*53

2021-08-15T16:48:39.553Z,1629046119.553 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T16:48:40.237Z,1629046120.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC8,000,03936,185,80,80,6E,FF
2021-08-15T16:48:40.237Z,1629046120.237 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:48:40.681Z,1629046120.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 841.260010 m, bearing: 226.213174 deg, deltaT: 5.248571 s, approachRate: 148.040298 m/s, LOS rate: 0.130530 deg/s, posRepo size: 4
2021-08-15T16:48:43.145Z,1629046123.145 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:48:43.489Z,1629046123.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:48:43.489Z,1629046123.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:48:43.489Z,1629046123.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:48:43.490Z,1629046123.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:48:43.873Z,1629046123.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC8,000,03936,185,80,80,6E,FF
2021-08-15T16:48:43.873Z,1629046123.873 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:48:43.873Z,1629046123.873 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:48:43.900Z,1629046123.900 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:48:44.292Z,1629046124.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:48:44.678Z,1629046124.678 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8A,000,006BC,186,80,80,5D,FF
2021-08-15T16:48:44.678Z,1629046124.678 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:48:45.129Z,1629046125.129 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164844.94*58

2021-08-15T16:48:45.243Z,1629046125.243 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.940010 m, bearing: 229.424961 deg, deltaT: 4.444804 s, approachRate: -174.432892 m/s, LOS rate: 0.722594 deg/s, posRepo size: 4
2021-08-15T16:48:47.206Z,1629046127.206 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:48:47.513Z,1629046127.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:48:47.513Z,1629046127.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:48:47.513Z,1629046127.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:48:47.514Z,1629046127.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:48:47.913Z,1629046127.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8A,000,006BC,186,80,80,5D,FF
2021-08-15T16:48:47.913Z,1629046127.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:48:47.914Z,1629046127.914 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:48:47.915Z,1629046127.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:48:48.333Z,1629046128.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:48:48.725Z,1629046128.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01A,000,006CC,183,80,80,91,FF
2021-08-15T16:48:48.726Z,1629046128.726 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:48:49.173Z,1629046129.173 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164848.95*55

2021-08-15T16:48:49.239Z,1629046129.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.900002 m, bearing: 222.445109 deg, deltaT: 4.097112 s, approachRate: 0.234309 m/s, LOS rate: -1.703603 deg/s, posRepo size: 4
2021-08-15T16:48:49.550Z,1629046129.550 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T16:48:51.594Z,1629046131.594 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:48:51.953Z,1629046131.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:48:51.953Z,1629046131.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:48:51.953Z,1629046131.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:48:51.954Z,1629046131.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:48:52.357Z,1629046132.357 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01A,000,006CC,183,80,80,91,FF
2021-08-15T16:48:52.357Z,1629046132.357 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:48:52.358Z,1629046132.358 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:48:52.359Z,1629046132.359 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:48:52.772Z,1629046132.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:48:53.173Z,1629046133.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAE,000,006D7,185,80,80,87,FF
2021-08-15T16:48:53.173Z,1629046133.173 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:48:53.614Z,1629046133.614 [Micromodem](INFO): Nmea in: $SNTTA,0.065293,,,,164853.40*42

2021-08-15T16:48:53.640Z,1629046133.640 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.560005 m, bearing: 228.399436 deg, deltaT: 4.450670 s, approachRate: 0.148293 m/s, LOS rate: 1.337850 deg/s, posRepo size: 4
2021-08-15T16:48:54.803Z,1629046134.803 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T16:48:56.031Z,1629046136.031 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:48:56.397Z,1629046136.397 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:48:56.397Z,1629046136.397 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:48:56.397Z,1629046136.397 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:48:56.398Z,1629046136.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:48:56.809Z,1629046136.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAE,000,006D7,185,80,80,87,FF
2021-08-15T16:48:56.809Z,1629046136.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:48:56.809Z,1629046136.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:48:56.811Z,1629046136.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:48:57.217Z,1629046137.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:48:57.613Z,1629046137.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F99,000,006E6,186,80,80,8C,FF
2021-08-15T16:48:57.614Z,1629046137.614 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:48:58.061Z,1629046138.061 [Micromodem](INFO): Nmea in: $SNTTA,0.055545,,,,164857.85*40

2021-08-15T16:48:58.087Z,1629046138.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.459999 m, bearing: 228.960509 deg, deltaT: 4.435843 s, approachRate: 0.202891 m/s, LOS rate: 0.126486 deg/s, posRepo size: 4
2021-08-15T16:48:59.777Z,1629046139.777 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T16:49:00.191Z,1629046140.191 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:49:00.565Z,1629046140.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:49:00.565Z,1629046140.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:49:00.565Z,1629046140.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:49:00.566Z,1629046140.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:49:00.963Z,1629046140.963 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F99,000,006E6,186,80,80,8C,FF
2021-08-15T16:49:00.963Z,1629046140.963 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:49:00.963Z,1629046140.963 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:49:00.965Z,1629046140.965 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:49:01.376Z,1629046141.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:49:01.765Z,1629046141.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBE,000,006F5,185,80,80,8C,FF
2021-08-15T16:49:01.766Z,1629046141.766 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:49:02.213Z,1629046142.213 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164902.00*56

2021-08-15T16:49:02.229Z,1629046142.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.360001 m, bearing: 227.398554 deg, deltaT: 4.098939 s, approachRate: 0.219569 m/s, LOS rate: -0.381063 deg/s, posRepo size: 4
2021-08-15T16:49:04.619Z,1629046144.619 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:49:05.001Z,1629046145.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:49:05.001Z,1629046145.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:49:05.001Z,1629046145.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:49:05.002Z,1629046145.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:49:05.401Z,1629046145.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBE,000,006F5,185,80,80,8C,FF
2021-08-15T16:49:05.401Z,1629046145.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:49:05.401Z,1629046145.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:49:05.403Z,1629046145.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:49:05.820Z,1629046145.820 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:49:06.646Z,1629046146.646 [Micromodem](INFO): Nmea in: $SNTTA,0.067265,,,,164906.44*4C

2021-08-15T16:49:07.133Z,1629046147.133 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:49:07.443Z,1629046147.443 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD8,000,039CE,184,80,80,81,FF
2021-08-15T16:49:07.444Z,1629046147.444 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:49:07.871Z,1629046147.871 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 850.380066 m, bearing: 225.511686 deg, deltaT: 5.725049 s, approachRate: 136.421555 m/s, LOS rate: -0.329581 deg/s, posRepo size: 4
2021-08-15T16:49:09.537Z,1629046149.537 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-15T16:49:10.271Z,1629046150.271 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:49:10.665Z,1629046150.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:49:10.666Z,1629046150.666 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:49:10.666Z,1629046150.666 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:49:10.667Z,1629046150.667 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:49:11.093Z,1629046151.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD8,000,039CE,184,80,80,81,FF
2021-08-15T16:49:11.093Z,1629046151.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:49:11.094Z,1629046151.094 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:49:11.109Z,1629046151.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:49:11.517Z,1629046151.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:49:11.885Z,1629046151.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCE,000,00713,185,80,80,65,FF
2021-08-15T16:49:11.886Z,1629046151.886 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:49:12.393Z,1629046152.393 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164912.15*53

2021-08-15T16:49:12.463Z,1629046152.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.159996 m, bearing: 226.173887 deg, deltaT: 4.433777 s, approachRate: -175.746338 m/s, LOS rate: 0.149354 deg/s, posRepo size: 4
2021-08-15T16:49:14.750Z,1629046154.750 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:49:15.165Z,1629046155.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:49:15.165Z,1629046155.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:49:15.165Z,1629046155.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:49:15.166Z,1629046155.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:49:15.533Z,1629046155.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCE,000,00713,185,80,80,65,FF
2021-08-15T16:49:15.533Z,1629046155.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:49:15.533Z,1629046155.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:49:15.535Z,1629046155.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:49:15.956Z,1629046155.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:49:16.337Z,1629046156.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0A,000,00721,186,80,80,58,FF
2021-08-15T16:49:16.337Z,1629046156.337 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:49:16.774Z,1629046156.774 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164916.57*51

2021-08-15T16:49:16.792Z,1629046156.792 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.000000 m, bearing: 235.815068 deg, deltaT: 4.449929 s, approachRate: 0.188768 m/s, LOS rate: 2.166592 deg/s, posRepo size: 4
2021-08-15T16:49:19.214Z,1629046159.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:49:19.565Z,1629046159.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:49:19.565Z,1629046159.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:49:19.565Z,1629046159.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:49:19.566Z,1629046159.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:49:19.973Z,1629046159.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0A,000,00721,186,80,80,58,FF
2021-08-15T16:49:19.973Z,1629046159.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:49:19.973Z,1629046159.973 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:49:19.975Z,1629046159.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:49:20.377Z,1629046160.377 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:49:21.206Z,1629046161.206 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164921.01*56

2021-08-15T16:49:22.027Z,1629046162.027 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:49:23.609Z,1629046163.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,186,80,80,58,FF
2021-08-15T16:49:23.610Z,1629046163.610 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,186,80,80,58,FF
2021-08-15T16:49:23.610Z,1629046163.610 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T16:49:24.842Z,1629046164.842 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:49:25.221Z,1629046165.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:49:25.221Z,1629046165.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:49:25.221Z,1629046165.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:49:25.222Z,1629046165.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:49:25.697Z,1629046165.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,186,80,80,58,FF
2021-08-15T16:49:25.697Z,1629046165.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:49:25.697Z,1629046165.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:49:25.699Z,1629046165.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:49:26.156Z,1629046166.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:49:26.477Z,1629046166.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,174,000,0073E,185,80,80,7A,FF
2021-08-15T16:49:26.478Z,1629046166.478 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:49:26.878Z,1629046166.878 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164926.74*53

2021-08-15T16:49:26.910Z,1629046166.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.740005 m, bearing: 204.437971 deg, deltaT: 10.146882 s, approachRate: 0.171482 m/s, LOS rate: -3.092290 deg/s, posRepo size: 4
2021-08-15T16:49:29.305Z,1629046169.305 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:49:29.673Z,1629046169.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:49:29.673Z,1629046169.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:49:29.673Z,1629046169.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:49:29.674Z,1629046169.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:49:30.065Z,1629046170.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
174,000,0073E,185,80,80,7A,FF
2021-08-15T16:49:30.065Z,1629046170.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:49:30.065Z,1629046170.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:49:30.067Z,1629046170.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:49:30.496Z,1629046170.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:49:31.311Z,1629046171.311 [Micromodem](INFO): Nmea in: $SNTTA,0.445708,,,,164931.11*42

2021-08-15T16:49:32.120Z,1629046172.120 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:49:33.717Z,1629046173.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,185,80,80,7A,FF
2021-08-15T16:49:33.717Z,1629046173.717 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,185,80,80,7A,FF
2021-08-15T16:49:33.717Z,1629046173.717 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T16:49:34.946Z,1629046174.946 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:49:35.332Z,1629046175.332 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:49:35.332Z,1629046175.332 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:49:35.332Z,1629046175.332 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:49:35.333Z,1629046175.333 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:49:35.729Z,1629046175.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,185,80,80,7A,FF
2021-08-15T16:49:35.729Z,1629046175.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:49:35.729Z,1629046175.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:49:35.731Z,1629046175.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:49:36.141Z,1629046176.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:49:36.541Z,1629046176.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FC,000,00761,186,80,80,72,FF
2021-08-15T16:49:36.542Z,1629046176.542 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:49:36.978Z,1629046176.978 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164936.77*51

2021-08-15T16:49:37.000Z,1629046177.000 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.840004 m, bearing: 197.382891 deg, deltaT: 10.050871 s, approachRate: 0.208937 m/s, LOS rate: -0.701937 deg/s, posRepo size: 4
2021-08-15T16:49:39.134Z,1629046179.134 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:49:39.404Z,1629046179.404 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:49:39.404Z,1629046179.404 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:49:39.405Z,1629046179.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:49:39.406Z,1629046179.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:49:39.853Z,1629046179.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1FC,000,00761,186,80,80,72,FF
2021-08-15T16:49:39.853Z,1629046179.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:49:39.854Z,1629046179.854 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:49:39.855Z,1629046179.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:49:40.216Z,1629046180.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:49:40.593Z,1629046180.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F3,000,00773,186,80,80,77,FF
2021-08-15T16:49:40.594Z,1629046180.594 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:49:41.119Z,1629046181.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.919998 m, bearing: 210.510679 deg, deltaT: 4.059967 s, approachRate: 0.266011 m/s, LOS rate: 3.233472 deg/s, posRepo size: 4
2021-08-15T16:49:41.413Z,1629046181.413 [Micromodem](INFO): Nmea in: $SNTTA,0.079343,,,,164940.89*45

2021-08-15T16:49:43.484Z,1629046183.484 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:49:43.826Z,1629046183.826 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:49:43.826Z,1629046183.826 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:49:43.827Z,1629046183.827 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:49:43.827Z,1629046183.827 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:49:44.209Z,1629046184.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F3,000,00773,186,80,80,77,FF
2021-08-15T16:49:44.209Z,1629046184.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:49:44.209Z,1629046184.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:49:44.211Z,1629046184.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:49:44.640Z,1629046184.640 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:49:44.666Z,1629046184.666 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T16:49:45.017Z,1629046185.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,107,000,00780,185,80,80,8A,FF
2021-08-15T16:49:45.017Z,1629046185.017 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:49:45.481Z,1629046185.481 [Micromodem](INFO): Nmea in: $SNTTA,0.055483,,,,164945.25*43

2021-08-15T16:49:45.550Z,1629046185.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.700005 m, bearing: 210.023959 deg, deltaT: 4.437349 s, approachRate: 0.175782 m/s, LOS rate: -0.109687 deg/s, posRepo size: 4
2021-08-15T16:49:47.893Z,1629046187.893 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:49:48.253Z,1629046188.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:49:48.253Z,1629046188.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:49:48.253Z,1629046188.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:49:48.254Z,1629046188.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:49:48.661Z,1629046188.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
107,000,00780,185,80,80,8A,FF
2021-08-15T16:49:48.662Z,1629046188.662 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:49:48.662Z,1629046188.662 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:49:48.664Z,1629046188.664 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:49:49.115Z,1629046189.115 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:49:49.531Z,1629046189.531 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F97,000,00798,187,80,80,42,FF
2021-08-15T16:49:49.531Z,1629046189.531 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:49:49.933Z,1629046189.933 [Micromodem](INFO): Nmea in: $SNTTA,0.073438,,,,164949.70*4B

2021-08-15T16:49:49.976Z,1629046189.976 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.140007 m, bearing: 228.466877 deg, deltaT: 4.509333 s, approachRate: 0.319338 m/s, LOS rate: 4.089944 deg/s, posRepo size: 4
2021-08-15T16:49:52.367Z,1629046192.367 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:49:52.897Z,1629046192.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:49:52.897Z,1629046192.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:49:52.897Z,1629046192.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:49:52.898Z,1629046192.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:49:53.193Z,1629046193.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F97,000,00798,187,80,80,42,FF
2021-08-15T16:49:53.193Z,1629046193.193 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:49:53.193Z,1629046193.193 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:49:53.195Z,1629046193.195 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:49:53.245Z,1629046193.245 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T16:49:53.579Z,1629046193.579 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:49:53.981Z,1629046193.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC6,000,007A7,185,80,80,41,FF
2021-08-15T16:49:53.981Z,1629046193.981 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:49:54.371Z,1629046194.371 [Micromodem](INFO): Nmea in: $SNTTA,0.066915,,,,164954.23*47

2021-08-15T16:49:54.461Z,1629046194.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.040001 m, bearing: 226.118194 deg, deltaT: 4.407150 s, approachRate: 0.204212 m/s, LOS rate: -0.532926 deg/s, posRepo size: 4
2021-08-15T16:49:56.844Z,1629046196.844 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:49:57.173Z,1629046197.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:49:57.173Z,1629046197.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:49:57.173Z,1629046197.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:49:57.174Z,1629046197.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:49:57.593Z,1629046197.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC6,000,007A7,185,80,80,41,FF
2021-08-15T16:49:57.594Z,1629046197.594 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:49:57.594Z,1629046197.594 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:49:57.597Z,1629046197.597 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:49:57.989Z,1629046197.989 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:49:58.389Z,1629046198.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14A,000,007B1,185,80,80,76,FF
2021-08-15T16:49:58.390Z,1629046198.390 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:49:58.825Z,1629046198.825 [Micromodem](INFO): Nmea in: $SNTTA,,,,,164958.63*5C

2021-08-15T16:49:58.867Z,1629046198.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.639999 m, bearing: 207.365568 deg, deltaT: 4.412213 s, approachRate: 0.135986 m/s, LOS rate: -4.250163 deg/s, posRepo size: 4
2021-08-15T16:50:01.290Z,1629046201.290 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:50:01.625Z,1629046201.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:50:01.625Z,1629046201.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:50:01.625Z,1629046201.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:50:01.626Z,1629046201.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:50:02.057Z,1629046202.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14A,000,007B1,185,80,80,76,FF
2021-08-15T16:50:02.058Z,1629046202.058 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:50:02.058Z,1629046202.058 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:50:02.064Z,1629046202.064 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:50:02.465Z,1629046202.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:50:02.837Z,1629046202.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E4,000,007C0,186,80,80,67,FF
2021-08-15T16:50:02.838Z,1629046202.838 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:50:03.267Z,1629046203.267 [Micromodem](INFO): Nmea in: $SNTTA,0.062479,,,,165003.10*4E

2021-08-15T16:50:03.339Z,1629046203.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.540001 m, bearing: 199.528294 deg, deltaT: 4.484225 s, approachRate: 0.200704 m/s, LOS rate: -1.747743 deg/s, posRepo size: 4
2021-08-15T16:50:05.721Z,1629046205.721 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:50:06.193Z,1629046206.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:50:06.193Z,1629046206.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:50:06.194Z,1629046206.194 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:50:06.194Z,1629046206.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:50:06.509Z,1629046206.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E4,000,007C0,186,80,80,67,FF
2021-08-15T16:50:06.509Z,1629046206.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:50:06.509Z,1629046206.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:50:06.511Z,1629046206.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:50:06.905Z,1629046206.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:50:07.305Z,1629046207.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,145,000,007D0,186,80,80,92,FF
2021-08-15T16:50:07.305Z,1629046207.305 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:50:07.707Z,1629046207.707 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165007.55*5B

2021-08-15T16:50:07.756Z,1629046207.756 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.500000 m, bearing: 207.490970 deg, deltaT: 4.498888 s, approachRate: 0.213386 m/s, LOS rate: 1.769921 deg/s, posRepo size: 4
2021-08-15T16:50:10.142Z,1629046210.142 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:50:10.522Z,1629046210.522 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:50:10.522Z,1629046210.522 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:50:10.522Z,1629046210.522 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:50:10.523Z,1629046210.523 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:50:10.917Z,1629046210.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
145,000,007D0,186,80,80,92,FF
2021-08-15T16:50:10.917Z,1629046210.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:50:10.917Z,1629046210.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:50:10.919Z,1629046210.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:50:11.333Z,1629046211.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:50:11.733Z,1629046211.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19C,000,007E2,186,80,80,7C,FF
2021-08-15T16:50:11.734Z,1629046211.734 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:50:12.169Z,1629046212.169 [Micromodem](INFO): Nmea in: $SNTTA,0.076366,,,,165011.96*4F

2021-08-15T16:50:12.188Z,1629046212.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.580002 m, bearing: 202.778631 deg, deltaT: 4.362270 s, approachRate: 0.247578 m/s, LOS rate: -1.080249 deg/s, posRepo size: 4
2021-08-15T16:50:14.590Z,1629046214.590 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:50:14.957Z,1629046214.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:50:14.957Z,1629046214.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:50:14.957Z,1629046214.957 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:50:14.958Z,1629046214.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:50:15.365Z,1629046215.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19C,000,007E2,186,80,80,7C,FF
2021-08-15T16:50:15.365Z,1629046215.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:50:15.365Z,1629046215.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:50:15.367Z,1629046215.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:50:15.779Z,1629046215.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:50:16.169Z,1629046216.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,187,000,007F1,185,80,80,84,FF
2021-08-15T16:50:16.169Z,1629046216.169 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:50:16.618Z,1629046216.618 [Micromodem](INFO): Nmea in: $SNTTA,0.076424,,,,165016.41*43

2021-08-15T16:50:16.649Z,1629046216.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.480003 m, bearing: 204.335614 deg, deltaT: 4.482490 s, approachRate: 0.200782 m/s, LOS rate: 0.347348 deg/s, posRepo size: 4
2021-08-15T16:50:19.049Z,1629046219.049 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:50:19.565Z,1629046219.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:50:19.565Z,1629046219.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:50:19.566Z,1629046219.566 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:50:19.566Z,1629046219.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:50:19.857Z,1629046219.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
187,000,007F1,185,80,80,84,FF
2021-08-15T16:50:19.857Z,1629046219.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:50:19.857Z,1629046219.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:50:19.859Z,1629046219.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:50:20.253Z,1629046220.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:50:20.657Z,1629046220.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17D,000,00801,186,80,80,83,FF
2021-08-15T16:50:20.657Z,1629046220.657 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:50:21.065Z,1629046221.065 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165020.90*57

2021-08-15T16:50:21.130Z,1629046221.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.440002 m, bearing: 204.765438 deg, deltaT: 4.464564 s, approachRate: 0.215026 m/s, LOS rate: 0.096275 deg/s, posRepo size: 4
2021-08-15T16:50:23.558Z,1629046223.558 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:50:23.875Z,1629046223.875 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:50:23.875Z,1629046223.875 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:50:23.875Z,1629046223.875 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:50:23.877Z,1629046223.877 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:50:24.265Z,1629046224.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
17D,000,00801,186,80,80,83,FF
2021-08-15T16:50:24.265Z,1629046224.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:50:24.265Z,1629046224.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:50:24.267Z,1629046224.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:50:24.684Z,1629046224.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:50:25.117Z,1629046225.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10F,000,0080D,185,80,80,93,FF
2021-08-15T16:50:25.118Z,1629046225.118 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:50:25.534Z,1629046225.534 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165025.35*5D

2021-08-15T16:50:25.562Z,1629046225.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.159996 m, bearing: 210.059449 deg, deltaT: 4.468927 s, approachRate: 0.161111 m/s, LOS rate: 1.184627 deg/s, posRepo size: 4
2021-08-15T16:50:27.945Z,1629046227.945 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:50:28.317Z,1629046228.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:50:28.317Z,1629046228.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:50:28.317Z,1629046228.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:50:28.318Z,1629046228.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:50:28.721Z,1629046228.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10F,000,0080D,185,80,80,93,FF
2021-08-15T16:50:28.721Z,1629046228.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:50:28.722Z,1629046228.722 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:50:28.723Z,1629046228.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:50:29.156Z,1629046229.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:50:29.530Z,1629046229.530 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0DB,000,00820,187,80,80,7A,FF
2021-08-15T16:50:29.530Z,1629046229.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:50:29.977Z,1629046229.977 [Micromodem](INFO): Nmea in: $SNTTA,0.073710,,,,165029.76*4A

2021-08-15T16:50:29.998Z,1629046229.998 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.300003 m, bearing: 212.612587 deg, deltaT: 4.421134 s, approachRate: 0.257854 m/s, LOS rate: 0.577485 deg/s, posRepo size: 4
2021-08-15T16:50:32.383Z,1629046232.383 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:50:32.817Z,1629046232.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:50:32.817Z,1629046232.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:50:32.817Z,1629046232.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:50:32.818Z,1629046232.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:50:33.261Z,1629046233.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0DB,000,00820,187,80,80,7A,FF
2021-08-15T16:50:33.261Z,1629046233.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:50:33.261Z,1629046233.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:50:33.263Z,1629046233.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:50:33.664Z,1629046233.664 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:50:34.041Z,1629046234.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,11E,000,0082E,186,80,80,7A,FF
2021-08-15T16:50:34.041Z,1629046234.041 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:50:34.469Z,1629046234.469 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165034.30*58

2021-08-15T16:50:34.545Z,1629046234.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.140007 m, bearing: 209.224253 deg, deltaT: 4.484021 s, approachRate: 0.187333 m/s, LOS rate: -0.755646 deg/s, posRepo size: 4
2021-08-15T16:50:36.869Z,1629046236.869 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:50:37.249Z,1629046237.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:50:37.249Z,1629046237.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:50:37.249Z,1629046237.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:50:37.250Z,1629046237.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:50:37.657Z,1629046237.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
11E,000,0082E,186,80,80,7A,FF
2021-08-15T16:50:37.657Z,1629046237.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:50:37.657Z,1629046237.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:50:37.659Z,1629046237.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:50:38.070Z,1629046238.070 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:50:38.489Z,1629046238.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,089,000,00841,186,80,80,79,FF
2021-08-15T16:50:38.489Z,1629046238.489 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:50:38.902Z,1629046238.902 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165038.70*50

2021-08-15T16:50:38.946Z,1629046238.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.279999 m, bearing: 216.231304 deg, deltaT: 4.481727 s, approachRate: 0.254364 m/s, LOS rate: 1.563471 deg/s, posRepo size: 4
2021-08-15T16:50:41.338Z,1629046241.338 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:50:41.703Z,1629046241.703 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:50:41.703Z,1629046241.703 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:50:41.703Z,1629046241.703 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:50:41.704Z,1629046241.704 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:50:42.093Z,1629046242.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
089,000,00841,186,80,80,79,FF
2021-08-15T16:50:42.093Z,1629046242.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:50:42.094Z,1629046242.094 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:50:42.095Z,1629046242.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:50:42.505Z,1629046242.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:50:42.901Z,1629046242.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,081,000,00852,187,80,80,75,FF
2021-08-15T16:50:42.902Z,1629046242.902 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:50:43.348Z,1629046243.348 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165043.13*59

2021-08-15T16:50:43.387Z,1629046243.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.299995 m, bearing: 217.217924 deg, deltaT: 4.401061 s, approachRate: 0.231762 m/s, LOS rate: 0.224178 deg/s, posRepo size: 4
2021-08-15T16:50:45.775Z,1629046245.775 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:50:46.197Z,1629046246.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:50:46.198Z,1629046246.198 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:50:46.198Z,1629046246.198 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:50:46.199Z,1629046246.199 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:50:46.641Z,1629046246.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
081,000,00852,187,80,80,75,FF
2021-08-15T16:50:46.641Z,1629046246.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:50:46.641Z,1629046246.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:50:46.643Z,1629046246.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:50:46.996Z,1629046246.996 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:50:47.391Z,1629046247.391 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE2,000,00863,185,80,80,9E,FF
2021-08-15T16:50:47.391Z,1629046247.391 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:50:47.836Z,1629046247.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.320000 m, bearing: 226.001220 deg, deltaT: 4.547368 s, approachRate: 0.224307 m/s, LOS rate: 1.931512 deg/s, posRepo size: 4
2021-08-15T16:50:48.181Z,1629046248.181 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165047.68*51

2021-08-15T16:50:50.219Z,1629046250.219 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:50:50.597Z,1629046250.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:50:50.597Z,1629046250.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:50:50.597Z,1629046250.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:50:50.598Z,1629046250.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:50:51.015Z,1629046251.015 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE2,000,00863,185,80,80,9E,FF
2021-08-15T16:50:51.015Z,1629046251.015 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:50:51.015Z,1629046251.015 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:50:51.017Z,1629046251.017 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:50:51.409Z,1629046251.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:50:51.805Z,1629046251.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03C,000,00875,184,80,80,77,FF
2021-08-15T16:50:51.805Z,1629046251.806 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:50:52.253Z,1629046252.253 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165052.05*5E

2021-08-15T16:50:52.287Z,1629046252.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.400002 m, bearing: 221.245373 deg, deltaT: 4.312983 s, approachRate: 0.250407 m/s, LOS rate: -1.102682 deg/s, posRepo size: 4
2021-08-15T16:50:54.682Z,1629046254.682 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:50:55.038Z,1629046255.038 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:50:55.038Z,1629046255.038 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:50:55.038Z,1629046255.038 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:50:55.039Z,1629046255.039 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:50:55.473Z,1629046255.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03C,000,00875,184,80,80,77,FF
2021-08-15T16:50:55.473Z,1629046255.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:50:55.473Z,1629046255.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:50:55.475Z,1629046255.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:50:55.854Z,1629046255.854 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:50:56.267Z,1629046256.267 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBE,000,00882,185,80,80,95,FF
2021-08-15T16:50:56.267Z,1629046256.267 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:50:56.689Z,1629046256.689 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165056.51*5B

2021-08-15T16:50:56.735Z,1629046256.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.180000 m, bearing: 227.444357 deg, deltaT: 4.459676 s, approachRate: 0.174900 m/s, LOS rate: 1.390008 deg/s, posRepo size: 4
2021-08-15T16:50:59.176Z,1629046259.176 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:50:59.613Z,1629046259.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:50:59.613Z,1629046259.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:50:59.613Z,1629046259.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:50:59.614Z,1629046259.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:50:59.994Z,1629046259.994 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBE,000,00882,185,80,80,95,FF
2021-08-15T16:50:59.994Z,1629046259.994 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:50:59.994Z,1629046259.994 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:50:59.996Z,1629046259.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:51:00.333Z,1629046260.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:51:00.726Z,1629046260.726 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF3,000,00894,183,80,80,85,FF
2021-08-15T16:51:00.726Z,1629046260.726 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:51:01.175Z,1629046261.175 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165101.03*5F

2021-08-15T16:51:01.266Z,1629046261.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.260002 m, bearing: 224.677078 deg, deltaT: 4.471240 s, approachRate: 0.241544 m/s, LOS rate: -0.618906 deg/s, posRepo size: 4
2021-08-15T16:51:03.576Z,1629046263.576 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:51:03.925Z,1629046263.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:51:03.925Z,1629046263.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:51:03.925Z,1629046263.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:51:03.926Z,1629046263.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:51:04.333Z,1629046264.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF3,000,00894,183,80,80,85,FF
2021-08-15T16:51:04.334Z,1629046264.334 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:51:04.334Z,1629046264.334 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:51:04.337Z,1629046264.337 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:51:04.740Z,1629046264.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:51:05.157Z,1629046265.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFF,000,008A2,183,80,80,98,FF
2021-08-15T16:51:05.157Z,1629046265.157 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:51:05.581Z,1629046265.581 [Micromodem](INFO): Nmea in: $SNTTA,0.072360,,,,165105.38*4D

2021-08-15T16:51:05.606Z,1629046265.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.099998 m, bearing: 224.806306 deg, deltaT: 4.497211 s, approachRate: 0.186782 m/s, LOS rate: 0.028735 deg/s, posRepo size: 4
2021-08-15T16:51:07.989Z,1629046267.989 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:51:08.377Z,1629046268.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:51:08.377Z,1629046268.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:51:08.377Z,1629046268.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:51:08.378Z,1629046268.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:51:08.773Z,1629046268.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFF,000,008A2,183,80,80,98,FF
2021-08-15T16:51:08.773Z,1629046268.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:51:08.773Z,1629046268.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:51:08.775Z,1629046268.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:51:09.187Z,1629046269.187 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:51:09.609Z,1629046269.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00C,000,008B1,183,80,80,8A,FF
2021-08-15T16:51:09.610Z,1629046269.610 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:51:10.033Z,1629046270.033 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165109.81*5D

2021-08-15T16:51:10.079Z,1629046270.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.000008 m, bearing: 224.416753 deg, deltaT: 4.383573 s, approachRate: 0.205314 m/s, LOS rate: -0.088867 deg/s, posRepo size: 4
2021-08-15T16:51:12.502Z,1629046272.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:51:12.881Z,1629046272.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:51:12.881Z,1629046272.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:51:12.881Z,1629046272.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:51:12.882Z,1629046272.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:51:13.235Z,1629046273.235 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00C,000,008B1,183,80,80,8A,FF
2021-08-15T16:51:13.235Z,1629046273.235 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:51:13.235Z,1629046273.235 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:51:13.237Z,1629046273.237 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:51:13.713Z,1629046273.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:51:14.047Z,1629046274.047 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA9,000,008C3,185,80,80,91,FF
2021-08-15T16:51:14.047Z,1629046274.047 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:51:14.485Z,1629046274.485 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165114.28*52

2021-08-15T16:51:14.510Z,1629046274.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.080009 m, bearing: 228.583086 deg, deltaT: 4.485907 s, approachRate: 0.240754 m/s, LOS rate: 0.928761 deg/s, posRepo size: 4
2021-08-15T16:51:16.899Z,1629046276.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:51:17.261Z,1629046277.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:51:17.261Z,1629046277.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:51:17.261Z,1629046277.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:51:17.262Z,1629046277.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:51:17.665Z,1629046277.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA9,000,008C3,185,80,80,91,FF
2021-08-15T16:51:17.665Z,1629046277.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:51:17.666Z,1629046277.666 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:51:17.667Z,1629046277.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:51:18.068Z,1629046278.068 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:51:18.510Z,1629046278.510 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA2,000,008D2,187,80,80,8F,FF
2021-08-15T16:51:18.511Z,1629046278.511 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:51:18.921Z,1629046278.921 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165118.70*53

2021-08-15T16:51:18.943Z,1629046278.943 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.980003 m, bearing: 228.349521 deg, deltaT: 4.415614 s, approachRate: 0.203821 m/s, LOS rate: -0.052895 deg/s, posRepo size: 4
2021-08-15T16:51:21.362Z,1629046281.362 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:51:21.709Z,1629046281.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:51:21.709Z,1629046281.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:51:21.709Z,1629046281.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:51:21.710Z,1629046281.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:51:22.113Z,1629046282.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA2,000,008D2,187,80,80,8F,FF
2021-08-15T16:51:22.113Z,1629046282.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:51:22.113Z,1629046282.113 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:51:22.115Z,1629046282.115 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:51:22.517Z,1629046282.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:51:22.917Z,1629046282.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE2,000,008DF,184,80,80,81,FF
2021-08-15T16:51:22.918Z,1629046282.918 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:51:23.365Z,1629046283.365 [Micromodem](INFO): Nmea in: $SNTTA,0.089279,,,,165123.16*48

2021-08-15T16:51:23.458Z,1629046283.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.759995 m, bearing: 224.804680 deg, deltaT: 4.446199 s, approachRate: 0.175429 m/s, LOS rate: -0.797274 deg/s, posRepo size: 4
2021-08-15T16:51:25.787Z,1629046285.787 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:51:26.229Z,1629046286.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:51:26.229Z,1629046286.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:51:26.229Z,1629046286.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:51:26.230Z,1629046286.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:51:26.565Z,1629046286.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE2,000,008DF,184,80,80,81,FF
2021-08-15T16:51:26.565Z,1629046286.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:51:26.565Z,1629046286.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:51:26.567Z,1629046286.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:51:26.981Z,1629046286.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:51:27.395Z,1629046287.395 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAF,000,008EF,185,80,80,94,FF
2021-08-15T16:51:27.395Z,1629046287.395 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:51:27.881Z,1629046287.881 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165127.66*58

2021-08-15T16:51:27.900Z,1629046287.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.720001 m, bearing: 227.359977 deg, deltaT: 4.540032 s, approachRate: 0.211454 m/s, LOS rate: 0.562837 deg/s, posRepo size: 4
2021-08-15T16:51:30.232Z,1629046290.232 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:51:30.593Z,1629046290.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:51:30.593Z,1629046290.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:51:30.593Z,1629046290.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:51:30.594Z,1629046290.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:51:30.997Z,1629046290.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAF,000,008EF,185,80,80,94,FF
2021-08-15T16:51:30.997Z,1629046290.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:51:30.998Z,1629046290.998 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:51:30.999Z,1629046290.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:51:31.408Z,1629046291.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:51:31.814Z,1629046291.814 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7D,000,008FE,186,80,80,B2,FF
2021-08-15T16:51:31.814Z,1629046291.814 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:51:32.253Z,1629046292.253 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165132.04*58

2021-08-15T16:51:32.296Z,1629046292.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.619995 m, bearing: 230.027575 deg, deltaT: 4.312950 s, approachRate: 0.208672 m/s, LOS rate: 0.618509 deg/s, posRepo size: 4
2021-08-15T16:51:34.672Z,1629046294.672 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:51:35.053Z,1629046295.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:51:35.053Z,1629046295.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:51:35.054Z,1629046295.054 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:51:35.055Z,1629046295.055 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:51:35.459Z,1629046295.459 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7D,000,008FE,186,80,80,B2,FF
2021-08-15T16:51:35.459Z,1629046295.459 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:51:35.459Z,1629046295.459 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:51:35.461Z,1629046295.461 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:51:35.859Z,1629046295.859 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:51:36.257Z,1629046296.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBB,000,0090C,185,80,80,A6,FF
2021-08-15T16:51:36.257Z,1629046296.257 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:51:36.691Z,1629046296.691 [Micromodem](INFO): Nmea in: $SNTTA,,0.071678,,,165136.50*4C

2021-08-15T16:51:36.719Z,1629046296.719 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.459999 m, bearing: 227.189140 deg, deltaT: 4.473231 s, approachRate: 0.187785 m/s, LOS rate: -0.634538 deg/s, posRepo size: 4
2021-08-15T16:51:39.165Z,1629046299.165 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:51:39.575Z,1629046299.575 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:51:39.578Z,1629046299.578 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:51:39.580Z,1629046299.580 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:51:39.581Z,1629046299.581 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:51:39.921Z,1629046299.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBB,000,0090C,185,80,80,A6,FF
2021-08-15T16:51:39.921Z,1629046299.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:51:39.921Z,1629046299.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:51:39.923Z,1629046299.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:51:40.309Z,1629046300.309 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:51:40.717Z,1629046300.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F83,000,0091B,186,80,80,B0,FF
2021-08-15T16:51:40.717Z,1629046300.717 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:51:41.253Z,1629046301.253 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165140.96*56

2021-08-15T16:51:41.313Z,1629046301.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.360001 m, bearing: 230.166966 deg, deltaT: 4.435385 s, approachRate: 0.202914 m/s, LOS rate: 0.671379 deg/s, posRepo size: 4
2021-08-15T16:51:43.559Z,1629046303.559 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:51:43.929Z,1629046303.929 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:51:43.929Z,1629046303.929 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:51:43.929Z,1629046303.929 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:51:43.930Z,1629046303.930 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:51:44.333Z,1629046304.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F83,000,0091B,186,80,80,B0,FF
2021-08-15T16:51:44.333Z,1629046304.333 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:51:44.333Z,1629046304.333 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:51:44.335Z,1629046304.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:51:44.741Z,1629046304.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:51:45.161Z,1629046305.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FAE,000,0092A,185,80,80,9F,FF
2021-08-15T16:51:45.161Z,1629046305.161 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:51:45.581Z,1629046305.581 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165145.37*58

2021-08-15T16:51:45.621Z,1629046305.621 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.260010 m, bearing: 227.509107 deg, deltaT: 4.507209 s, approachRate: 0.199682 m/s, LOS rate: -0.589691 deg/s, posRepo size: 4
2021-08-15T16:51:48.015Z,1629046308.015 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:51:48.377Z,1629046308.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:51:48.377Z,1629046308.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:51:48.377Z,1629046308.377 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:51:48.378Z,1629046308.378 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:51:48.785Z,1629046308.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FAE,000,0092A,185,80,80,9F,FF
2021-08-15T16:51:48.786Z,1629046308.786 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:51:48.786Z,1629046308.786 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:51:48.787Z,1629046308.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:51:49.220Z,1629046309.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:51:49.594Z,1629046309.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,013,000,00937,183,80,80,93,FF
2021-08-15T16:51:49.599Z,1629046309.599 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:51:50.032Z,1629046310.032 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 104.040001 m, bearing: 221.843438 deg, deltaT: 4.413402 s, approachRate: 0.176732 m/s, LOS rate: -1.283742 deg/s, posRepo size: 4
2021-08-15T16:51:52.465Z,1629046312.465 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T16:51:52.481Z,1629046312.481 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:51:52.881Z,1629046312.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:51:52.881Z,1629046312.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:51:52.881Z,1629046312.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:51:52.882Z,1629046312.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:51:53.253Z,1629046313.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
013,000,00937,183,80,80,93,FF
2021-08-15T16:51:53.253Z,1629046313.253 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:51:53.253Z,1629046313.253 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:51:53.255Z,1629046313.255 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:51:53.645Z,1629046313.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:51:54.053Z,1629046314.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02E,000,00948,184,80,80,81,FF
2021-08-15T16:51:54.053Z,1629046314.053 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:51:54.450Z,1629046314.450 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165154.30*5F

2021-08-15T16:51:54.520Z,1629046314.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.060005 m, bearing: 220.098475 deg, deltaT: 4.403853 s, approachRate: 0.231616 m/s, LOS rate: -0.396236 deg/s, posRepo size: 4
2021-08-15T16:51:56.889Z,1629046316.889 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:51:57.288Z,1629046317.288 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:51:57.288Z,1629046317.288 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:51:57.288Z,1629046317.288 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:51:57.289Z,1629046317.289 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:51:57.665Z,1629046317.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02E,000,00948,184,80,80,81,FF
2021-08-15T16:51:57.665Z,1629046317.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:51:57.665Z,1629046317.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:51:57.667Z,1629046317.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:51:58.079Z,1629046318.079 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:51:58.505Z,1629046318.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,011,000,00956,184,80,80,87,FF
2021-08-15T16:51:58.505Z,1629046318.505 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:51:58.925Z,1629046318.925 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165158.71*56

2021-08-15T16:51:58.944Z,1629046318.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.900002 m, bearing: 221.112088 deg, deltaT: 4.494175 s, approachRate: 0.186908 m/s, LOS rate: 0.225539 deg/s, posRepo size: 4
2021-08-15T16:52:01.370Z,1629046321.370 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:52:01.701Z,1629046321.701 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:52:01.701Z,1629046321.701 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:52:01.701Z,1629046321.701 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:52:01.702Z,1629046321.702 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:52:02.110Z,1629046322.110 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
011,000,00956,184,80,80,87,FF
2021-08-15T16:52:02.110Z,1629046322.110 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:52:02.110Z,1629046322.110 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:52:02.113Z,1629046322.113 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:52:02.517Z,1629046322.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:52:02.930Z,1629046322.930 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA4,000,00963,186,80,80,AC,FF
2021-08-15T16:52:02.931Z,1629046322.931 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:52:03.373Z,1629046323.373 [Micromodem](INFO): Nmea in: $SNTTA,0.074282,,,,165203.15*4C

2021-08-15T16:52:03.474Z,1629046323.474 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.680000 m, bearing: 226.416523 deg, deltaT: 4.395731 s, approachRate: 0.177445 m/s, LOS rate: 1.206724 deg/s, posRepo size: 4
2021-08-15T16:52:05.781Z,1629046325.781 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:52:06.153Z,1629046326.153 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:52:06.153Z,1629046326.153 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:52:06.153Z,1629046326.153 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:52:06.154Z,1629046326.154 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:52:06.621Z,1629046326.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA4,000,00963,186,80,80,AC,FF
2021-08-15T16:52:06.621Z,1629046326.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:52:06.621Z,1629046326.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:52:06.623Z,1629046326.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:52:06.993Z,1629046326.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:52:07.429Z,1629046327.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE5,000,00972,185,80,80,7B,FF
2021-08-15T16:52:07.431Z,1629046327.431 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:52:07.842Z,1629046327.842 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165207.66*59

2021-08-15T16:52:07.883Z,1629046327.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.580009 m, bearing: 223.227521 deg, deltaT: 4.564673 s, approachRate: 0.197168 m/s, LOS rate: -0.698627 deg/s, posRepo size: 4
2021-08-15T16:52:10.267Z,1629046330.267 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:52:10.629Z,1629046330.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:52:10.629Z,1629046330.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:52:10.629Z,1629046330.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:52:10.630Z,1629046330.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:52:11.044Z,1629046331.044 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE5,000,00972,185,80,80,7B,FF
2021-08-15T16:52:11.044Z,1629046331.044 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:52:11.044Z,1629046331.044 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:52:11.046Z,1629046331.046 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:52:11.468Z,1629046331.468 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:52:11.853Z,1629046331.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F93,000,00980,187,80,80,A4,FF
2021-08-15T16:52:11.853Z,1629046331.853 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:52:12.285Z,1629046332.285 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165212.09*54

2021-08-15T16:52:12.315Z,1629046332.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.420006 m, bearing: 227.550484 deg, deltaT: 4.379626 s, approachRate: 0.191796 m/s, LOS rate: 0.987062 deg/s, posRepo size: 4
2021-08-15T16:52:14.730Z,1629046334.730 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:52:15.090Z,1629046335.090 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:52:15.090Z,1629046335.090 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:52:15.091Z,1629046335.091 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:52:15.100Z,1629046335.100 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:52:15.509Z,1629046335.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F93,000,00980,187,80,80,A4,FF
2021-08-15T16:52:15.509Z,1629046335.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:52:15.509Z,1629046335.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:52:15.511Z,1629046335.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:52:15.885Z,1629046335.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:52:16.285Z,1629046336.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F88,000,002A7,186,80,80,9B,FF
2021-08-15T16:52:16.285Z,1629046336.285 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:52:16.703Z,1629046336.703 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165216.55*59

2021-08-15T16:52:16.755Z,1629046336.755 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-15T16:52:16.755Z,1629046336.755 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-15T16:52:16.755Z,1629046336.755 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-15T16:52:16.755Z,1629046336.755 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T16:52:16.756Z,1629046336.756 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-15T16:52:16.761Z,1629046336.761 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 3.240000 m 
2021-08-15T16:52:16.761Z,1629046336.761 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-15T16:52:16.761Z,1629046336.761 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-15T16:52:16.761Z,1629046336.761 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-15T16:52:16.769Z,1629046336.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 3.240000 m, bearing: 228.408766 deg, deltaT: 4.398487 s, approachRate: -23.912769 m/s, LOS rate: 0.195131 deg/s, posRepo size: 4
2021-08-15T16:52:17.191Z,1629046337.191 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T16:52:17.191Z,1629046337.191 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T16:52:17.191Z,1629046337.191 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T16:52:17.192Z,1629046337.192 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T16:52:17.192Z,1629046337.192 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T16:52:17.192Z,1629046337.192 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T16:52:17.194Z,1629046337.194 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210815T165217: (41.552319, -70.708603)
2021-08-15T16:52:17.194Z,1629046337.194 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-15T16:52:17.194Z,1629046337.194 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-15T16:52:17.194Z,1629046337.194 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T16:52:17.194Z,1629046337.194 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-15T16:52:17.195Z,1629046337.195 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T16:52:17.195Z,1629046337.195 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-15T16:52:17.195Z,1629046337.195 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-15T16:52:17.195Z,1629046337.195 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-15T16:52:17.563Z,1629046337.563 [UniversalFixResidualReporter](INFO): Fix residual: 14.8 %DT, over the last 681.0 m. Residual distance 100.8 m at bearing -163.5 degrees. Fix at (41.5518, -70.7080) with 0.0 m made good.
2021-08-15T16:52:17.569Z,1629046337.569 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T16:52:17.569Z,1629046337.569 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T16:52:17.569Z,1629046337.569 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T16:52:17.569Z,1629046337.569 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T16:52:19.224Z,1629046339.224 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:52:19.517Z,1629046339.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:52:19.517Z,1629046339.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:52:19.517Z,1629046339.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:52:19.518Z,1629046339.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:52:19.925Z,1629046339.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F88,000,002A7,186,80,80,9B,FF
2021-08-15T16:52:19.925Z,1629046339.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:52:19.925Z,1629046339.925 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:52:19.927Z,1629046339.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:52:20.397Z,1629046340.397 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:52:20.753Z,1629046340.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F93,000,0099C,187,80,80,A2,FF
2021-08-15T16:52:20.754Z,1629046340.754 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:52:20.837Z,1629046340.837 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:52:21.189Z,1629046341.189 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165220.97*52

2021-08-15T16:52:21.239Z,1629046341.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.099998 m, bearing: 228.345450 deg, deltaT: 4.531580 s, approachRate: 23.581179 m/s, LOS rate: -0.013972 deg/s, posRepo size: 4
2021-08-15T16:52:21.665Z,1629046341.665 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T16:52:21.665Z,1629046341.665 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T16:52:21.665Z,1629046341.665 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T16:52:21.666Z,1629046341.666 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T16:52:21.666Z,1629046341.666 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T16:52:21.666Z,1629046341.666 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T16:52:21.994Z,1629046341.994 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T16:52:21.994Z,1629046341.994 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T16:52:21.994Z,1629046341.994 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T16:52:21.994Z,1629046341.994 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T16:52:23.594Z,1629046343.594 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:52:23.961Z,1629046343.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:52:23.961Z,1629046343.961 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:52:23.961Z,1629046343.961 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:52:23.962Z,1629046343.962 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:52:24.369Z,1629046344.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F93,000,0099C,187,80,80,A2,FF
2021-08-15T16:52:24.370Z,1629046344.370 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:52:24.370Z,1629046344.370 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:52:24.372Z,1629046344.372 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:52:24.779Z,1629046344.779 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:52:25.173Z,1629046345.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F58,000,00221,187,80,80,7A,FF
2021-08-15T16:52:25.173Z,1629046345.173 [DUSBL_Hydroid](ERROR): Range is NaN. Not publishing.
2021-08-15T16:52:25.614Z,1629046345.614 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165225.41*5C

2021-08-15T16:52:26.482Z,1629046346.482 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:52:29.273Z,1629046349.273 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:52:29.626Z,1629046349.626 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:52:29.626Z,1629046349.626 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:52:29.628Z,1629046349.628 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:52:29.636Z,1629046349.636 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:52:30.025Z,1629046350.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F58,000,00221,187,80,80,7A,FF
2021-08-15T16:52:30.025Z,1629046350.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:52:30.025Z,1629046350.025 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:52:30.027Z,1629046350.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:52:30.463Z,1629046350.463 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:52:30.841Z,1629046350.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA9,000,009B7,184,80,80,A9,FF
2021-08-15T16:52:30.842Z,1629046350.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:52:31.269Z,1629046351.269 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165231.07*5B

2021-08-15T16:52:31.329Z,1629046351.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.720009 m, bearing: 227.894125 deg, deltaT: 10.029127 s, approachRate: 0.161531 m/s, LOS rate: -0.045001 deg/s, posRepo size: 4
2021-08-15T16:52:33.765Z,1629046353.765 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:52:34.077Z,1629046354.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:52:34.077Z,1629046354.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:52:34.077Z,1629046354.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:52:34.078Z,1629046354.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:52:34.532Z,1629046354.532 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA9,000,009B7,184,80,80,A9,FF
2021-08-15T16:52:34.532Z,1629046354.532 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:52:34.533Z,1629046354.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:52:34.534Z,1629046354.534 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:52:34.912Z,1629046354.912 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:52:35.369Z,1629046355.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8B,000,009C5,187,80,80,A7,FF
2021-08-15T16:52:35.370Z,1629046355.370 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:52:35.741Z,1629046355.741 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165235.58*55

2021-08-15T16:52:35.771Z,1629046355.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.560005 m, bearing: 228.829014 deg, deltaT: 4.651153 s, approachRate: 0.180600 m/s, LOS rate: 0.201002 deg/s, posRepo size: 4
2021-08-15T16:52:38.167Z,1629046358.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:52:38.537Z,1629046358.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:52:38.537Z,1629046358.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:52:38.537Z,1629046358.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:52:38.538Z,1629046358.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:52:38.596Z,1629046358.596 [RDI_PathfinderUp](ERROR): DVL uart error: serial timeout
2021-08-15T16:52:38.596Z,1629046358.596 [RDI_PathfinderUp] Communications Fault, FailCount= 1
2021-08-15T16:52:38.596Z,1629046358.596 [RDI_PathfinderUp](ERROR): Communications Fault
2021-08-15T16:52:38.745Z,1629046358.745 [CBIT](ERROR): Communications Fault in component: RDI_PathfinderUp
2021-08-15T16:52:38.937Z,1629046358.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8B,000,009C5,187,80,80,A7,FF
2021-08-15T16:52:38.937Z,1629046358.937 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:52:38.937Z,1629046358.937 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:52:38.939Z,1629046358.939 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:52:39.013Z,1629046359.013 [RDI_PathfinderUp](INFO): Powering down
2021-08-15T16:52:39.353Z,1629046359.353 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:52:39.761Z,1629046359.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07A,000,009D6,186,80,80,89,FF
2021-08-15T16:52:39.762Z,1629046359.762 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:52:39.924Z,1629046359.924 [CBIT](INFO): Clearing failed state for component RDI_PathfinderUp
2021-08-15T16:52:39.924Z,1629046359.924 [RDI_PathfinderUp] No Fault, FailCount= 1
2021-08-15T16:52:40.181Z,1629046360.181 [Micromodem](INFO): Nmea in: $SNTTA,0.077807,,,,165239.98*44

2021-08-15T16:52:40.201Z,1629046360.201 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.580009 m, bearing: 216.531217 deg, deltaT: 4.263237 s, approachRate: 0.239256 m/s, LOS rate: -2.884615 deg/s, posRepo size: 4
2021-08-15T16:52:42.591Z,1629046362.591 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:52:42.983Z,1629046362.983 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:52:42.984Z,1629046362.984 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:52:42.985Z,1629046362.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:52:42.987Z,1629046362.987 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:52:43.390Z,1629046363.390 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07A,000,009D6,186,80,80,89,FF
2021-08-15T16:52:43.390Z,1629046363.390 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:52:43.390Z,1629046363.390 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:52:43.393Z,1629046363.393 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:52:43.797Z,1629046363.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:52:44.193Z,1629046364.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06A,000,009E3,187,80,80,8F,FF
2021-08-15T16:52:44.193Z,1629046364.193 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:52:44.648Z,1629046364.648 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165244.43*59

2021-08-15T16:52:44.667Z,1629046364.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.360008 m, bearing: 216.837278 deg, deltaT: 4.432309 s, approachRate: 0.175980 m/s, LOS rate: 0.069052 deg/s, posRepo size: 4
2021-08-15T16:52:47.167Z,1629046367.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:52:47.446Z,1629046367.446 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:52:47.446Z,1629046367.446 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:52:47.446Z,1629046367.446 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:52:47.447Z,1629046367.447 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:52:47.841Z,1629046367.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06A,000,009E3,187,80,80,8F,FF
2021-08-15T16:52:47.841Z,1629046367.841 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:52:47.841Z,1629046367.841 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:52:47.843Z,1629046367.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:52:48.241Z,1629046368.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:52:48.637Z,1629046368.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA7,000,009F4,184,80,80,5A,FF
2021-08-15T16:52:48.638Z,1629046368.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:52:49.098Z,1629046369.098 [Micromodem](INFO): Nmea in: $SNTTA,0.082087,,,,165248.88*49

2021-08-15T16:52:49.158Z,1629046369.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.380005 m, bearing: 227.251814 deg, deltaT: 4.444063 s, approachRate: 0.229519 m/s, LOS rate: 2.343472 deg/s, posRepo size: 4
2021-08-15T16:52:51.540Z,1629046371.540 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:52:51.873Z,1629046371.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:52:51.873Z,1629046371.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:52:51.873Z,1629046371.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:52:51.874Z,1629046371.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:52:52.274Z,1629046372.274 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA7,000,009F4,184,80,80,5A,FF
2021-08-15T16:52:52.274Z,1629046372.274 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:52:52.274Z,1629046372.274 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:52:52.276Z,1629046372.276 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:52:52.676Z,1629046372.676 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:52:53.094Z,1629046373.094 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03C,000,009FF,185,80,80,92,FF
2021-08-15T16:52:53.095Z,1629046373.095 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:52:53.521Z,1629046373.521 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165253.32*59

2021-08-15T16:52:53.560Z,1629046373.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.040009 m, bearing: 220.707891 deg, deltaT: 4.540954 s, approachRate: 0.145345 m/s, LOS rate: -1.441090 deg/s, posRepo size: 4
2021-08-15T16:52:55.927Z,1629046375.927 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:52:56.329Z,1629046376.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:52:56.329Z,1629046376.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:52:56.329Z,1629046376.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:52:56.330Z,1629046376.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:52:56.717Z,1629046376.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03C,000,009FF,185,80,80,92,FF
2021-08-15T16:52:56.717Z,1629046376.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:52:56.718Z,1629046376.718 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:52:56.719Z,1629046376.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:52:57.117Z,1629046377.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:52:57.533Z,1629046377.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08E,000,00A0F,186,80,80,85,FF
2021-08-15T16:52:57.534Z,1629046377.534 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:52:57.953Z,1629046377.953 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165257.76*5D

2021-08-15T16:52:57.993Z,1629046377.993 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.000000 m, bearing: 217.055188 deg, deltaT: 4.398086 s, approachRate: 0.218275 m/s, LOS rate: -0.830521 deg/s, posRepo size: 4
2021-08-15T16:53:00.432Z,1629046380.432 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:53:00.837Z,1629046380.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:53:00.837Z,1629046380.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:53:00.837Z,1629046380.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:53:00.838Z,1629046380.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:53:01.185Z,1629046381.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08E,000,00A0F,186,80,80,85,FF
2021-08-15T16:53:01.185Z,1629046381.185 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:53:01.185Z,1629046381.185 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:53:01.187Z,1629046381.187 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:53:01.598Z,1629046381.598 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:53:01.977Z,1629046381.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,049,000,00A1E,184,80,80,8F,FF
2021-08-15T16:53:01.977Z,1629046381.977 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:53:02.394Z,1629046382.394 [Micromodem](INFO): Nmea in: $SNTTA,0.084712,0.396693,,,165302.24*53

2021-08-15T16:53:02.487Z,1629046382.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.900009 m, bearing: 220.972807 deg, deltaT: 4.400535 s, approachRate: 0.204523 m/s, LOS rate: 0.890260 deg/s, posRepo size: 4
2021-08-15T16:53:04.845Z,1629046384.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:53:05.197Z,1629046385.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:53:05.197Z,1629046385.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:53:05.198Z,1629046385.198 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:53:05.198Z,1629046385.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:53:05.602Z,1629046385.602 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
049,000,00A1E,184,80,80,8F,FF
2021-08-15T16:53:05.602Z,1629046385.602 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:53:05.602Z,1629046385.602 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:53:05.606Z,1629046385.606 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:53:06.009Z,1629046386.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:53:06.421Z,1629046386.421 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00E,000,00A2E,184,80,80,8A,FF
2021-08-15T16:53:06.422Z,1629046386.422 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:53:06.857Z,1629046386.857 [Micromodem](INFO): Nmea in: $SNTTA,0.151101,,,,165306.65*41

2021-08-15T16:53:06.887Z,1629046386.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.860001 m, bearing: 224.566334 deg, deltaT: 4.538317 s, approachRate: 0.211530 m/s, LOS rate: 0.791819 deg/s, posRepo size: 4
2021-08-15T16:53:09.294Z,1629046389.294 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:53:09.648Z,1629046389.648 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:53:09.651Z,1629046389.651 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:53:09.651Z,1629046389.651 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:53:09.661Z,1629046389.661 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:53:10.050Z,1629046390.050 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00E,000,00A2E,184,80,80,8A,FF
2021-08-15T16:53:10.050Z,1629046390.050 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:53:10.050Z,1629046390.050 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:53:10.052Z,1629046390.052 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:53:10.461Z,1629046390.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:53:10.861Z,1629046390.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B2,000,00A3E,186,80,80,77,FF
2021-08-15T16:53:10.862Z,1629046390.862 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:53:11.316Z,1629046391.316 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165311.09*56

2021-08-15T16:53:11.371Z,1629046391.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.820000 m, bearing: 216.987474 deg, deltaT: 4.370990 s, approachRate: 0.219630 m/s, LOS rate: -1.733900 deg/s, posRepo size: 4
2021-08-15T16:53:13.695Z,1629046393.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:53:14.096Z,1629046394.096 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:53:14.097Z,1629046394.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:53:14.097Z,1629046394.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:53:14.099Z,1629046394.099 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:53:14.559Z,1629046394.559 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B2,000,00A3E,186,80,80,77,FF
2021-08-15T16:53:14.559Z,1629046394.559 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:53:14.559Z,1629046394.559 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:53:14.563Z,1629046394.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:53:14.988Z,1629046394.988 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:53:15.374Z,1629046395.374 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B0,000,00606,186,80,80,75,FF
2021-08-15T16:53:15.374Z,1629046395.374 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:53:15.821Z,1629046395.821 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165315.60*5D

2021-08-15T16:53:15.842Z,1629046395.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.019997 m, bearing: 217.133544 deg, deltaT: 4.563135 s, approachRate: -14.200764 m/s, LOS rate: 0.032011 deg/s, posRepo size: 4
2021-08-15T16:53:18.250Z,1629046398.250 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:53:18.597Z,1629046398.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:53:18.597Z,1629046398.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:53:18.598Z,1629046398.598 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:53:18.599Z,1629046398.599 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:53:18.997Z,1629046398.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B0,000,00606,186,80,80,75,FF
2021-08-15T16:53:18.997Z,1629046398.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:53:18.997Z,1629046398.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:53:18.999Z,1629046398.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:53:19.413Z,1629046399.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:53:19.809Z,1629046399.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F35,000,00A71,187,80,80,17,FF
2021-08-15T16:53:19.810Z,1629046399.810 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:53:20.247Z,1629046400.247 [Micromodem](INFO): Nmea in: $SNTTA,0.088100,,,,165320.04*46

2021-08-15T16:53:20.362Z,1629046400.362 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.879997 m, bearing: 236.595294 deg, deltaT: 4.360020 s, approachRate: 15.564149 m/s, LOS rate: 4.463684 deg/s, posRepo size: 4
2021-08-15T16:53:22.339Z,1629046402.339 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:53:22.641Z,1629046402.641 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:53:22.641Z,1629046402.641 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:53:22.641Z,1629046402.641 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:53:22.642Z,1629046402.642 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:53:23.042Z,1629046403.042 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F35,000,00A71,187,80,80,17,FF
2021-08-15T16:53:23.042Z,1629046403.042 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:53:23.042Z,1629046403.042 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:53:23.044Z,1629046403.044 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:53:23.454Z,1629046403.454 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:53:24.272Z,1629046404.272 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165324.09*50

2021-08-15T16:53:25.091Z,1629046405.091 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:53:26.685Z,1629046406.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,187,80,80,17,FF
2021-08-15T16:53:26.685Z,1629046406.685 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,187,80,80,17,FF
2021-08-15T16:53:26.686Z,1629046406.686 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T16:53:27.914Z,1629046407.914 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:53:28.387Z,1629046408.387 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:53:28.387Z,1629046408.387 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:53:28.398Z,1629046408.398 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:53:28.398Z,1629046408.398 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:53:28.749Z,1629046408.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,187,80,80,17,FF
2021-08-15T16:53:28.749Z,1629046408.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:53:28.749Z,1629046408.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:53:28.751Z,1629046408.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:53:29.194Z,1629046409.194 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:53:30.084Z,1629046410.084 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165329.79*5A

2021-08-15T16:53:30.509Z,1629046410.509 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:53:32.405Z,1629046412.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,187,80,80,17,FF
2021-08-15T16:53:32.405Z,1629046412.405 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,187,80,80,17,FF
2021-08-15T16:53:32.406Z,1629046412.406 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T16:53:33.254Z,1629046413.254 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:53:33.629Z,1629046413.629 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:53:33.629Z,1629046413.629 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:53:33.629Z,1629046413.629 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:53:33.630Z,1629046413.630 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:53:34.033Z,1629046414.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,187,80,80,17,FF
2021-08-15T16:53:34.033Z,1629046414.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:53:34.033Z,1629046414.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:53:34.035Z,1629046414.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:53:34.435Z,1629046414.435 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:53:34.499Z,1629046414.499 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T16:53:35.264Z,1629046415.264 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165335.08*51

2021-08-15T16:53:36.059Z,1629046416.059 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:53:37.657Z,1629046417.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,187,80,80,17,FF
2021-08-15T16:53:37.657Z,1629046417.657 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,187,80,80,17,FF
2021-08-15T16:53:37.657Z,1629046417.657 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T16:53:38.887Z,1629046418.887 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:53:39.276Z,1629046419.276 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:53:39.277Z,1629046419.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:53:39.277Z,1629046419.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:53:39.279Z,1629046419.279 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:53:39.697Z,1629046419.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,187,80,80,17,FF
2021-08-15T16:53:39.698Z,1629046419.698 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:53:39.698Z,1629046419.698 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:53:39.699Z,1629046419.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:53:40.091Z,1629046420.091 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:53:40.906Z,1629046420.906 [Micromodem](INFO): Nmea in: $SNTTA,0.086484,,,,165340.74*40

2021-08-15T16:53:41.799Z,1629046421.799 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:53:43.326Z,1629046423.326 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,187,80,80,17,FF
2021-08-15T16:53:43.326Z,1629046423.326 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,187,80,80,17,FF
2021-08-15T16:53:43.326Z,1629046423.326 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T16:53:44.569Z,1629046424.569 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:53:44.945Z,1629046424.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:53:44.945Z,1629046424.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:53:44.945Z,1629046424.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:53:44.946Z,1629046424.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:53:45.354Z,1629046425.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,187,80,80,17,FF
2021-08-15T16:53:45.354Z,1629046425.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:53:45.354Z,1629046425.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:53:45.356Z,1629046425.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:53:45.740Z,1629046425.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:53:46.175Z,1629046426.175 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F12,000,00723,188,80,80,19,FF
2021-08-15T16:53:46.175Z,1629046426.175 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:53:46.573Z,1629046426.573 [Micromodem](INFO): Nmea in: $SNTTA,0.057786,,,,165346.40*4C

2021-08-15T16:53:46.624Z,1629046426.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.120010 m, bearing: 235.104592 deg, deltaT: 26.428909 s, approachRate: -1.920624 m/s, LOS rate: -0.056404 deg/s, posRepo size: 4
2021-08-15T16:53:48.983Z,1629046428.983 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:53:49.373Z,1629046429.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:53:49.373Z,1629046429.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:53:49.374Z,1629046429.374 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:53:49.375Z,1629046429.375 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:53:49.797Z,1629046429.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F12,000,00723,188,80,80,19,FF
2021-08-15T16:53:49.797Z,1629046429.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:53:49.797Z,1629046429.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:53:49.799Z,1629046429.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:53:50.193Z,1629046430.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:53:50.590Z,1629046430.590 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEF,000,00ADD,183,80,80,32,FF
2021-08-15T16:53:50.591Z,1629046430.591 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:53:51.009Z,1629046431.009 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165350.84*56

2021-08-15T16:53:51.026Z,1629046431.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.360001 m, bearing: 223.293637 deg, deltaT: 4.365593 s, approachRate: 13.111619 m/s, LOS rate: -2.705464 deg/s, posRepo size: 4
2021-08-15T16:53:53.467Z,1629046433.467 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:53:53.817Z,1629046433.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:53:53.818Z,1629046433.818 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:53:53.818Z,1629046433.818 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:53:53.819Z,1629046433.819 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:53:54.217Z,1629046434.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEF,000,00ADD,183,80,80,32,FF
2021-08-15T16:53:54.217Z,1629046434.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:53:54.217Z,1629046434.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:53:54.219Z,1629046434.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:53:54.633Z,1629046434.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:53:55.097Z,1629046435.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE5,000,00AEA,183,80,80,36,FF
2021-08-15T16:53:55.098Z,1629046435.098 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:53:55.489Z,1629046435.489 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165355.26*5B

2021-08-15T16:53:55.545Z,1629046435.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.139999 m, bearing: 223.408343 deg, deltaT: 4.493515 s, approachRate: 0.173583 m/s, LOS rate: 0.025527 deg/s, posRepo size: 4
2021-08-15T16:53:57.891Z,1629046437.891 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:53:58.276Z,1629046438.276 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:53:58.277Z,1629046438.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:53:58.277Z,1629046438.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:53:58.279Z,1629046438.279 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:53:58.665Z,1629046438.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE5,000,00AEA,183,80,80,36,FF
2021-08-15T16:53:58.665Z,1629046438.665 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:53:58.665Z,1629046438.665 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:53:58.667Z,1629046438.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:53:59.072Z,1629046439.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:53:59.489Z,1629046439.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,024,000,00AFC,184,80,80,37,FF
2021-08-15T16:53:59.489Z,1629046439.489 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:53:59.917Z,1629046439.917 [Micromodem](INFO): Nmea in: $SNTTA,0.086854,,,,165359.71*4C

2021-08-15T16:53:59.968Z,1629046439.968 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.220001 m, bearing: 219.920917 deg, deltaT: 4.427077 s, approachRate: 0.243954 m/s, LOS rate: -0.787749 deg/s, posRepo size: 4
2021-08-15T16:54:02.390Z,1629046442.390 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:54:02.705Z,1629046442.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:54:02.705Z,1629046442.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:54:02.705Z,1629046442.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:54:02.706Z,1629046442.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:54:03.121Z,1629046443.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
024,000,00AFC,184,80,80,37,FF
2021-08-15T16:54:03.121Z,1629046443.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:54:03.121Z,1629046443.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:54:03.123Z,1629046443.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:54:03.528Z,1629046443.528 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:54:04.362Z,1629046444.362 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165404.17*5A

2021-08-15T16:54:05.138Z,1629046445.138 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB4,000,0377E,185,80,80,26,FF
2021-08-15T16:54:05.138Z,1629046445.138 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:54:05.583Z,1629046445.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 814.860046 m, bearing: 225.727370 deg, deltaT: 5.617730 s, approachRate: 121.693283 m/s, LOS rate: 1.033594 deg/s, posRepo size: 4
2021-08-15T16:54:07.977Z,1629046447.977 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:54:08.432Z,1629046448.432 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:54:08.432Z,1629046448.432 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:54:08.432Z,1629046448.432 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:54:08.433Z,1629046448.433 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:54:08.793Z,1629046448.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB4,000,0377E,185,80,80,26,FF
2021-08-15T16:54:08.793Z,1629046448.793 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:54:08.793Z,1629046448.793 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:54:08.795Z,1629046448.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:54:09.201Z,1629046449.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:54:10.018Z,1629046450.018 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165409.84*5D

2021-08-15T16:54:10.531Z,1629046450.531 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:54:10.830Z,1629046450.830 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03C,000,0377E,185,80,80,26,FF
2021-08-15T16:54:10.830Z,1629046450.830 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:54:11.240Z,1629046451.240 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 814.860046 m, bearing: 218.572774 deg, deltaT: 5.716078 s, approachRate: 0.000000 m/s, LOS rate: -1.251662 deg/s, posRepo size: 4
2021-08-15T16:54:13.641Z,1629046453.641 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:54:14.034Z,1629046454.034 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:54:14.034Z,1629046454.034 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:54:14.034Z,1629046454.034 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:54:14.035Z,1629046454.035 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:54:14.430Z,1629046454.430 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03C,000,0377E,185,80,80,26,FF
2021-08-15T16:54:14.430Z,1629046454.430 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:54:14.430Z,1629046454.430 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:54:14.434Z,1629046454.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:54:14.849Z,1629046454.849 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:54:15.670Z,1629046455.670 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165415.48*50

2021-08-15T16:54:16.517Z,1629046456.517 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:54:18.066Z,1629046458.066 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,185,80,80,26,FF
2021-08-15T16:54:18.066Z,1629046458.066 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,185,80,80,26,FF
2021-08-15T16:54:18.067Z,1629046458.067 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T16:54:19.355Z,1629046459.355 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:54:19.673Z,1629046459.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:54:19.673Z,1629046459.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:54:19.674Z,1629046459.674 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:54:19.674Z,1629046459.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:54:20.086Z,1629046460.086 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,185,80,80,26,FF
2021-08-15T16:54:20.087Z,1629046460.087 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:54:20.087Z,1629046460.087 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:54:20.094Z,1629046460.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:54:20.509Z,1629046460.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:54:21.333Z,1629046461.333 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165421.13*59

2021-08-15T16:54:22.339Z,1629046462.339 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:54:23.365Z,1629046463.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,185,80,80,26,FF
2021-08-15T16:54:23.366Z,1629046463.366 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,185,80,80,26,FF
2021-08-15T16:54:23.366Z,1629046463.366 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T16:54:24.990Z,1629046464.990 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:54:25.361Z,1629046465.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:54:25.361Z,1629046465.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:54:25.361Z,1629046465.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:54:25.362Z,1629046465.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:54:25.741Z,1629046465.741 [DUSBL_Hydroid](INFO): DUSBL response received:0,80,63,E4
!U1,P

E,185,80,80,26,FF
2021-08-15T16:54:25.741Z,1629046465.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:54:25.741Z,1629046465.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:54:25.743Z,1629046465.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:54:26.185Z,1629046466.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:54:26.982Z,1629046466.982 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165426.79*52

2021-08-15T16:54:27.790Z,1629046467.790 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:54:29.377Z,1629046469.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,185,80,80,26,FF
2021-08-15T16:54:29.377Z,1629046469.377 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,185,80,80,26,FF
2021-08-15T16:54:29.377Z,1629046469.377 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T16:54:30.632Z,1629046470.632 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:54:31.001Z,1629046471.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:54:31.001Z,1629046471.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:54:31.001Z,1629046471.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:54:31.002Z,1629046471.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:54:31.402Z,1629046471.402 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,185,80,80,26,FF
2021-08-15T16:54:31.402Z,1629046471.402 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:54:31.402Z,1629046471.402 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:54:31.404Z,1629046471.404 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:54:31.804Z,1629046471.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:54:32.209Z,1629046472.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,071,000,00B6B,186,80,80,61,FF
2021-08-15T16:54:32.210Z,1629046472.210 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:54:32.650Z,1629046472.650 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165432.44*59

2021-08-15T16:54:32.691Z,1629046472.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.880005 m, bearing: 215.102587 deg, deltaT: 21.446440 s, approachRate: -31.566080 m/s, LOS rate: -0.161807 deg/s, posRepo size: 4
2021-08-15T16:54:35.082Z,1629046475.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:54:35.521Z,1629046475.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:54:35.521Z,1629046475.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:54:35.521Z,1629046475.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:54:35.522Z,1629046475.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:54:35.921Z,1629046475.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
071,000,00B6B,186,80,80,61,FF
2021-08-15T16:54:35.921Z,1629046475.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:54:35.922Z,1629046475.922 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:54:35.923Z,1629046475.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:54:36.265Z,1629046476.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:54:37.146Z,1629046477.146 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB8,000,00B7E,185,80,80,23,FF
2021-08-15T16:54:37.146Z,1629046477.146 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:54:37.149Z,1629046477.149 [Micromodem](INFO): Nmea in: $SNTTA,0.242734,,,,165436.96*48

2021-08-15T16:54:37.531Z,1629046477.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.020004 m, bearing: 225.338664 deg, deltaT: 4.882514 s, approachRate: 0.233486 m/s, LOS rate: 2.096477 deg/s, posRepo size: 4
2021-08-15T16:54:39.917Z,1629046479.917 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:54:40.296Z,1629046480.296 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:54:40.297Z,1629046480.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:54:40.297Z,1629046480.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:54:40.299Z,1629046480.299 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:54:40.697Z,1629046480.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB8,000,00B7E,185,80,80,23,FF
2021-08-15T16:54:40.697Z,1629046480.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:54:40.697Z,1629046480.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:54:40.699Z,1629046480.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:54:41.096Z,1629046481.096 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:54:41.930Z,1629046481.930 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165441.74*5E

2021-08-15T16:54:42.742Z,1629046482.742 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:54:44.361Z,1629046484.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,185,80,80,23,FF
2021-08-15T16:54:44.361Z,1629046484.361 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,185,80,80,23,FF
2021-08-15T16:54:44.361Z,1629046484.361 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T16:54:45.579Z,1629046485.579 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:54:45.941Z,1629046485.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:54:45.941Z,1629046485.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:54:45.941Z,1629046485.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:54:45.942Z,1629046485.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:54:46.354Z,1629046486.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,185,80,80,23,FF
2021-08-15T16:54:46.354Z,1629046486.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:54:46.354Z,1629046486.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:54:46.356Z,1629046486.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:54:46.756Z,1629046486.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:54:47.154Z,1629046487.154 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E5,000,00B9B,186,80,80,99,FF
2021-08-15T16:54:47.154Z,1629046487.154 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:54:47.589Z,1629046487.589 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165447.40*5F

2021-08-15T16:54:47.628Z,1629046487.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.760010 m, bearing: 208.811628 deg, deltaT: 9.967530 s, approachRate: 0.174567 m/s, LOS rate: -1.658087 deg/s, posRepo size: 4
2021-08-15T16:54:47.629Z,1629046487.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 140.76 m. Resuming terminal guidance.
2021-08-15T16:54:47.629Z,1629046487.629 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-15T16:54:48.739Z,1629046488.739 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-08-15T16:54:48.742Z,1629046488.742 [BPC1](INFO): Received data from all battery sticks.
2021-08-15T16:54:50.019Z,1629046490.019 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:54:50.385Z,1629046490.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:54:50.385Z,1629046490.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:54:50.385Z,1629046490.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:54:50.386Z,1629046490.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:54:50.786Z,1629046490.786 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E5,000,00B9B,186,80,80,99,FF
2021-08-15T16:54:50.786Z,1629046490.786 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:54:50.786Z,1629046490.786 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:54:50.788Z,1629046490.788 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:54:51.189Z,1629046491.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:54:51.594Z,1629046491.594 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B3,000,00BAB,186,80,80,9E,FF
2021-08-15T16:54:51.594Z,1629046491.594 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:54:52.043Z,1629046492.043 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165451.83*57

2021-08-15T16:54:52.068Z,1629046492.068 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.720001 m, bearing: 212.960749 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-15T16:54:52.069Z,1629046492.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 212.960749deg and heading rate command to 0 deg/s.
2021-08-15T16:54:54.491Z,1629046494.491 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:54:54.825Z,1629046494.825 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:54:54.825Z,1629046494.825 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:54:54.825Z,1629046494.825 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:54:54.826Z,1629046494.826 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:54:55.237Z,1629046495.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B3,000,00BAB,186,80,80,9E,FF
2021-08-15T16:54:55.238Z,1629046495.238 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:54:55.238Z,1629046495.238 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:54:55.239Z,1629046495.239 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:54:55.641Z,1629046495.641 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:54:56.046Z,1629046496.046 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,093,000,00BC6,186,80,80,9C,FF
2021-08-15T16:54:56.046Z,1629046496.046 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:54:56.481Z,1629046496.481 [Micromodem](INFO): Nmea in: $SNTTA,,0.334738,,,165456.28*47

2021-08-15T16:54:56.554Z,1629046496.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.339996 m, bearing: 213.566000 deg, deltaT: 4.494279 s, approachRate: 0.360457 m/s, LOS rate: 0.134671 deg/s, posRepo size: 2
2021-08-15T16:54:56.560Z,1629046496.560 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 143.339996 m,
      bearing: 213.566000 deg,
      approachRate: 0.360457 m/s,
      LOS rate: 0.134671 deg/s,
      cmd update: 0.538685 deg/s,
      cmd heading: 212.960749 deg,
      new cmd heading: 212.960749 deg.

2021-08-15T16:54:58.890Z,1629046498.890 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:54:59.284Z,1629046499.284 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:54:59.285Z,1629046499.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:54:59.285Z,1629046499.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:54:59.287Z,1629046499.287 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:54:59.673Z,1629046499.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
093,000,00BC6,186,80,80,9C,FF
2021-08-15T16:54:59.673Z,1629046499.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:54:59.673Z,1629046499.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:54:59.675Z,1629046499.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:55:00.126Z,1629046500.126 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:55:00.501Z,1629046500.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CD6,000,00BE4,189,80,80,92,FF
2021-08-15T16:55:00.502Z,1629046500.502 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:55:00.921Z,1629046500.921 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165500.72*5C

2021-08-15T16:55:00.955Z,1629046500.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.140015 m, bearing: 256.095867 deg, deltaT: 4.412621 s, approachRate: 0.407925 m/s, LOS rate: 9.638233 deg/s, posRepo size: 3
2021-08-15T16:55:00.958Z,1629046500.958 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.140015 m,
      bearing: 256.095867 deg,
      approachRate: 0.407925 m/s,
      LOS rate: 9.638233 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 215.348959 deg,
      new cmd heading: 215.564382 deg.

2021-08-15T16:55:03.368Z,1629046503.368 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:55:03.721Z,1629046503.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:55:03.721Z,1629046503.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:55:03.721Z,1629046503.721 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:55:03.722Z,1629046503.722 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:55:04.169Z,1629046504.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CD6,000,00BE4,189,80,80,92,FF
2021-08-15T16:55:04.169Z,1629046504.169 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:55:04.169Z,1629046504.169 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:55:04.171Z,1629046504.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:55:04.575Z,1629046504.575 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:55:04.961Z,1629046504.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DC,000,00C0A,189,80,80,92,FF
2021-08-15T16:55:04.962Z,1629046504.962 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:55:05.397Z,1629046505.397 [Micromodem](INFO): Nmea in: $SNTTA,0.100332,,,,165505.22*41

2021-08-15T16:55:05.446Z,1629046505.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.420013 m, bearing: 191.096071 deg, deltaT: 4.452248 s, approachRate: 0.512101 m/s, LOS rate: -14.599321 deg/s, posRepo size: 4
2021-08-15T16:55:05.447Z,1629046505.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -14.599321 deg/s. Setting heading cmd to target bearing of 191.096071deg and heading rate command to 0 deg/s.
2021-08-15T16:55:07.827Z,1629046507.827 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:55:08.193Z,1629046508.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:55:08.193Z,1629046508.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:55:08.193Z,1629046508.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:55:08.194Z,1629046508.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:55:08.601Z,1629046508.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DC,000,00C0A,189,80,80,92,FF
2021-08-15T16:55:08.601Z,1629046508.601 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:55:08.602Z,1629046508.602 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:55:08.603Z,1629046508.603 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:55:09.016Z,1629046509.016 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:55:09.426Z,1629046509.426 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E28,000,00C30,186,80,80,82,FF
2021-08-15T16:55:09.427Z,1629046509.427 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:55:09.861Z,1629046509.861 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165509.64*52

2021-08-15T16:55:09.883Z,1629046509.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.699997 m, bearing: 254.803431 deg, deltaT: 4.453582 s, approachRate: 0.511944 m/s, LOS rate: 14.304746 deg/s, posRepo size: 4
2021-08-15T16:55:09.884Z,1629046509.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 14.304746 deg/s. Setting heading cmd to target bearing of 254.803431deg and heading rate command to 0 deg/s.
2021-08-15T16:55:12.326Z,1629046512.326 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:55:12.656Z,1629046512.656 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:55:12.656Z,1629046512.656 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:55:12.656Z,1629046512.656 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:55:12.657Z,1629046512.657 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:55:13.049Z,1629046513.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E28,000,00C30,186,80,80,82,FF
2021-08-15T16:55:13.049Z,1629046513.049 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:55:13.049Z,1629046513.049 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:55:13.051Z,1629046513.051 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:55:13.461Z,1629046513.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:55:13.853Z,1629046513.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E46,000,00C50,187,80,80,82,FF
2021-08-15T16:55:13.854Z,1629046513.854 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:55:14.313Z,1629046514.313 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165514.10*5D

2021-08-15T16:55:14.369Z,1629046514.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.620010 m, bearing: 265.428664 deg, deltaT: 4.440966 s, approachRate: 0.432341 m/s, LOS rate: 2.392550 deg/s, posRepo size: 4
2021-08-15T16:55:14.371Z,1629046514.371 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.620010 m,
      bearing: 265.428664 deg,
      approachRate: 0.432341 m/s,
      LOS rate: 2.392550 deg/s,
      cmd update: 9.570201 deg/s,
      cmd heading: 254.803431 deg,
      new cmd heading: 254.803431 deg.

2021-08-15T16:55:16.717Z,1629046516.717 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:55:17.081Z,1629046517.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:55:17.081Z,1629046517.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:55:17.081Z,1629046517.081 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:55:17.082Z,1629046517.082 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:55:17.502Z,1629046517.502 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E46,000,00C50,187,80,80,82,FF
2021-08-15T16:55:17.502Z,1629046517.502 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:55:17.502Z,1629046517.502 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:55:17.505Z,1629046517.505 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:55:17.900Z,1629046517.900 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:55:18.306Z,1629046518.306 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB2,000,00C6C,187,80,80,82,FF
2021-08-15T16:55:18.306Z,1629046518.306 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:55:18.729Z,1629046518.729 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165518.55*50

2021-08-15T16:55:18.788Z,1629046518.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 153.300018 m, bearing: 269.167209 deg, deltaT: 4.467350 s, approachRate: 0.376064 m/s, LOS rate: 0.836860 deg/s, posRepo size: 4
2021-08-15T16:55:18.790Z,1629046518.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 153.300018 m,
      bearing: 269.167209 deg,
      approachRate: 0.376064 m/s,
      LOS rate: 0.836860 deg/s,
      cmd update: 3.347439 deg/s,
      cmd heading: 297.595540 deg,
      new cmd heading: 301.557603 deg.

2021-08-15T16:55:19.940Z,1629046519.940 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T16:55:21.163Z,1629046521.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:55:21.526Z,1629046521.526 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:55:21.526Z,1629046521.526 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:55:21.526Z,1629046521.526 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:55:21.527Z,1629046521.527 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:55:21.929Z,1629046521.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB2,000,00C6C,187,80,80,82,FF
2021-08-15T16:55:21.929Z,1629046521.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:55:21.929Z,1629046521.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:55:21.931Z,1629046521.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:55:22.347Z,1629046522.347 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:55:22.741Z,1629046522.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE0,000,00C8A,189,80,80,82,FF
2021-08-15T16:55:22.742Z,1629046522.742 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:55:23.174Z,1629046523.174 [Micromodem](INFO): Nmea in: $SNTTA,0.026384,,,,165522.98*4D

2021-08-15T16:55:23.215Z,1629046523.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.100006 m, bearing: 306.060831 deg, deltaT: 4.393108 s, approachRate: 0.409730 m/s, LOS rate: 8.398068 deg/s, posRepo size: 4
2021-08-15T16:55:23.218Z,1629046523.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.100006 m,
      bearing: 306.060831 deg,
      approachRate: 0.409730 m/s,
      LOS rate: 8.398068 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 312.300105 deg,
      new cmd heading: 313.816213 deg.

2021-08-15T16:55:25.635Z,1629046525.635 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:55:25.973Z,1629046525.973 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:55:25.973Z,1629046525.973 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:55:25.974Z,1629046525.974 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:55:25.975Z,1629046525.975 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:55:26.405Z,1629046526.405 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CE0,000,00C8A,189,80,80,82,FF
2021-08-15T16:55:26.406Z,1629046526.406 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:55:26.406Z,1629046526.406 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:55:26.441Z,1629046526.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:55:26.781Z,1629046526.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:55:27.149Z,1629046527.149 [CTD_Seabird](ERROR): Failed to parse device response: .71
2021-08-15T16:55:27.589Z,1629046527.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C3,000,00C94,186,80,80,5B,FF
2021-08-15T16:55:27.590Z,1629046527.590 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:55:28.016Z,1629046528.016 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165527.51*58

2021-08-15T16:55:28.046Z,1629046528.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.700012 m, bearing: 261.403552 deg, deltaT: 4.862537 s, approachRate: 0.123394 m/s, LOS rate: -9.183947 deg/s, posRepo size: 4
2021-08-15T16:55:28.050Z,1629046528.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 155.700012 m,
      bearing: 261.403552 deg,
      approachRate: 0.123394 m/s,
      LOS rate: -9.183947 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 10.566827 deg,
      new cmd heading: 15.701711 deg.

2021-08-15T16:55:30.523Z,1629046530.523 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:55:30.813Z,1629046530.813 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:55:30.813Z,1629046530.813 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:55:30.813Z,1629046530.813 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:55:30.814Z,1629046530.814 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:55:31.229Z,1629046531.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C3,000,00C94,186,80,80,5B,FF
2021-08-15T16:55:31.229Z,1629046531.229 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:55:31.229Z,1629046531.229 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:55:31.231Z,1629046531.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:55:31.635Z,1629046531.635 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:55:32.030Z,1629046532.030 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD2,000,00C96,186,80,80,5B,FF
2021-08-15T16:55:32.030Z,1629046532.030 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:55:32.474Z,1629046532.474 [Micromodem](INFO): Nmea in: $SNTTA,0.103531,,,,165532.28*49

2021-08-15T16:55:32.539Z,1629046532.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.819992 m, bearing: 330.687597 deg, deltaT: 4.513384 s, approachRate: 0.026583 m/s, LOS rate: 15.350797 deg/s, posRepo size: 4
2021-08-15T16:55:32.545Z,1629046532.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.350797 deg/s. Setting heading cmd to target bearing of 330.687597deg and heading rate command to 0 deg/s.
2021-08-15T16:55:34.884Z,1629046534.884 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:55:35.276Z,1629046535.276 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:55:35.276Z,1629046535.276 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:55:35.276Z,1629046535.276 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:55:35.277Z,1629046535.277 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:55:35.669Z,1629046535.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD2,000,00C96,186,80,80,5B,FF
2021-08-15T16:55:35.669Z,1629046535.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:55:35.669Z,1629046535.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:55:35.671Z,1629046535.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:55:36.084Z,1629046536.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:55:36.509Z,1629046536.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00C8C,189,80,80,A2,FF
2021-08-15T16:55:36.509Z,1629046536.509 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:55:36.925Z,1629046536.925 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165536.72*59

2021-08-15T16:55:36.985Z,1629046536.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.220001 m, bearing: 26.400821 deg, deltaT: 4.460655 s, approachRate: -0.134507 m/s, LOS rate: 12.489918 deg/s, posRepo size: 4
2021-08-15T16:55:36.987Z,1629046536.987 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.489918 deg/s. Setting heading cmd to target bearing of 26.400821deg and heading rate command to 0 deg/s.
2021-08-15T16:55:39.351Z,1629046539.351 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:55:39.721Z,1629046539.721 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:55:39.721Z,1629046539.721 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:55:39.722Z,1629046539.722 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:55:39.723Z,1629046539.723 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:55:40.165Z,1629046540.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00C8C,189,80,80,A2,FF
2021-08-15T16:55:40.165Z,1629046540.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:55:40.165Z,1629046540.165 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:55:40.167Z,1629046540.167 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:55:40.583Z,1629046540.583 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:55:41.415Z,1629046541.415 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165541.21*5F

2021-08-15T16:55:42.295Z,1629046542.295 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:55:43.809Z,1629046543.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,189,80,80,A2,FF
2021-08-15T16:55:43.810Z,1629046543.810 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,189,80,80,A2,FF
2021-08-15T16:55:43.810Z,1629046543.810 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T16:55:45.047Z,1629046545.047 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:55:45.430Z,1629046545.430 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:55:45.430Z,1629046545.430 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:55:45.431Z,1629046545.431 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:55:45.431Z,1629046545.431 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:55:45.829Z,1629046545.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,189,80,80,A2,FF
2021-08-15T16:55:45.829Z,1629046545.829 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:55:45.829Z,1629046545.829 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:55:45.831Z,1629046545.831 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:55:46.292Z,1629046546.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:55:46.688Z,1629046546.688 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DAF,000,00C45,189,80,80,A0,FF
2021-08-15T16:55:46.688Z,1629046546.688 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:55:47.099Z,1629046547.099 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165546.87*54

2021-08-15T16:55:47.128Z,1629046547.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 150.960007 m, bearing: 36.143633 deg, deltaT: 10.172676 s, approachRate: -0.418768 m/s, LOS rate: 0.957743 deg/s, posRepo size: 4
2021-08-15T16:55:47.130Z,1629046547.130 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.960007 m,
      bearing: 36.143633 deg,
      approachRate: -0.418768 m/s,
      LOS rate: 0.957743 deg/s,
      cmd update: 3.830973 deg/s,
      cmd heading: 26.400821 deg,
      new cmd heading: 26.400821 deg.

2021-08-15T16:55:49.543Z,1629046549.543 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:55:49.913Z,1629046549.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:55:49.913Z,1629046549.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:55:49.913Z,1629046549.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:55:49.914Z,1629046549.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:55:50.337Z,1629046550.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DAF,000,00C45,189,80,80,A0,FF
2021-08-15T16:55:50.337Z,1629046550.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:55:50.337Z,1629046550.337 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:55:50.339Z,1629046550.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:55:50.733Z,1629046550.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:55:51.129Z,1629046551.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD3,000,00C17,185,80,80,A0,FF
2021-08-15T16:55:51.130Z,1629046551.130 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:55:51.553Z,1629046551.553 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165551.38*56

2021-08-15T16:55:51.637Z,1629046551.637 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.200012 m, bearing: 28.295151 deg, deltaT: 4.411657 s, approachRate: -0.625614 m/s, LOS rate: -1.779033 deg/s, posRepo size: 4
2021-08-15T16:55:51.639Z,1629046551.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.200012 m,
      bearing: 28.295151 deg,
      approachRate: -0.625614 m/s,
      LOS rate: -1.779033 deg/s,
      cmd update: -7.116130 deg/s,
      cmd heading: 43.514269 deg,
      new cmd heading: 45.250098 deg.

2021-08-15T16:55:53.979Z,1629046553.979 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:55:54.365Z,1629046554.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:55:54.365Z,1629046554.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:55:54.365Z,1629046554.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:55:54.366Z,1629046554.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:55:54.769Z,1629046554.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD3,000,00C17,185,80,80,A0,FF
2021-08-15T16:55:54.769Z,1629046554.769 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:55:54.769Z,1629046554.769 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:55:54.771Z,1629046554.771 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:55:55.177Z,1629046555.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:55:55.574Z,1629046555.574 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,199,000,00BEB,185,80,80,A0,FF
2021-08-15T16:55:55.574Z,1629046555.574 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:55:56.011Z,1629046556.011 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165555.82*53

2021-08-15T16:55:56.031Z,1629046556.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.560013 m, bearing: 25.214019 deg, deltaT: 4.490974 s, approachRate: -0.587846 m/s, LOS rate: -0.686072 deg/s, posRepo size: 4
2021-08-15T16:55:56.034Z,1629046556.034 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.560013 m,
      bearing: 25.214019 deg,
      approachRate: -0.587846 m/s,
      LOS rate: -0.686072 deg/s,
      cmd update: -2.744289 deg/s,
      cmd heading: 11.606893 deg,
      new cmd heading: 8.988142 deg.

2021-08-15T16:55:58.502Z,1629046558.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:55:58.801Z,1629046558.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:55:58.801Z,1629046558.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:55:58.801Z,1629046558.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:55:58.802Z,1629046558.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:55:59.210Z,1629046559.210 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
199,000,00BEB,185,80,80,A0,FF
2021-08-15T16:55:59.210Z,1629046559.210 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:55:59.210Z,1629046559.210 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:55:59.212Z,1629046559.212 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:55:59.613Z,1629046559.613 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:56:00.017Z,1629046560.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,151,000,00BBC,186,80,80,84,FF
2021-08-15T16:56:00.017Z,1629046560.017 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:56:00.437Z,1629046560.437 [Micromodem](INFO): Nmea in: $SNTTA,0.095022,0.348178,,,165600.25*50

2021-08-15T16:56:00.503Z,1629046560.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 142.740005 m, bearing: 26.206749 deg, deltaT: 4.370361 s, approachRate: -0.645257 m/s, LOS rate: 0.227151 deg/s, posRepo size: 4
2021-08-15T16:56:00.510Z,1629046560.510 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.740005 m,
      bearing: 26.206749 deg,
      approachRate: -0.645257 m/s,
      LOS rate: 0.227151 deg/s,
      cmd update: 0.908603 deg/s,
      cmd heading: 359.582796 deg,
      new cmd heading: 358.343448 deg.

2021-08-15T16:56:02.859Z,1629046562.859 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:56:03.254Z,1629046563.254 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:56:03.254Z,1629046563.254 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:56:03.254Z,1629046563.254 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:56:03.255Z,1629046563.255 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:56:03.649Z,1629046563.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
151,000,00BBC,186,80,80,84,FF
2021-08-15T16:56:03.649Z,1629046563.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:56:03.649Z,1629046563.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:56:03.651Z,1629046563.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:56:04.058Z,1629046564.058 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:56:04.465Z,1629046564.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB4,000,00B8C,184,80,80,9F,FF
2021-08-15T16:56:04.465Z,1629046564.465 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:56:04.905Z,1629046564.905 [Micromodem](INFO): Nmea in: $SNTTA,0.095844,,,,165604.69*4B

2021-08-15T16:56:04.923Z,1629046564.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.860001 m, bearing: 31.513181 deg, deltaT: 4.505208 s, approachRate: -0.639261 m/s, LOS rate: 1.177844 deg/s, posRepo size: 4
2021-08-15T16:56:04.926Z,1629046564.926 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.860001 m,
      bearing: 31.513181 deg,
      approachRate: -0.639261 m/s,
      LOS rate: 1.177844 deg/s,
      cmd update: 4.711376 deg/s,
      cmd heading: 3.674485 deg,
      new cmd heading: 4.015517 deg.

2021-08-15T16:56:07.341Z,1629046567.341 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:56:07.689Z,1629046567.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:56:07.689Z,1629046567.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:56:07.689Z,1629046567.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:56:07.690Z,1629046567.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:56:08.117Z,1629046568.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB4,000,00B8C,184,80,80,9F,FF
2021-08-15T16:56:08.117Z,1629046568.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:56:08.118Z,1629046568.118 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:56:08.123Z,1629046568.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:56:08.517Z,1629046568.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:56:08.914Z,1629046568.914 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E87,000,00B5B,186,80,80,9F,FF
2021-08-15T16:56:08.914Z,1629046568.914 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:56:09.377Z,1629046569.377 [Micromodem](INFO): Nmea in: $SNTTA,0.093486,,,,165609.18*44

2021-08-15T16:56:09.442Z,1629046569.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.919998 m, bearing: 33.922114 deg, deltaT: 4.406521 s, approachRate: -0.667194 m/s, LOS rate: 0.546674 deg/s, posRepo size: 4
2021-08-15T16:56:09.450Z,1629046569.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.919998 m,
      bearing: 33.922114 deg,
      approachRate: -0.667194 m/s,
      LOS rate: 0.546674 deg/s,
      cmd update: 2.186698 deg/s,
      cmd heading: 24.348020 deg,
      new cmd heading: 26.704528 deg.

2021-08-15T16:56:11.800Z,1629046571.800 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:56:12.181Z,1629046572.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:56:12.181Z,1629046572.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:56:12.181Z,1629046572.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:56:12.182Z,1629046572.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:56:12.561Z,1629046572.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E87,000,00B5B,186,80,80,9F,FF
2021-08-15T16:56:12.562Z,1629046572.562 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:56:12.562Z,1629046572.562 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:56:12.563Z,1629046572.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:56:12.961Z,1629046572.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:56:13.365Z,1629046573.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB4,000,00B26,185,80,80,A2,FF
2021-08-15T16:56:13.365Z,1629046573.365 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:56:13.797Z,1629046573.797 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165613.61*5F

2021-08-15T16:56:13.819Z,1629046573.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.740005 m, bearing: 25.786269 deg, deltaT: 4.447199 s, approachRate: -0.715055 m/s, LOS rate: -1.829431 deg/s, posRepo size: 4
2021-08-15T16:56:13.855Z,1629046573.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 133.740005 m,
      bearing: 25.786269 deg,
      approachRate: -0.715055 m/s,
      LOS rate: -1.829431 deg/s,
      cmd update: -7.317725 deg/s,
      cmd heading: 34.108930 deg,
      new cmd heading: 35.026304 deg.

2021-08-15T16:56:16.251Z,1629046576.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:56:16.593Z,1629046576.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:56:16.593Z,1629046576.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:56:16.593Z,1629046576.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:56:16.594Z,1629046576.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:56:17.005Z,1629046577.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB4,000,00B26,185,80,80,A2,FF
2021-08-15T16:56:17.005Z,1629046577.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:56:17.005Z,1629046577.005 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:56:17.007Z,1629046577.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:56:17.413Z,1629046577.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:56:18.242Z,1629046578.242 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165618.05*56

2021-08-15T16:56:19.051Z,1629046579.051 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:56:20.637Z,1629046580.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,185,80,80,A2,FF
2021-08-15T16:56:20.637Z,1629046580.637 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,185,80,80,A2,FF
2021-08-15T16:56:20.637Z,1629046580.637 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T16:56:21.874Z,1629046581.874 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:56:22.247Z,1629046582.247 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:56:22.247Z,1629046582.247 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:56:22.248Z,1629046582.248 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:56:22.250Z,1629046582.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:56:22.657Z,1629046582.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,185,80,80,A2,FF
2021-08-15T16:56:22.657Z,1629046582.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:56:22.657Z,1629046582.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:56:22.659Z,1629046582.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:56:23.060Z,1629046583.060 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:56:23.473Z,1629046583.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC1,000,00AAF,184,80,80,96,FF
2021-08-15T16:56:23.473Z,1629046583.473 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:56:23.910Z,1629046583.910 [Micromodem](INFO): Nmea in: $SNTTA,0.087787,,,,165623.70*45

2021-08-15T16:56:23.932Z,1629046583.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.599998 m, bearing: 30.825194 deg, deltaT: 10.123708 s, approachRate: -0.705276 m/s, LOS rate: 0.497735 deg/s, posRepo size: 4
2021-08-15T16:56:23.934Z,1629046583.934 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.599998 m,
      bearing: 30.825194 deg,
      approachRate: -0.705276 m/s,
      LOS rate: 0.497735 deg/s,
      cmd update: 1.990940 deg/s,
      cmd heading: 319.996552 deg,
      new cmd heading: 317.039350 deg.

2021-08-15T16:56:26.356Z,1629046586.356 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:56:26.693Z,1629046586.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:56:26.693Z,1629046586.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:56:26.693Z,1629046586.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:56:26.694Z,1629046586.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:56:27.106Z,1629046587.106 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC1,000,00AAF,184,80,80,96,FF
2021-08-15T16:56:27.106Z,1629046587.106 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:56:27.106Z,1629046587.106 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:56:27.108Z,1629046587.108 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:56:27.504Z,1629046587.504 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:56:27.909Z,1629046587.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E25,000,00A78,186,80,80,A1,FF
2021-08-15T16:56:27.909Z,1629046587.909 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:56:28.359Z,1629046588.359 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165628.15*54

2021-08-15T16:56:28.448Z,1629046588.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.299995 m, bearing: 35.390239 deg, deltaT: 4.398454 s, approachRate: -0.750264 m/s, LOS rate: 1.037875 deg/s, posRepo size: 4
2021-08-15T16:56:28.451Z,1629046588.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.299995 m,
      bearing: 35.390239 deg,
      approachRate: -0.750264 m/s,
      LOS rate: 1.037875 deg/s,
      cmd update: 4.151500 deg/s,
      cmd heading: 328.753449 deg,
      new cmd heading: 329.781871 deg.

2021-08-15T16:56:30.775Z,1629046590.775 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:56:31.137Z,1629046591.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:56:31.137Z,1629046591.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:56:31.137Z,1629046591.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:56:31.138Z,1629046591.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:56:31.549Z,1629046591.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E25,000,00A78,186,80,80,A1,FF
2021-08-15T16:56:31.549Z,1629046591.549 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:56:31.550Z,1629046591.550 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:56:31.551Z,1629046591.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:56:31.958Z,1629046591.958 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:56:32.361Z,1629046592.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D9D,000,00A47,189,80,80,97,FF
2021-08-15T16:56:32.362Z,1629046592.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:56:32.801Z,1629046592.801 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165632.59*57

2021-08-15T16:56:32.823Z,1629046592.823 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.360008 m, bearing: 26.509856 deg, deltaT: 4.537979 s, approachRate: -0.647863 m/s, LOS rate: -1.956903 deg/s, posRepo size: 4
2021-08-15T16:56:32.826Z,1629046592.826 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 120.360008 m,
      bearing: 26.509856 deg,
      approachRate: -0.647863 m/s,
      LOS rate: -1.956903 deg/s,
      cmd update: -7.827610 deg/s,
      cmd heading: 347.576693 deg,
      new cmd heading: 349.084767 deg.

2021-08-15T16:56:35.213Z,1629046595.213 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:56:35.589Z,1629046595.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:56:35.589Z,1629046595.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:56:35.589Z,1629046595.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:56:35.590Z,1629046595.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:56:35.996Z,1629046595.996 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D9D,000,00A47,189,80,80,97,FF
2021-08-15T16:56:35.996Z,1629046595.996 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:56:35.997Z,1629046595.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:56:35.998Z,1629046595.998 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:56:36.400Z,1629046596.400 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:56:36.793Z,1629046596.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CF5,000,00A17,189,80,80,7C,FF
2021-08-15T16:56:36.794Z,1629046596.794 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:56:37.245Z,1629046597.245 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165637.04*5A

2021-08-15T16:56:37.269Z,1629046597.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.480003 m, bearing: 24.410770 deg, deltaT: 4.374622 s, approachRate: -0.658344 m/s, LOS rate: -0.479833 deg/s, posRepo size: 4
2021-08-15T16:56:37.291Z,1629046597.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.480003 m,
      bearing: 24.410770 deg,
      approachRate: -0.658344 m/s,
      LOS rate: -0.479833 deg/s,
      cmd update: -1.919330 deg/s,
      cmd heading: 313.305670 deg,
      new cmd heading: 309.936095 deg.

2021-08-15T16:56:39.689Z,1629046599.689 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:56:40.025Z,1629046600.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:56:40.025Z,1629046600.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:56:40.025Z,1629046600.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:56:40.026Z,1629046600.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:56:40.450Z,1629046600.450 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CF5,000,00A17,189,80,80,7C,FF
2021-08-15T16:56:40.450Z,1629046600.450 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:56:40.450Z,1629046600.450 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:56:40.452Z,1629046600.452 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:56:40.837Z,1629046600.837 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:56:41.649Z,1629046601.649 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165641.50*5A

2021-08-15T16:56:42.509Z,1629046602.509 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:56:44.061Z,1629046604.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,189,80,80,7C,FF
2021-08-15T16:56:44.061Z,1629046604.061 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,189,80,80,7C,FF
2021-08-15T16:56:44.061Z,1629046604.061 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T16:56:45.350Z,1629046605.350 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:56:45.677Z,1629046605.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:56:45.677Z,1629046605.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:56:45.677Z,1629046605.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:56:45.678Z,1629046605.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:56:46.098Z,1629046606.098 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,189,80,80,7C,FF
2021-08-15T16:56:46.098Z,1629046606.098 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:56:46.099Z,1629046606.099 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:56:46.107Z,1629046606.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:56:46.185Z,1629046606.185 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T16:56:46.520Z,1629046606.520 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:56:46.920Z,1629046606.920 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,009D6,189,80,80,A8,FF
2021-08-15T16:56:46.921Z,1629046606.921 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:56:47.357Z,1629046607.357 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165647.15*5D

2021-08-15T16:56:47.401Z,1629046607.401 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.580009 m, bearing: 10.702468 deg, deltaT: 10.143395 s, approachRate: -0.384486 m/s, LOS rate: -1.351451 deg/s, posRepo size: 4
2021-08-15T16:56:47.403Z,1629046607.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.580009 m,
      bearing: 10.702468 deg,
      approachRate: -0.384486 m/s,
      LOS rate: -1.351451 deg/s,
      cmd update: -5.405804 deg/s,
      cmd heading: 293.844491 deg,
      new cmd heading: 293.032359 deg.

2021-08-15T16:56:49.755Z,1629046609.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:56:50.181Z,1629046610.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:56:50.181Z,1629046610.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:56:50.182Z,1629046610.182 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:56:50.183Z,1629046610.183 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:56:50.549Z,1629046610.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,009D6,189,80,80,A8,FF
2021-08-15T16:56:50.550Z,1629046610.550 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:56:50.550Z,1629046610.550 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:56:50.552Z,1629046610.552 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:56:50.953Z,1629046610.953 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:56:51.369Z,1629046611.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC9,000,009D2,188,80,80,AC,FF
2021-08-15T16:56:51.369Z,1629046611.369 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:56:51.798Z,1629046611.798 [Micromodem](INFO): Nmea in: $SNTTA,0.085854,,,,165651.60*42

2021-08-15T16:56:51.862Z,1629046611.862 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.340004 m, bearing: 326.478152 deg, deltaT: 4.414174 s, approachRate: -0.054372 m/s, LOS rate: -10.018708 deg/s, posRepo size: 4
2021-08-15T16:56:51.864Z,1629046611.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.340004 m,
      bearing: 326.478152 deg,
      approachRate: -0.054372 m/s,
      LOS rate: -10.018708 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 269.959347 deg,
      new cmd heading: 267.444058 deg.

2021-08-15T16:56:54.271Z,1629046614.271 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:56:54.593Z,1629046614.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:56:54.593Z,1629046614.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:56:54.593Z,1629046614.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:56:54.594Z,1629046614.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:56:54.985Z,1629046614.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC9,000,009D2,188,80,80,AC,FF
2021-08-15T16:56:54.985Z,1629046614.985 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:56:54.986Z,1629046614.986 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:56:54.987Z,1629046614.987 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:56:55.405Z,1629046615.405 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:56:55.801Z,1629046615.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,009D6,189,80,80,8C,FF
2021-08-15T16:56:55.802Z,1629046615.802 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:56:56.241Z,1629046616.241 [Micromodem](INFO): Nmea in: $SNTTA,0.077608,,,,165656.03*4A

2021-08-15T16:56:56.345Z,1629046616.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.580009 m, bearing: 341.460172 deg, deltaT: 4.422780 s, approachRate: 0.054266 m/s, LOS rate: 3.387467 deg/s, posRepo size: 4
2021-08-15T16:56:56.347Z,1629046616.347 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.580009 m,
      bearing: 341.460172 deg,
      approachRate: 0.054266 m/s,
      LOS rate: 3.387467 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 216.893725 deg,
      new cmd heading: 210.576925 deg.

2021-08-15T16:56:58.654Z,1629046618.654 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:56:59.025Z,1629046619.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:56:59.025Z,1629046619.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:56:59.025Z,1629046619.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:56:59.026Z,1629046619.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:56:59.430Z,1629046619.430 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,009D6,189,80,80,8C,FF
2021-08-15T16:56:59.430Z,1629046619.430 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:56:59.430Z,1629046619.430 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:56:59.433Z,1629046619.433 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:56:59.867Z,1629046619.867 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:57:00.241Z,1629046620.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2E,000,009E6,187,80,80,93,FF
2021-08-15T16:57:00.241Z,1629046620.241 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:57:00.678Z,1629046620.678 [Micromodem](INFO): Nmea in: $SNTTA,0.235788,,,,165700.48*4A

2021-08-15T16:57:00.694Z,1629046620.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.540001 m, bearing: 269.525548 deg, deltaT: 4.530083 s, approachRate: 0.211915 m/s, LOS rate: -15.879317 deg/s, posRepo size: 4
2021-08-15T16:57:00.694Z,1629046620.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -15.879317 deg/s. Setting heading cmd to target bearing of 269.525548deg and heading rate command to 0 deg/s.
2021-08-15T16:57:03.082Z,1629046623.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:57:03.477Z,1629046623.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:57:03.477Z,1629046623.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:57:03.477Z,1629046623.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:57:03.478Z,1629046623.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:57:03.879Z,1629046623.879 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2E,000,009E6,187,80,80,93,FF
2021-08-15T16:57:03.879Z,1629046623.879 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:57:03.879Z,1629046623.879 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:57:03.881Z,1629046623.881 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:57:04.317Z,1629046624.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:57:04.685Z,1629046624.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E97,000,00A0C,186,80,80,85,FF
2021-08-15T16:57:04.686Z,1629046624.686 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:57:05.119Z,1629046625.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.820007 m, bearing: 268.455476 deg, deltaT: 4.395648 s, approachRate: 0.518696 m/s, LOS rate: -0.243439 deg/s, posRepo size: 4
2021-08-15T16:57:05.121Z,1629046625.121 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.820007 m,
      bearing: 268.455476 deg,
      approachRate: 0.518696 m/s,
      LOS rate: -0.243439 deg/s,
      cmd update: -0.973756 deg/s,
      cmd heading: 269.525548 deg,
      new cmd heading: 269.525548 deg.

2021-08-15T16:57:07.550Z,1629046627.550 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:57:07.913Z,1629046627.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:57:07.913Z,1629046627.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:57:07.913Z,1629046627.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:57:07.914Z,1629046627.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:57:08.354Z,1629046628.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E97,000,00A0C,186,80,80,85,FF
2021-08-15T16:57:08.354Z,1629046628.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:57:08.354Z,1629046628.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:57:08.376Z,1629046628.376 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:57:08.764Z,1629046628.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:57:09.169Z,1629046629.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF4,000,00A26,183,80,80,43,FF
2021-08-15T16:57:09.170Z,1629046629.170 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:57:09.593Z,1629046629.593 [Micromodem](INFO): Nmea in: $SNTTA,0.096111,,,,165709.42*44

2021-08-15T16:57:09.623Z,1629046629.623 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.379997 m, bearing: 263.261719 deg, deltaT: 4.446384 s, approachRate: 0.350845 m/s, LOS rate: -1.168086 deg/s, posRepo size: 4
2021-08-15T16:57:09.626Z,1629046629.626 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.379997 m,
      bearing: 263.261719 deg,
      approachRate: 0.350845 m/s,
      LOS rate: -1.168086 deg/s,
      cmd update: -4.672343 deg/s,
      cmd heading: 265.195320 deg,
      new cmd heading: 264.774456 deg.

2021-08-15T16:57:12.018Z,1629046632.018 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:57:12.405Z,1629046632.405 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:57:12.405Z,1629046632.405 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:57:12.405Z,1629046632.405 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:57:12.406Z,1629046632.406 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:57:12.809Z,1629046632.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF4,000,00A26,183,80,80,43,FF
2021-08-15T16:57:12.809Z,1629046632.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:57:12.809Z,1629046632.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:57:12.811Z,1629046632.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:57:13.205Z,1629046633.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:57:13.609Z,1629046633.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF6,000,00A3A,186,80,80,B5,FF
2021-08-15T16:57:13.609Z,1629046633.609 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:57:14.049Z,1629046634.049 [Micromodem](INFO): Nmea in: $SNTTA,0.107859,,,,165713.86*4B

2021-08-15T16:57:14.145Z,1629046634.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.579994 m, bearing: 283.988392 deg, deltaT: 4.444745 s, approachRate: 0.269981 m/s, LOS rate: 4.663186 deg/s, posRepo size: 4
2021-08-15T16:57:14.147Z,1629046634.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.579994 m,
      bearing: 283.988392 deg,
      approachRate: 0.269981 m/s,
      LOS rate: 4.663186 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 244.429900 deg,
      new cmd heading: 242.068816 deg.

2021-08-15T16:57:16.522Z,1629046636.522 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:57:16.833Z,1629046636.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:57:16.833Z,1629046636.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:57:16.834Z,1629046636.834 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:57:16.835Z,1629046636.835 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:57:17.241Z,1629046637.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF6,000,00A3A,186,80,80,B5,FF
2021-08-15T16:57:17.242Z,1629046637.242 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:57:17.242Z,1629046637.242 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:57:17.243Z,1629046637.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:57:17.645Z,1629046637.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:57:18.049Z,1629046638.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,11C,000,00A5A,187,80,80,5F,FF
2021-08-15T16:57:18.050Z,1629046638.050 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:57:18.493Z,1629046638.493 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165718.29*59

2021-08-15T16:57:18.559Z,1629046638.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.500000 m, bearing: 247.335384 deg, deltaT: 4.489478 s, approachRate: 0.427668 m/s, LOS rate: -8.164203 deg/s, posRepo size: 4
2021-08-15T16:57:18.577Z,1629046638.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.500000 m,
      bearing: 247.335384 deg,
      approachRate: 0.427668 m/s,
      LOS rate: -8.164203 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 297.663725 deg,
      new cmd heading: 303.505170 deg.

2021-08-15T16:57:20.940Z,1629046640.940 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:57:21.313Z,1629046641.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:57:21.313Z,1629046641.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:57:21.314Z,1629046641.314 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:57:21.314Z,1629046641.314 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:57:21.704Z,1629046641.704 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
11C,000,00A5A,187,80,80,5F,FF
2021-08-15T16:57:21.705Z,1629046641.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:57:21.705Z,1629046641.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:57:21.708Z,1629046641.708 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:57:22.117Z,1629046642.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:57:22.512Z,1629046642.512 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7F,000,00A72,185,80,80,AA,FF
2021-08-15T16:57:22.512Z,1629046642.512 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:57:22.933Z,1629046642.933 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165722.75*59

2021-08-15T16:57:22.978Z,1629046642.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.940002 m, bearing: 285.663537 deg, deltaT: 4.443652 s, approachRate: 0.324058 m/s, LOS rate: 8.625372 deg/s, posRepo size: 4
2021-08-15T16:57:22.980Z,1629046642.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.940002 m,
      bearing: 285.663537 deg,
      approachRate: 0.324058 m/s,
      LOS rate: 8.625372 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 243.718192 deg,
      new cmd heading: 238.815496 deg.

2021-08-15T16:57:25.390Z,1629046645.390 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:57:25.741Z,1629046645.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:57:25.741Z,1629046645.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:57:25.741Z,1629046645.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:57:25.742Z,1629046645.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:57:26.188Z,1629046646.188 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7F,000,00A72,185,80,80,AA,FF
2021-08-15T16:57:26.188Z,1629046646.188 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:57:26.189Z,1629046646.189 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:57:26.190Z,1629046646.190 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:57:26.556Z,1629046646.556 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:57:26.958Z,1629046646.958 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC4,000,00A8A,189,80,80,AA,FF
2021-08-15T16:57:26.958Z,1629046646.958 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:57:27.387Z,1629046647.387 [Micromodem](INFO): Nmea in: $SNTTA,0.086798,,,,165727.24*4E

2021-08-15T16:57:27.440Z,1629046647.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.379997 m, bearing: 308.352141 deg, deltaT: 4.410059 s, approachRate: 0.326525 m/s, LOS rate: 5.144739 deg/s, posRepo size: 4
2021-08-15T16:57:27.443Z,1629046647.443 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.379997 m,
      bearing: 308.352141 deg,
      approachRate: 0.326525 m/s,
      LOS rate: 5.144739 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 296.660922 deg,
      new cmd heading: 302.176974 deg.

2021-08-15T16:57:29.811Z,1629046649.811 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:57:30.197Z,1629046650.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:57:30.197Z,1629046650.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:57:30.197Z,1629046650.197 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:57:30.198Z,1629046650.198 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:57:30.585Z,1629046650.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC4,000,00A8A,189,80,80,AA,FF
2021-08-15T16:57:30.585Z,1629046650.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:57:30.585Z,1629046650.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:57:30.587Z,1629046650.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:57:30.993Z,1629046650.993 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:57:31.401Z,1629046651.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EA9,000,00A96,186,80,80,9C,FF
2021-08-15T16:57:31.401Z,1629046651.401 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:57:31.829Z,1629046651.829 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165731.63*5C

2021-08-15T16:57:31.863Z,1629046651.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.100006 m, bearing: 291.445538 deg, deltaT: 4.494299 s, approachRate: 0.160205 m/s, LOS rate: -3.761789 deg/s, posRepo size: 4
2021-08-15T16:57:31.865Z,1629046651.865 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.100006 m,
      bearing: 291.445538 deg,
      approachRate: 0.160205 m/s,
      LOS rate: -3.761789 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 350.489251 deg,
      new cmd heading: 355.266895 deg.

2021-08-15T16:57:34.323Z,1629046654.323 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:57:34.627Z,1629046654.627 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:57:34.627Z,1629046654.627 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:57:34.628Z,1629046654.628 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:57:34.629Z,1629046654.629 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:57:35.038Z,1629046655.038 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EA9,000,00A96,186,80,80,9C,FF
2021-08-15T16:57:35.038Z,1629046655.038 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:57:35.038Z,1629046655.038 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:57:35.040Z,1629046655.040 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:57:35.440Z,1629046655.440 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:57:35.841Z,1629046655.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD8,000,00AA3,189,80,80,84,FF
2021-08-15T16:57:35.842Z,1629046655.842 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:57:36.297Z,1629046656.297 [Micromodem](INFO): Nmea in: $SNTTA,0.100162,,,,165736.09*4D

2021-08-15T16:57:36.367Z,1629046656.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.880005 m, bearing: 315.714238 deg, deltaT: 4.388588 s, approachRate: 0.177733 m/s, LOS rate: 5.529956 deg/s, posRepo size: 4
2021-08-15T16:57:36.369Z,1629046656.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.880005 m,
      bearing: 315.714238 deg,
      approachRate: 0.177733 m/s,
      LOS rate: 5.529956 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 297.722071 deg,
      new cmd heading: 291.664975 deg.

2021-08-15T16:57:38.387Z,1629046658.387 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:57:38.665Z,1629046658.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:57:38.665Z,1629046658.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:57:38.665Z,1629046658.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:57:38.666Z,1629046658.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:57:38.688Z,1629046658.688 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD8,000,00AA3,189,80,80,84,FF
2021-08-15T16:57:38.689Z,1629046658.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:57:38.689Z,1629046658.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:57:38.691Z,1629046658.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:57:39.080Z,1629046659.080 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:57:39.477Z,1629046659.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D3E,000,00AA6,189,80,80,9C,FF
2021-08-15T16:57:39.478Z,1629046659.478 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:57:39.929Z,1629046659.929 [Micromodem](INFO): Nmea in: $SNTTA,0.086170,,,,165739.73*43

2021-08-15T16:57:39.951Z,1629046659.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.060005 m, bearing: 337.054372 deg, deltaT: 3.665480 s, approachRate: 0.049107 m/s, LOS rate: 5.821920 deg/s, posRepo size: 4
2021-08-15T16:57:39.982Z,1629046659.982 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.060005 m,
      bearing: 337.054372 deg,
      approachRate: 0.049107 m/s,
      LOS rate: 5.821920 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 341.707640 deg,
      new cmd heading: 346.793792 deg.

2021-08-15T16:57:42.406Z,1629046662.406 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:57:42.709Z,1629046662.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:57:42.709Z,1629046662.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:57:42.709Z,1629046662.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:57:42.710Z,1629046662.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:57:43.126Z,1629046663.126 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D3E,000,00AA6,189,80,80,9C,FF
2021-08-15T16:57:43.126Z,1629046663.126 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:57:43.126Z,1629046663.126 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:57:43.129Z,1629046663.129 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:57:43.524Z,1629046663.524 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:57:43.927Z,1629046663.927 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D8E,000,00AA0,188,80,80,B3,FF
2021-08-15T16:57:43.927Z,1629046663.927 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:57:44.382Z,1629046664.382 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165744.17*5D

2021-08-15T16:57:44.460Z,1629046664.460 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 125.700005 m, bearing: 351.821268 deg, deltaT: 4.452148 s, approachRate: -0.080860 m/s, LOS rate: 3.316803 deg/s, posRepo size: 4
2021-08-15T16:57:44.462Z,1629046664.462 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 125.700005 m,
      bearing: 351.821268 deg,
      approachRate: -0.080860 m/s,
      LOS rate: 3.316803 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 35.035593 deg,
      new cmd heading: 40.851610 deg.

2021-08-15T16:57:46.507Z,1629046666.507 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:57:46.789Z,1629046666.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:57:46.789Z,1629046666.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:57:46.789Z,1629046666.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:57:46.790Z,1629046666.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:57:47.201Z,1629046667.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D8E,000,00AA0,188,80,80,B3,FF
2021-08-15T16:57:47.201Z,1629046667.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:57:47.201Z,1629046667.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:57:47.205Z,1629046667.205 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:57:47.596Z,1629046667.596 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:57:48.010Z,1629046668.010 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00A8D,189,80,80,C2,FF
2021-08-15T16:57:48.011Z,1629046668.011 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:57:48.405Z,1629046668.405 [Micromodem](INFO): Nmea in: $SNTTA,0.391295,0.391389,,,165748.25*5C

2021-08-15T16:57:48.503Z,1629046668.503 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.559998 m, bearing: 38.472048 deg, deltaT: 4.051164 s, approachRate: -0.281402 m/s, LOS rate: 11.515403 deg/s, posRepo size: 4
2021-08-15T16:57:48.509Z,1629046668.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 11.515403 deg/s. Setting heading cmd to target bearing of 38.472048deg and heading rate command to 0 deg/s.
2021-08-15T16:57:50.857Z,1629046670.857 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:57:51.222Z,1629046671.222 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:57:51.222Z,1629046671.222 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:57:51.223Z,1629046671.223 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:57:51.224Z,1629046671.224 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:57:51.633Z,1629046671.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00A8D,189,80,80,C2,FF
2021-08-15T16:57:51.633Z,1629046671.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:57:51.633Z,1629046671.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:57:51.635Z,1629046671.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:57:52.051Z,1629046672.051 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:57:52.442Z,1629046672.442 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C94,000,00A69,189,80,80,B3,FF
2021-08-15T16:57:52.442Z,1629046672.442 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:57:52.902Z,1629046672.902 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165752.68*52

2021-08-15T16:57:52.949Z,1629046672.949 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.400002 m, bearing: 41.124641 deg, deltaT: 4.514960 s, approachRate: -0.478409 m/s, LOS rate: 0.587512 deg/s, posRepo size: 4
2021-08-15T16:57:52.951Z,1629046672.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.400002 m,
      bearing: 41.124641 deg,
      approachRate: -0.478409 m/s,
      LOS rate: 0.587512 deg/s,
      cmd update: 2.350048 deg/s,
      cmd heading: 38.472048 deg,
      new cmd heading: 38.472048 deg.

2021-08-15T16:57:55.352Z,1629046675.352 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:57:55.673Z,1629046675.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:57:55.673Z,1629046675.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:57:55.673Z,1629046675.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:57:55.674Z,1629046675.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:57:56.089Z,1629046676.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C94,000,00A69,189,80,80,B3,FF
2021-08-15T16:57:56.089Z,1629046676.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:57:56.090Z,1629046676.090 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:57:56.109Z,1629046676.109 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:57:56.488Z,1629046676.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:57:56.897Z,1629046676.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,208,000,00A3C,187,80,80,96,FF
2021-08-15T16:57:56.897Z,1629046676.897 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:57:57.329Z,1629046677.329 [Micromodem](INFO): Nmea in: $SNTTA,0.083239,,,,165757.16*43

2021-08-15T16:57:57.366Z,1629046677.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.700005 m, bearing: 350.998012 deg, deltaT: 4.445006 s, approachRate: -0.607423 m/s, LOS rate: -11.277069 deg/s, posRepo size: 4
2021-08-15T16:57:57.368Z,1629046677.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.700005 m,
      bearing: 350.998012 deg,
      approachRate: -0.607423 m/s,
      LOS rate: -11.277069 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 48.884966 deg,
      new cmd heading: 49.806133 deg.

2021-08-15T16:57:59.735Z,1629046679.735 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:58:00.149Z,1629046680.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:58:00.149Z,1629046680.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:58:00.150Z,1629046680.150 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:58:00.150Z,1629046680.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:58:00.513Z,1629046680.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
208,000,00A3C,187,80,80,96,FF
2021-08-15T16:58:00.513Z,1629046680.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:58:00.513Z,1629046680.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:58:00.515Z,1629046680.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:58:00.933Z,1629046680.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:58:01.345Z,1629046681.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F44,000,00A06,187,80,80,A9,FF
2021-08-15T16:58:01.346Z,1629046681.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:58:01.765Z,1629046681.765 [Micromodem](INFO): Nmea in: $SNTTA,0.087352,,,,165801.56*43

2021-08-15T16:58:01.788Z,1629046681.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.460007 m, bearing: 47.448737 deg, deltaT: 4.382469 s, approachRate: -0.739309 m/s, LOS rate: 12.881029 deg/s, posRepo size: 4
2021-08-15T16:58:01.789Z,1629046681.789 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 12.881029 deg/s. Setting heading cmd to target bearing of 47.448737deg and heading rate command to 0 deg/s.
2021-08-15T16:58:04.226Z,1629046684.226 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:58:04.553Z,1629046684.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:58:04.553Z,1629046684.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:58:04.553Z,1629046684.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:58:04.554Z,1629046684.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:58:04.957Z,1629046684.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F44,000,00A06,187,80,80,A9,FF
2021-08-15T16:58:04.957Z,1629046684.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:58:04.957Z,1629046684.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:58:04.959Z,1629046684.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:58:05.369Z,1629046685.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:58:05.769Z,1629046685.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F98,000,009CA,186,80,80,B3,FF
2021-08-15T16:58:05.769Z,1629046685.769 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:58:06.193Z,1629046686.193 [Micromodem](INFO): Nmea in: $SNTTA,0.473252,0.473133,,,165806.00*56

2021-08-15T16:58:06.239Z,1629046686.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.860001 m, bearing: 45.314511 deg, deltaT: 4.437488 s, approachRate: -0.811271 m/s, LOS rate: -0.480954 deg/s, posRepo size: 4
2021-08-15T16:58:06.242Z,1629046686.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 112.860001 m,
      bearing: 45.314511 deg,
      approachRate: -0.811271 m/s,
      LOS rate: -0.480954 deg/s,
      cmd update: -1.923814 deg/s,
      cmd heading: 47.448737 deg,
      new cmd heading: 47.448737 deg.

2021-08-15T16:58:08.641Z,1629046688.641 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:58:09.001Z,1629046689.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:58:09.001Z,1629046689.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:58:09.001Z,1629046689.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:58:09.002Z,1629046689.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:58:09.407Z,1629046689.407 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F98,000,009CA,186,80,80,B3,FF
2021-08-15T16:58:09.407Z,1629046689.407 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:58:09.407Z,1629046689.407 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:58:09.409Z,1629046689.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:58:09.809Z,1629046689.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:58:10.209Z,1629046690.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E86,000,0098F,187,80,80,A4,FF
2021-08-15T16:58:10.210Z,1629046690.210 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:58:10.657Z,1629046690.657 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165810.45*54

2021-08-15T16:58:10.691Z,1629046690.691 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.320000 m, bearing: 47.358677 deg, deltaT: 4.530827 s, approachRate: -0.781314 m/s, LOS rate: 0.451168 deg/s, posRepo size: 4
2021-08-15T16:58:10.695Z,1629046690.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 109.320000 m,
      bearing: 47.358677 deg,
      approachRate: -0.781314 m/s,
      LOS rate: 0.451168 deg/s,
      cmd update: 1.804674 deg/s,
      cmd heading: 38.724425 deg,
      new cmd heading: 38.053189 deg.

2021-08-15T16:58:13.083Z,1629046693.083 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:58:13.449Z,1629046693.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:58:13.450Z,1629046693.450 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:58:13.450Z,1629046693.450 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:58:13.451Z,1629046693.451 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:58:13.841Z,1629046693.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E86,000,0098F,187,80,80,A4,FF
2021-08-15T16:58:13.841Z,1629046693.841 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:58:13.841Z,1629046693.841 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:58:13.843Z,1629046693.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:58:14.261Z,1629046694.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:58:14.653Z,1629046694.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F86,000,00956,186,80,80,A5,FF
2021-08-15T16:58:14.654Z,1629046694.654 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:58:15.097Z,1629046695.097 [Micromodem](INFO): Nmea in: $SNTTA,0.070306,,,,165814.89*4C

2021-08-15T16:58:15.119Z,1629046695.119 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.900002 m, bearing: 46.831622 deg, deltaT: 4.329062 s, approachRate: -0.790009 m/s, LOS rate: -0.121748 deg/s, posRepo size: 4
2021-08-15T16:58:15.122Z,1629046695.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.900002 m,
      bearing: 46.831622 deg,
      approachRate: -0.790009 m/s,
      LOS rate: -0.121748 deg/s,
      cmd update: -0.486992 deg/s,
      cmd heading: 46.536685 deg,
      new cmd heading: 47.346821 deg.

2021-08-15T16:58:17.522Z,1629046697.522 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:58:17.885Z,1629046697.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:58:17.885Z,1629046697.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:58:17.885Z,1629046697.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:58:17.886Z,1629046697.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:58:18.309Z,1629046698.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F86,000,00956,186,80,80,A5,FF
2021-08-15T16:58:18.309Z,1629046698.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:58:18.309Z,1629046698.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:58:18.311Z,1629046698.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:58:18.704Z,1629046698.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:58:19.101Z,1629046699.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09D,000,00918,186,80,80,A2,FF
2021-08-15T16:58:19.102Z,1629046699.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:58:19.525Z,1629046699.525 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165819.36*59

2021-08-15T16:58:19.550Z,1629046699.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.180008 m, bearing: 46.105683 deg, deltaT: 4.447553 s, approachRate: -0.836414 m/s, LOS rate: -0.163222 deg/s, posRepo size: 4
2021-08-15T16:58:19.553Z,1629046699.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 102.180008 m,
      bearing: 46.105683 deg,
      approachRate: -0.836414 m/s,
      LOS rate: -0.163222 deg/s,
      cmd update: -0.652889 deg/s,
      cmd heading: 44.370700 deg,
      new cmd heading: 44.160273 deg.

2021-08-15T16:58:21.943Z,1629046701.943 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:58:22.341Z,1629046702.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:58:22.341Z,1629046702.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:58:22.341Z,1629046702.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:58:22.342Z,1629046702.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:58:22.733Z,1629046702.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09D,000,00918,186,80,80,A2,FF
2021-08-15T16:58:22.733Z,1629046702.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:58:22.733Z,1629046702.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:58:22.735Z,1629046702.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:58:23.141Z,1629046703.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:58:23.549Z,1629046703.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07D,000,008E0,186,80,80,AE,FF
2021-08-15T16:58:23.550Z,1629046703.550 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:58:24.001Z,1629046704.001 [Micromodem](INFO): Nmea in: $SNTTA,0.077557,,,,165823.78*43

2021-08-15T16:58:24.023Z,1629046704.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.820000 m, bearing: 46.672937 deg, deltaT: 4.518872 s, approachRate: -0.743550 m/s, LOS rate: 0.125530 deg/s, posRepo size: 4
2021-08-15T16:58:24.027Z,1629046704.027 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.820000 m,
      bearing: 46.672937 deg,
      approachRate: -0.743550 m/s,
      LOS rate: 0.125530 deg/s,
      cmd update: 0.502120 deg/s,
      cmd heading: 41.423833 deg,
      new cmd heading: 41.168178 deg.

2021-08-15T16:58:26.451Z,1629046706.451 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:58:26.773Z,1629046706.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:58:26.773Z,1629046706.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:58:26.773Z,1629046706.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:58:26.774Z,1629046706.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:58:27.177Z,1629046707.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07D,000,008E0,186,80,80,AE,FF
2021-08-15T16:58:27.177Z,1629046707.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:58:27.177Z,1629046707.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:58:27.179Z,1629046707.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:58:27.589Z,1629046707.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:58:27.985Z,1629046707.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,046,000,008A2,184,80,80,B4,FF
2021-08-15T16:58:27.986Z,1629046707.986 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:58:28.450Z,1629046708.450 [Micromodem](INFO): Nmea in: $SNTTA,0.362207,,,,165828.22*42

2021-08-15T16:58:28.507Z,1629046708.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.099998 m, bearing: 46.563210 deg, deltaT: 4.412102 s, approachRate: -0.843136 m/s, LOS rate: -0.024870 deg/s, posRepo size: 4
2021-08-15T16:58:28.509Z,1629046708.509 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.099998 m,
      bearing: 46.563210 deg,
      approachRate: -0.843136 m/s,
      LOS rate: -0.024870 deg/s,
      cmd update: -0.099478 deg/s,
      cmd heading: 43.640700 deg,
      new cmd heading: 43.871540 deg.

2021-08-15T16:58:30.853Z,1629046710.853 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:58:31.217Z,1629046711.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:58:31.217Z,1629046711.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:58:31.217Z,1629046711.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:58:31.218Z,1629046711.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:58:31.630Z,1629046711.630 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
046,000,008A2,184,80,80,B4,FF
2021-08-15T16:58:31.630Z,1629046711.630 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:58:31.630Z,1629046711.630 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:58:31.632Z,1629046711.632 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:58:32.049Z,1629046712.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:58:32.438Z,1629046712.438 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,041,000,0086A,184,80,80,AC,FF
2021-08-15T16:58:32.439Z,1629046712.439 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:58:32.443Z,1629046712.443 [Micromodem](INFO): Nmea in: $SNTTA,0.063298,0.135848,,,165832.68*5E

2021-08-15T16:58:32.886Z,1629046712.886 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.739998 m, bearing: 46.041035 deg, deltaT: 4.493658 s, approachRate: -0.747721 m/s, LOS rate: -0.116203 deg/s, posRepo size: 4
2021-08-15T16:58:32.888Z,1629046712.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.739998 m,
      bearing: 46.041035 deg,
      approachRate: -0.747721 m/s,
      LOS rate: -0.116203 deg/s,
      cmd update: -0.464810 deg/s,
      cmd heading: 43.193841 deg,
      new cmd heading: 43.160739 deg.

2021-08-15T16:58:35.343Z,1629046715.343 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:58:35.669Z,1629046715.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:58:35.669Z,1629046715.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:58:35.669Z,1629046715.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:58:35.670Z,1629046715.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:58:36.076Z,1629046716.076 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
041,000,0086A,184,80,80,AC,FF
2021-08-15T16:58:36.077Z,1629046716.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:58:36.077Z,1629046716.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:58:36.082Z,1629046716.082 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:58:36.492Z,1629046716.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:58:36.885Z,1629046716.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,031,000,0082D,185,80,80,A1,FF
2021-08-15T16:58:36.885Z,1629046716.885 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:58:37.313Z,1629046717.313 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165837.13*52

2021-08-15T16:58:37.339Z,1629046717.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.080002 m, bearing: 46.184640 deg, deltaT: 4.395573 s, approachRate: -0.832655 m/s, LOS rate: 0.032670 deg/s, posRepo size: 4
2021-08-15T16:58:37.342Z,1629046717.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.080002 m,
      bearing: 46.184640 deg,
      approachRate: -0.832655 m/s,
      LOS rate: 0.032670 deg/s,
      cmd update: 0.130681 deg/s,
      cmd heading: 41.152544 deg,
      new cmd heading: 40.962464 deg.

2021-08-15T16:58:39.731Z,1629046719.731 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:58:40.149Z,1629046720.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:58:40.149Z,1629046720.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:58:40.149Z,1629046720.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:58:40.150Z,1629046720.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:58:40.513Z,1629046720.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
031,000,0082D,185,80,80,A1,FF
2021-08-15T16:58:40.513Z,1629046720.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:58:40.513Z,1629046720.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:58:40.515Z,1629046720.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:58:40.933Z,1629046720.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:58:41.317Z,1629046721.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00C,000,007F2,183,80,80,A5,FF
2021-08-15T16:58:41.317Z,1629046721.317 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:58:41.769Z,1629046721.769 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165841.56*52

2021-08-15T16:58:41.795Z,1629046721.795 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.540001 m, bearing: 47.439598 deg, deltaT: 4.460907 s, approachRate: -0.793561 m/s, LOS rate: 0.281324 deg/s, posRepo size: 4
2021-08-15T16:58:41.797Z,1629046721.797 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.540001 m,
      bearing: 47.439598 deg,
      approachRate: -0.793561 m/s,
      LOS rate: 0.281324 deg/s,
      cmd update: 1.125294 deg/s,
      cmd heading: 41.734756 deg,
      new cmd heading: 41.788229 deg.

2021-08-15T16:58:44.230Z,1629046724.230 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:58:44.549Z,1629046724.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:58:44.549Z,1629046724.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:58:44.549Z,1629046724.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:58:44.550Z,1629046724.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:58:44.999Z,1629046724.999 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00C,000,007F2,183,80,80,A5,FF
2021-08-15T16:58:44.999Z,1629046724.999 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:58:44.999Z,1629046724.999 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:58:45.001Z,1629046725.001 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:58:45.371Z,1629046725.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:58:45.766Z,1629046725.766 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,011,000,007B8,183,80,80,B0,FF
2021-08-15T16:58:45.766Z,1629046725.766 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:58:46.205Z,1629046726.205 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165846.04*52

2021-08-15T16:58:46.270Z,1629046726.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.059998 m, bearing: 47.447924 deg, deltaT: 4.444888 s, approachRate: -0.782923 m/s, LOS rate: 0.001873 deg/s, posRepo size: 4
2021-08-15T16:58:46.277Z,1629046726.277 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.059998 m,
      bearing: 47.447924 deg,
      approachRate: -0.782923 m/s,
      LOS rate: 0.001873 deg/s,
      cmd update: 0.007493 deg/s,
      cmd heading: 46.747327 deg,
      new cmd heading: 47.231048 deg.

2021-08-15T16:58:48.645Z,1629046728.645 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:58:49.002Z,1629046729.002 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:58:49.002Z,1629046729.002 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:58:49.002Z,1629046729.002 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:58:49.003Z,1629046729.003 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:58:49.397Z,1629046729.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
011,000,007B8,183,80,80,B0,FF
2021-08-15T16:58:49.397Z,1629046729.397 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:58:49.397Z,1629046729.397 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:58:49.399Z,1629046729.399 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:58:49.812Z,1629046729.812 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:58:50.205Z,1629046730.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05A,000,0077E,183,80,80,A7,FF
2021-08-15T16:58:50.205Z,1629046730.205 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:58:50.646Z,1629046730.646 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165850.44*51

2021-08-15T16:58:50.694Z,1629046730.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.580002 m, bearing: 46.465142 deg, deltaT: 4.430502 s, approachRate: -0.785463 m/s, LOS rate: -0.221822 deg/s, posRepo size: 4
2021-08-15T16:58:50.696Z,1629046730.696 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.580002 m,
      bearing: 46.465142 deg,
      approachRate: -0.785463 m/s,
      LOS rate: -0.221822 deg/s,
      cmd update: -0.887288 deg/s,
      cmd heading: 46.780522 deg,
      new cmd heading: 46.783695 deg.

2021-08-15T16:58:53.055Z,1629046733.055 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:58:53.434Z,1629046733.434 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:58:53.434Z,1629046733.434 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:58:53.434Z,1629046733.434 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:58:53.435Z,1629046733.435 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:58:53.845Z,1629046733.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05A,000,0077E,183,80,80,A7,FF
2021-08-15T16:58:53.846Z,1629046733.846 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:58:53.846Z,1629046733.846 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:58:53.847Z,1629046733.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:58:54.249Z,1629046734.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:58:54.649Z,1629046734.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,091,000,00740,186,80,80,C8,FF
2021-08-15T16:58:54.649Z,1629046734.649 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:58:55.093Z,1629046735.093 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165854.89*54

2021-08-15T16:58:55.124Z,1629046735.124 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.860001 m, bearing: 45.269930 deg, deltaT: 4.401645 s, approachRate: -0.845139 m/s, LOS rate: -0.271537 deg/s, posRepo size: 4
2021-08-15T16:58:55.126Z,1629046735.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.860001 m,
      bearing: 45.269930 deg,
      approachRate: -0.845139 m/s,
      LOS rate: -0.271537 deg/s,
      cmd update: -1.086150 deg/s,
      cmd heading: 42.871306 deg,
      new cmd heading: 42.474037 deg.

2021-08-15T16:58:57.542Z,1629046737.542 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:58:57.881Z,1629046737.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:58:57.881Z,1629046737.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:58:57.881Z,1629046737.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:58:57.882Z,1629046737.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:58:58.298Z,1629046738.298 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
091,000,00740,186,80,80,C8,FF
2021-08-15T16:58:58.298Z,1629046738.298 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:58:58.298Z,1629046738.298 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:58:58.300Z,1629046738.300 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:58:58.705Z,1629046738.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:58:59.109Z,1629046739.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03E,000,0070C,185,80,80,95,FF
2021-08-15T16:58:59.109Z,1629046739.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:58:59.521Z,1629046739.521 [Micromodem](INFO): Nmea in: $SNTTA,0.061903,,,,165859.35*4D

2021-08-15T16:58:59.578Z,1629046739.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.739998 m, bearing: 46.359701 deg, deltaT: 4.481723 s, approachRate: -0.696161 m/s, LOS rate: 0.243159 deg/s, posRepo size: 4
2021-08-15T16:58:59.587Z,1629046739.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 70.739998 m,
      bearing: 46.359701 deg,
      approachRate: -0.696161 m/s,
      LOS rate: 0.243159 deg/s,
      cmd update: 0.972635 deg/s,
      cmd heading: 38.007834 deg,
      new cmd heading: 37.548083 deg.

2021-08-15T16:59:01.959Z,1629046741.959 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:59:02.345Z,1629046742.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:59:02.345Z,1629046742.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:59:02.345Z,1629046742.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:59:02.346Z,1629046742.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:59:02.729Z,1629046742.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03E,000,0070C,185,80,80,95,FF
2021-08-15T16:59:02.729Z,1629046742.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:59:02.729Z,1629046742.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:59:02.731Z,1629046742.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:59:03.157Z,1629046743.157 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:59:03.541Z,1629046743.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01A,000,006CF,184,80,80,AB,FF
2021-08-15T16:59:03.542Z,1629046743.542 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:59:03.969Z,1629046743.969 [Micromodem](INFO): Nmea in: $SNTTA,0.077513,,,,165903.78*40

2021-08-15T16:59:04.017Z,1629046744.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.080002 m, bearing: 46.634763 deg, deltaT: 4.410939 s, approachRate: -0.829754 m/s, LOS rate: 0.062359 deg/s, posRepo size: 4
2021-08-15T16:59:04.018Z,1629046744.018 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 67.080002 m,
      bearing: 46.634763 deg,
      approachRate: -0.829754 m/s,
      LOS rate: 0.062359 deg/s,
      cmd update: 0.249436 deg/s,
      cmd heading: 42.301755 deg,
      new cmd heading: 42.717463 deg.

2021-08-15T16:59:06.456Z,1629046746.456 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:59:06.773Z,1629046746.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:59:06.773Z,1629046746.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:59:06.773Z,1629046746.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:59:06.774Z,1629046746.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:59:07.174Z,1629046747.174 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01A,000,006CF,184,80,80,AB,FF
2021-08-15T16:59:07.174Z,1629046747.174 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:59:07.174Z,1629046747.174 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:59:07.176Z,1629046747.176 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:59:07.585Z,1629046747.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:59:07.989Z,1629046747.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02E,000,00692,185,80,80,7B,FF
2021-08-15T16:59:07.990Z,1629046747.990 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:59:08.406Z,1629046748.406 [Micromodem](INFO): Nmea in: $SNTTA,0.361858,0.361546,,,165908.22*5F

2021-08-15T16:59:08.481Z,1629046748.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.420006 m, bearing: 45.578511 deg, deltaT: 4.461922 s, approachRate: -0.820273 m/s, LOS rate: -0.236726 deg/s, posRepo size: 4
2021-08-15T16:59:08.483Z,1629046748.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 63.420006 m,
      bearing: 45.578511 deg,
      approachRate: -0.820273 m/s,
      LOS rate: -0.236726 deg/s,
      cmd update: -0.946902 deg/s,
      cmd heading: 43.413756 deg,
      new cmd heading: 43.527138 deg.

2021-08-15T16:59:10.851Z,1629046750.851 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:59:11.213Z,1629046751.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:59:11.213Z,1629046751.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:59:11.214Z,1629046751.214 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:59:11.215Z,1629046751.215 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:59:11.627Z,1629046751.627 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02E,000,00692,185,80,80,7B,FF
2021-08-15T16:59:11.627Z,1629046751.627 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:59:11.628Z,1629046751.628 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:59:11.630Z,1629046751.630 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:59:12.029Z,1629046752.029 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:59:12.434Z,1629046752.434 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04C,000,00659,184,80,80,76,FF
2021-08-15T16:59:12.435Z,1629046752.435 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:59:12.857Z,1629046752.857 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165912.67*57

2021-08-15T16:59:12.879Z,1629046752.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.000000 m, bearing: 44.369561 deg, deltaT: 4.491816 s, approachRate: -0.761386 m/s, LOS rate: -0.269145 deg/s, posRepo size: 4
2021-08-15T16:59:12.882Z,1629046752.882 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 60.000000 m,
      bearing: 44.369561 deg,
      approachRate: -0.761386 m/s,
      LOS rate: -0.269145 deg/s,
      cmd update: -1.076580 deg/s,
      cmd heading: 39.160438 deg,
      new cmd heading: 38.818890 deg.

2021-08-15T16:59:15.325Z,1629046755.325 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:59:15.657Z,1629046755.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:59:15.657Z,1629046755.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:59:15.657Z,1629046755.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:59:15.658Z,1629046755.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:59:16.065Z,1629046756.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04C,000,00659,184,80,80,76,FF
2021-08-15T16:59:16.065Z,1629046756.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:59:16.065Z,1629046756.065 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:59:16.067Z,1629046756.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:59:16.487Z,1629046756.487 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:59:16.870Z,1629046756.870 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,050,000,00617,184,80,80,94,FF
2021-08-15T16:59:16.870Z,1629046756.870 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:59:17.329Z,1629046757.329 [Micromodem](INFO): Nmea in: $SNTTA,0.049315,,,,165917.11*47

2021-08-15T16:59:17.386Z,1629046757.386 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.039997 m, bearing: 42.802087 deg, deltaT: 4.364477 s, approachRate: -0.907326 m/s, LOS rate: -0.359144 deg/s, posRepo size: 4
2021-08-15T16:59:17.392Z,1629046757.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 56.039997 m,
      bearing: 42.802087 deg,
      approachRate: -0.907326 m/s,
      LOS rate: -0.359144 deg/s,
      cmd update: -1.436574 deg/s,
      cmd heading: 34.457489 deg,
      new cmd heading: 33.948534 deg.

2021-08-15T16:59:19.726Z,1629046759.726 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:59:20.135Z,1629046760.135 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:59:20.135Z,1629046760.135 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:59:20.136Z,1629046760.136 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:59:20.138Z,1629046760.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:59:20.505Z,1629046760.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
050,000,00617,184,80,80,94,FF
2021-08-15T16:59:20.505Z,1629046760.505 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:59:20.505Z,1629046760.505 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:59:20.507Z,1629046760.507 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:59:20.909Z,1629046760.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:59:21.345Z,1629046761.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF9,000,005DC,182,80,80,B1,FF
2021-08-15T16:59:21.345Z,1629046761.345 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:59:21.749Z,1629046761.749 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165921.55*56

2021-08-15T16:59:21.780Z,1629046761.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.499996 m, bearing: 42.394885 deg, deltaT: 4.485698 s, approachRate: -0.789175 m/s, LOS rate: -0.090778 deg/s, posRepo size: 4
2021-08-15T16:59:21.782Z,1629046761.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.499996 m,
      bearing: 42.394885 deg,
      approachRate: -0.789175 m/s,
      LOS rate: -0.090778 deg/s,
      cmd update: -0.363112 deg/s,
      cmd heading: 28.013579 deg,
      new cmd heading: 27.428667 deg.

2021-08-15T16:59:24.227Z,1629046764.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:59:24.545Z,1629046764.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:59:24.545Z,1629046764.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:59:24.545Z,1629046764.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:59:24.546Z,1629046764.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:59:24.956Z,1629046764.956 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF9,000,005DC,182,80,80,B1,FF
2021-08-15T16:59:24.958Z,1629046764.958 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:59:24.959Z,1629046764.959 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:59:25.001Z,1629046765.001 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:59:25.367Z,1629046765.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:59:25.761Z,1629046765.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F55,000,005A1,187,80,80,A3,FF
2021-08-15T16:59:25.761Z,1629046765.761 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:59:26.221Z,1629046766.221 [Micromodem](INFO): Nmea in: $SNTTA,0.082947,,,,165926.05*4A

2021-08-15T16:59:26.326Z,1629046766.326 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.960003 m, bearing: 45.225111 deg, deltaT: 4.437427 s, approachRate: -0.797758 m/s, LOS rate: 0.637808 deg/s, posRepo size: 4
2021-08-15T16:59:26.328Z,1629046766.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 48.960003 m,
      bearing: 45.225111 deg,
      approachRate: -0.797758 m/s,
      LOS rate: 0.637808 deg/s,
      cmd update: 2.551231 deg/s,
      cmd heading: 26.403674 deg,
      new cmd heading: 26.214962 deg.

2021-08-15T16:59:28.621Z,1629046768.621 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:59:28.985Z,1629046768.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:59:28.985Z,1629046768.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:59:28.985Z,1629046768.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:59:28.986Z,1629046768.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:59:29.390Z,1629046769.390 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F55,000,005A1,187,80,80,A3,FF
2021-08-15T16:59:29.390Z,1629046769.390 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:59:29.390Z,1629046769.390 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:59:29.391Z,1629046769.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:59:29.801Z,1629046769.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:59:30.206Z,1629046770.206 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F4D,000,00569,186,80,80,6B,FF
2021-08-15T16:59:30.206Z,1629046770.206 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:59:30.637Z,1629046770.637 [Micromodem](INFO): Nmea in: $SNTTA,0.047020,,,,165930.44*49

2021-08-15T16:59:30.667Z,1629046770.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.599998 m, bearing: 43.759625 deg, deltaT: 4.464470 s, approachRate: -0.752610 m/s, LOS rate: -0.328255 deg/s, posRepo size: 4
2021-08-15T16:59:30.669Z,1629046770.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 45.599998 m,
      bearing: 43.759625 deg,
      approachRate: -0.752610 m/s,
      LOS rate: -0.328255 deg/s,
      cmd update: -1.313021 deg/s,
      cmd heading: 37.793548 deg,
      new cmd heading: 38.803088 deg.

2021-08-15T16:59:33.062Z,1629046773.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:59:33.442Z,1629046773.442 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:59:33.442Z,1629046773.442 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:59:33.442Z,1629046773.442 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:59:33.443Z,1629046773.443 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:59:33.845Z,1629046773.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F4D,000,00569,186,80,80,6B,FF
2021-08-15T16:59:33.845Z,1629046773.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:59:33.845Z,1629046773.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:59:33.847Z,1629046773.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:59:34.275Z,1629046774.275 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:59:34.653Z,1629046774.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE4,000,0052E,185,80,80,52,FF
2021-08-15T16:59:34.654Z,1629046774.654 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:59:35.097Z,1629046775.097 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165934.89*53

2021-08-15T16:59:35.120Z,1629046775.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.060001 m, bearing: 42.283577 deg, deltaT: 4.427577 s, approachRate: -0.799534 m/s, LOS rate: -0.333376 deg/s, posRepo size: 4
2021-08-15T16:59:35.122Z,1629046775.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.060001 m,
      bearing: 42.283577 deg,
      approachRate: -0.799534 m/s,
      LOS rate: -0.333376 deg/s,
      cmd update: -1.333504 deg/s,
      cmd heading: 31.985263 deg,
      new cmd heading: 31.426683 deg.

2021-08-15T16:59:37.531Z,1629046777.531 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:59:37.885Z,1629046777.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:59:37.885Z,1629046777.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:59:37.885Z,1629046777.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:59:37.886Z,1629046777.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:59:38.293Z,1629046778.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE4,000,0052E,185,80,80,52,FF
2021-08-15T16:59:38.293Z,1629046778.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:59:38.293Z,1629046778.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:59:38.295Z,1629046778.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:59:38.704Z,1629046778.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:59:39.089Z,1629046779.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,006,000,004F9,182,80,80,72,FF
2021-08-15T16:59:39.090Z,1629046779.090 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:59:39.550Z,1629046779.550 [Micromodem](INFO): Nmea in: $SNTTA,0.071381,,,,165939.34*4A

2021-08-15T16:59:39.572Z,1629046779.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.879997 m, bearing: 39.427489 deg, deltaT: 4.403559 s, approachRate: -0.722144 m/s, LOS rate: -0.648586 deg/s, posRepo size: 4
2021-08-15T16:59:39.572Z,1629046779.572 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.88 m.
2021-08-15T16:59:39.574Z,1629046779.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.879997 m,
      bearing: 39.427489 deg,
      approachRate: -0.722144 m/s,
      LOS rate: -0.648586 deg/s,
      cmd update: -2.594345 deg/s,
      cmd heading: 26.102453 deg,
      new cmd heading: 25.481397 deg.

2021-08-15T16:59:39.934Z,1629046779.934 [PowerOnly](INFO): Powering up loadControl
2021-08-15T16:59:40.020Z,1629046780.020 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T16:59:40.020Z,1629046780.020 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T16:59:40.020Z,1629046780.020 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T16:59:40.021Z,1629046780.021 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T16:59:40.021Z,1629046780.021 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T16:59:40.021Z,1629046780.021 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T16:59:40.401Z,1629046780.401 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T16:59:40.401Z,1629046780.401 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T16:59:40.401Z,1629046780.401 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T16:59:40.401Z,1629046780.401 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T16:59:41.984Z,1629046781.984 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:59:42.325Z,1629046782.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:59:42.325Z,1629046782.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:59:42.325Z,1629046782.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:59:42.326Z,1629046782.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:59:42.726Z,1629046782.726 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
006,000,004F9,182,80,80,72,FF
2021-08-15T16:59:42.727Z,1629046782.727 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:59:42.727Z,1629046782.727 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:59:42.730Z,1629046782.730 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:59:43.133Z,1629046783.133 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:59:43.550Z,1629046783.550 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0C,000,004B3,187,80,80,5A,FF
2021-08-15T16:59:43.550Z,1629046783.550 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:59:43.619Z,1629046783.619 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:59:43.977Z,1629046783.977 [Micromodem](INFO): Nmea in: $SNTTA,0.025587,,,,165943.78*4E

2021-08-15T16:59:44.009Z,1629046784.009 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.680000 m, bearing: 46.324672 deg, deltaT: 4.510254 s, approachRate: -0.931211 m/s, LOS rate: 1.529223 deg/s, posRepo size: 4
2021-08-15T16:59:44.010Z,1629046784.010 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.68 m.
2021-08-15T16:59:44.012Z,1629046784.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.680000 m,
      bearing: 46.324672 deg,
      approachRate: -0.931211 m/s,
      LOS rate: 1.529223 deg/s,
      cmd update: 6.116891 deg/s,
      cmd heading: 14.412935 deg,
      new cmd heading: 13.381579 deg.

2021-08-15T16:59:46.442Z,1629046786.442 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:59:46.773Z,1629046786.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:59:46.774Z,1629046786.774 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:59:46.774Z,1629046786.774 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:59:46.775Z,1629046786.775 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:59:47.181Z,1629046787.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0C,000,004B3,187,80,80,5A,FF
2021-08-15T16:59:47.181Z,1629046787.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:59:47.182Z,1629046787.182 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:59:47.183Z,1629046787.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:59:47.591Z,1629046787.591 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:59:48.005Z,1629046788.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF2,000,0047B,187,80,80,7E,FF
2021-08-15T16:59:48.006Z,1629046788.006 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:59:48.138Z,1629046788.138 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:59:48.489Z,1629046788.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.320002 m, bearing: 51.716232 deg, deltaT: 4.519142 s, approachRate: -0.743504 m/s, LOS rate: 1.193050 deg/s, posRepo size: 4
2021-08-15T16:59:48.489Z,1629046788.489 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.32 m.
2021-08-15T16:59:48.491Z,1629046788.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.320002 m,
      bearing: 51.716232 deg,
      approachRate: -0.743504 m/s,
      LOS rate: 1.193050 deg/s,
      cmd update: 4.772198 deg/s,
      cmd heading: 41.868901 deg,
      new cmd heading: 44.220026 deg.

2021-08-15T16:59:48.805Z,1629046788.805 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165948.28*53

2021-08-15T16:59:50.845Z,1629046790.845 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:59:51.225Z,1629046791.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:59:51.225Z,1629046791.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:59:51.225Z,1629046791.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:59:51.226Z,1629046791.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:59:51.619Z,1629046791.619 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF2,000,0047B,187,80,80,7E,FF
2021-08-15T16:59:51.619Z,1629046791.619 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:59:51.619Z,1629046791.619 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:59:51.621Z,1629046791.621 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:59:52.017Z,1629046792.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:59:52.426Z,1629046792.426 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F92,000,0044D,186,80,80,6F,FF
2021-08-15T16:59:52.427Z,1629046792.427 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:59:52.553Z,1629046792.553 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:59:52.885Z,1629046792.885 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165952.67*53

2021-08-15T16:59:52.908Z,1629046792.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.559998 m, bearing: 41.177011 deg, deltaT: 4.415223 s, approachRate: -0.625111 m/s, LOS rate: -2.387019 deg/s, posRepo size: 4
2021-08-15T16:59:52.908Z,1629046792.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 28.56 m.
2021-08-15T16:59:52.909Z,1629046792.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 28.56 m.
2021-08-15T16:59:52.909Z,1629046792.909 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-15T16:59:52.911Z,1629046792.911 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.559998 m,
      bearing: 41.177011 deg,
      approachRate: -0.625111 m/s,
      LOS rate: -2.387019 deg/s,
      cmd update: -9.548076 deg/s,
      cmd heading: 63.085059 deg,
      new cmd heading: 64.810089 deg.

2021-08-15T16:59:55.291Z,1629046795.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T16:59:55.657Z,1629046795.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T16:59:55.657Z,1629046795.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T16:59:55.657Z,1629046795.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T16:59:55.658Z,1629046795.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T16:59:56.057Z,1629046796.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F92,000,0044D,186,80,80,6F,FF
2021-08-15T16:59:56.058Z,1629046796.058 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T16:59:56.058Z,1629046796.058 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T16:59:56.059Z,1629046796.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T16:59:56.484Z,1629046796.484 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T16:59:56.865Z,1629046796.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,097,000,0040B,186,80,80,B1,FF
2021-08-15T16:59:56.865Z,1629046796.865 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T16:59:56.921Z,1629046796.921 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T16:59:57.310Z,1629046797.310 [Micromodem](INFO): Nmea in: $SNTTA,,,,,165957.11*57

2021-08-15T16:59:57.354Z,1629046797.354 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.600000 m, bearing: 43.646261 deg, deltaT: 4.367382 s, approachRate: -0.906721 m/s, LOS rate: 0.565384 deg/s, posRepo size: 4
2021-08-15T16:59:57.358Z,1629046797.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 24.600000 m,
      bearing: 43.646261 deg,
      approachRate: -0.906721 m/s,
      LOS rate: 0.565384 deg/s,
      cmd update: 2.261538 deg/s,
      cmd heading: 21.573787 deg,
      new cmd heading: 17.191716 deg.

2021-08-15T16:59:59.802Z,1629046799.802 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:00:00.149Z,1629046800.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:00:00.149Z,1629046800.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:00:00.149Z,1629046800.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:00:00.150Z,1629046800.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:00:00.501Z,1629046800.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
097,000,0040B,186,80,80,B1,FF
2021-08-15T17:00:00.501Z,1629046800.501 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:00:00.501Z,1629046800.501 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:00:00.503Z,1629046800.503 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:00:00.917Z,1629046800.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:00:01.385Z,1629046801.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,116,000,003DE,186,80,80,75,FF
2021-08-15T17:00:01.386Z,1629046801.386 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:00:01.451Z,1629046801.451 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:00:01.757Z,1629046801.757 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170001.55*59

2021-08-15T17:00:01.780Z,1629046801.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.900000 m, bearing: 42.212987 deg, deltaT: 4.529896 s, approachRate: -0.596040 m/s, LOS rate: -0.316403 deg/s, posRepo size: 4
2021-08-15T17:00:01.782Z,1629046801.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.900000 m,
      bearing: 42.212987 deg,
      approachRate: -0.596040 m/s,
      LOS rate: -0.316403 deg/s,
      cmd update: -1.265613 deg/s,
      cmd heading: 31.798080 deg,
      new cmd heading: 32.623401 deg.

2021-08-15T17:00:04.211Z,1629046804.211 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:00:04.549Z,1629046804.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:00:04.549Z,1629046804.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:00:04.549Z,1629046804.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:00:04.550Z,1629046804.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:00:04.949Z,1629046804.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
116,000,003DE,186,80,80,75,FF
2021-08-15T17:00:04.949Z,1629046804.949 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:00:04.949Z,1629046804.949 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:00:04.951Z,1629046804.951 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:00:05.357Z,1629046805.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:00:05.753Z,1629046805.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE0,000,003A9,185,80,80,6A,FF
2021-08-15T17:00:05.754Z,1629046805.754 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:00:05.811Z,1629046805.811 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:00:06.214Z,1629046806.214 [Micromodem](INFO): Nmea in: $SNTTA,0.014595,,,,170006.00*4C

2021-08-15T17:00:06.250Z,1629046806.250 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.719999 m, bearing: 42.399110 deg, deltaT: 4.364715 s, approachRate: -0.728570 m/s, LOS rate: 0.042643 deg/s, posRepo size: 4
2021-08-15T17:00:06.252Z,1629046806.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.719999 m,
      bearing: 42.399110 deg,
      approachRate: -0.728570 m/s,
      LOS rate: 0.042643 deg/s,
      cmd update: 0.170570 deg/s,
      cmd heading: 26.242885 deg,
      new cmd heading: 25.678272 deg.

2021-08-15T17:00:08.603Z,1629046808.603 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:00:08.985Z,1629046808.985 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:00:08.985Z,1629046808.985 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:00:08.985Z,1629046808.985 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:00:08.986Z,1629046808.986 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:00:09.427Z,1629046809.427 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE0,000,003A9,185,80,80,6A,FF
2021-08-15T17:00:09.427Z,1629046809.427 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:00:09.427Z,1629046809.427 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:00:09.434Z,1629046809.434 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:00:09.801Z,1629046809.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:00:10.197Z,1629046810.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2E,000,0037A,186,80,80,9A,FF
2021-08-15T17:00:10.198Z,1629046810.198 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:00:10.319Z,1629046810.319 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:00:10.627Z,1629046810.627 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170010.48*55

2021-08-15T17:00:10.658Z,1629046810.658 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.899998 m, bearing: 37.585080 deg, deltaT: 4.503281 s, approachRate: -0.626210 m/s, LOS rate: -1.069005 deg/s, posRepo size: 4
2021-08-15T17:00:10.661Z,1629046810.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.899998 m,
      bearing: 37.585080 deg,
      approachRate: -0.626210 m/s,
      LOS rate: -1.069005 deg/s,
      cmd update: -4.276020 deg/s,
      cmd heading: 27.011744 deg,
      new cmd heading: 27.070910 deg.

2021-08-15T17:00:13.082Z,1629046813.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:00:13.442Z,1629046813.442 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:00:13.442Z,1629046813.442 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:00:13.442Z,1629046813.442 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:00:13.443Z,1629046813.443 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:00:13.833Z,1629046813.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2E,000,0037A,186,80,80,9A,FF
2021-08-15T17:00:13.833Z,1629046813.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:00:13.833Z,1629046813.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:00:13.835Z,1629046813.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:00:14.241Z,1629046814.241 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:00:14.646Z,1629046814.646 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F17,000,00333,186,80,80,5A,FF
2021-08-15T17:00:14.646Z,1629046814.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:00:14.666Z,1629046814.666 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:00:15.099Z,1629046815.099 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170014.88*5D

2021-08-15T17:00:15.142Z,1629046815.142 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.640002 m, bearing: 41.536306 deg, deltaT: 4.347462 s, approachRate: -0.979881 m/s, LOS rate: 0.908858 deg/s, posRepo size: 4
2021-08-15T17:00:15.144Z,1629046815.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.640002 m,
      bearing: 41.536306 deg,
      approachRate: -0.979881 m/s,
      LOS rate: 0.908858 deg/s,
      cmd update: 3.635433 deg/s,
      cmd heading: 8.404911 deg,
      new cmd heading: 6.356163 deg.

2021-08-15T17:00:17.526Z,1629046817.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:00:17.877Z,1629046817.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:00:17.877Z,1629046817.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:00:17.878Z,1629046817.878 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:00:17.879Z,1629046817.879 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:00:18.273Z,1629046818.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F17,000,00333,186,80,80,5A,FF
2021-08-15T17:00:18.273Z,1629046818.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:00:18.274Z,1629046818.274 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:00:18.275Z,1629046818.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:00:18.684Z,1629046818.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:00:19.089Z,1629046819.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DAD,000,00304,18A,80,80,B6,FF
2021-08-15T17:00:19.090Z,1629046819.090 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:00:19.138Z,1629046819.138 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:00:19.529Z,1629046819.529 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170019.32*51

2021-08-15T17:00:19.574Z,1629046819.574 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.820000 m, bearing: 44.474265 deg, deltaT: 4.472244 s, approachRate: -0.630557 m/s, LOS rate: 0.656932 deg/s, posRepo size: 4
2021-08-15T17:00:19.576Z,1629046819.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.820000 m,
      bearing: 44.474265 deg,
      approachRate: -0.630557 m/s,
      LOS rate: 0.656932 deg/s,
      cmd update: 2.627726 deg/s,
      cmd heading: 24.576335 deg,
      new cmd heading: 26.257621 deg.

2021-08-15T17:00:21.950Z,1629046821.950 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:00:22.325Z,1629046822.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:00:22.325Z,1629046822.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:00:22.326Z,1629046822.326 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:00:22.326Z,1629046822.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:00:22.725Z,1629046822.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DAD,000,00304,18A,80,80,B6,FF
2021-08-15T17:00:22.725Z,1629046822.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:00:22.725Z,1629046822.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:00:22.727Z,1629046822.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:00:23.145Z,1629046823.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:00:23.545Z,1629046823.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DAF,000,002DD,189,80,80,8D,FF
2021-08-15T17:00:23.546Z,1629046823.546 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:00:23.611Z,1629046823.611 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:00:23.977Z,1629046823.977 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170023.77*59

2021-08-15T17:00:24.014Z,1629046824.014 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.479999 m, bearing: 44.721080 deg, deltaT: 4.472375 s, approachRate: -0.523212 m/s, LOS rate: 0.055187 deg/s, posRepo size: 4
2021-08-15T17:00:24.016Z,1629046824.016 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.479999 m,
      bearing: 44.721080 deg,
      approachRate: -0.523212 m/s,
      LOS rate: 0.055187 deg/s,
      cmd update: 0.220747 deg/s,
      cmd heading: 36.391714 deg,
      new cmd heading: 37.459937 deg.

2021-08-15T17:00:26.417Z,1629046826.417 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:00:26.777Z,1629046826.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:00:26.777Z,1629046826.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:00:26.777Z,1629046826.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:00:26.778Z,1629046826.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:00:27.177Z,1629046827.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DAF,000,002DD,189,80,80,8D,FF
2021-08-15T17:00:27.177Z,1629046827.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:00:27.177Z,1629046827.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:00:27.179Z,1629046827.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:00:27.577Z,1629046827.577 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:00:27.971Z,1629046827.971 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,16E,000,002CA,186,80,80,9E,FF
2021-08-15T17:00:27.971Z,1629046827.971 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:00:28.092Z,1629046828.092 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:00:28.422Z,1629046828.422 [Micromodem](INFO): Nmea in: $SNTTA,0.044170,,,,170028.22*4A

2021-08-15T17:00:28.486Z,1629046828.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.339999 m, bearing: 15.730568 deg, deltaT: 4.482069 s, approachRate: -0.254347 m/s, LOS rate: -6.468109 deg/s, posRepo size: 4
2021-08-15T17:00:28.501Z,1629046828.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.339999 m,
      bearing: 15.730568 deg,
      approachRate: -0.254347 m/s,
      LOS rate: -6.468109 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 37.376053 deg,
      new cmd heading: 37.468632 deg.

2021-08-15T17:00:30.120Z,1629046830.120 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-15T17:00:30.840Z,1629046830.840 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:00:31.217Z,1629046831.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:00:31.218Z,1629046831.218 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:00:31.218Z,1629046831.218 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:00:31.219Z,1629046831.219 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:00:31.633Z,1629046831.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
16E,000,002CA,186,80,80,9E,FF
2021-08-15T17:00:31.633Z,1629046831.633 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:00:31.633Z,1629046831.633 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:00:31.635Z,1629046831.635 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:00:32.021Z,1629046832.021 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:00:32.434Z,1629046832.434 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F62,000,002D6,186,80,80,4D,FF
2021-08-15T17:00:32.434Z,1629046832.434 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:00:32.530Z,1629046832.530 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:00:32.849Z,1629046832.849 [Micromodem](INFO): Nmea in: $SNTTA,0.030597,,,,170032.68*41

2021-08-15T17:00:32.892Z,1629046832.892 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.059999 m, bearing: 57.567430 deg, deltaT: 4.436772 s, approachRate: 0.162280 m/s, LOS rate: 9.429572 deg/s, posRepo size: 4
2021-08-15T17:00:32.894Z,1629046832.894 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.059999 m,
      bearing: 57.567430 deg,
      approachRate: 0.162280 m/s,
      LOS rate: 9.429572 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 343.954007 deg,
      new cmd heading: 339.526823 deg.

2021-08-15T17:00:35.286Z,1629046835.286 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:00:35.673Z,1629046835.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:00:35.673Z,1629046835.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:00:35.673Z,1629046835.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:00:35.674Z,1629046835.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:00:36.056Z,1629046836.056 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F62,000,002D6,186,80,80,4D,FF
2021-08-15T17:00:36.057Z,1629046836.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:00:36.057Z,1629046836.057 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:00:36.058Z,1629046836.058 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:00:36.495Z,1629046836.495 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:00:36.869Z,1629046836.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,23E,000,00313,189,80,80,84,FF
2021-08-15T17:00:36.870Z,1629046836.870 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:00:36.894Z,1629046836.894 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:00:37.298Z,1629046837.298 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170037.10*5D

2021-08-15T17:00:37.344Z,1629046837.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.719998 m, bearing: 12.128262 deg, deltaT: 4.364856 s, approachRate: 0.838516 m/s, LOS rate: -10.410233 deg/s, posRepo size: 4
2021-08-15T17:00:37.346Z,1629046837.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.719998 m,
      bearing: 12.128262 deg,
      approachRate: 0.838516 m/s,
      LOS rate: -10.410233 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 36.426301 deg,
      new cmd heading: 41.805637 deg.

2021-08-15T17:00:39.761Z,1629046839.761 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:00:40.136Z,1629046840.136 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:00:40.136Z,1629046840.136 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:00:40.136Z,1629046840.136 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:00:40.137Z,1629046840.137 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:00:40.506Z,1629046840.506 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
23E,000,00313,189,80,80,84,FF
2021-08-15T17:00:40.506Z,1629046840.506 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:00:40.506Z,1629046840.506 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:00:40.509Z,1629046840.509 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:00:40.933Z,1629046840.933 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:00:41.322Z,1629046841.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F12,000,00341,187,80,80,84,FF
2021-08-15T17:00:41.323Z,1629046841.323 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:00:41.389Z,1629046841.389 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:00:41.753Z,1629046841.753 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170041.56*5E

2021-08-15T17:00:41.776Z,1629046841.776 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.479998 m, bearing: 36.049431 deg, deltaT: 4.494569 s, approachRate: 0.614074 m/s, LOS rate: 5.322239 deg/s, posRepo size: 4
2021-08-15T17:00:41.778Z,1629046841.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.479998 m,
      bearing: 36.049431 deg,
      approachRate: 0.614074 m/s,
      LOS rate: 5.322239 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 342.540155 deg,
      new cmd heading: 337.814483 deg.

2021-08-15T17:00:44.241Z,1629046844.241 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:00:44.545Z,1629046844.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:00:44.545Z,1629046844.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:00:44.545Z,1629046844.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:00:44.546Z,1629046844.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:00:44.949Z,1629046844.949 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F12,000,00341,187,80,80,84,FF
2021-08-15T17:00:44.950Z,1629046844.950 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:00:44.950Z,1629046844.950 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:00:44.952Z,1629046844.952 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:00:45.358Z,1629046845.358 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:00:45.406Z,1629046845.406 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T17:00:45.753Z,1629046845.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB8,000,00386,186,80,80,3D,FF
2021-08-15T17:00:45.754Z,1629046845.754 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:00:45.773Z,1629046845.773 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:00:46.202Z,1629046846.202 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170046.00*5A

2021-08-15T17:00:46.296Z,1629046846.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.619999 m, bearing: 36.426570 deg, deltaT: 4.384377 s, approachRate: 0.944262 m/s, LOS rate: 0.086019 deg/s, posRepo size: 4
2021-08-15T17:00:46.298Z,1629046846.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.619999 m,
      bearing: 36.426570 deg,
      approachRate: 0.944262 m/s,
      LOS rate: 0.086019 deg/s,
      cmd update: 0.344075 deg/s,
      cmd heading: 35.201557 deg,
      new cmd heading: 41.510413 deg.

2021-08-15T17:00:48.282Z,1629046848.282 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:00:48.589Z,1629046848.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:00:48.589Z,1629046848.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:00:48.589Z,1629046848.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:00:48.590Z,1629046848.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:00:48.994Z,1629046848.994 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB8,000,00386,186,80,80,3D,FF
2021-08-15T17:00:48.994Z,1629046848.994 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:00:48.994Z,1629046848.994 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:00:48.996Z,1629046848.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:00:49.396Z,1629046849.396 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:00:49.794Z,1629046849.794 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECD,000,00397,187,80,80,5C,FF
2021-08-15T17:00:49.794Z,1629046849.794 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:00:49.814Z,1629046849.814 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:00:50.241Z,1629046850.241 [Micromodem](INFO): Nmea in: $SNTTA,0.029097,,,,170050.04*42

2021-08-15T17:00:50.363Z,1629046850.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.639997 m, bearing: 22.312372 deg, deltaT: 4.040741 s, approachRate: 0.252429 m/s, LOS rate: -3.492973 deg/s, posRepo size: 4
2021-08-15T17:00:50.368Z,1629046850.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 17.64 m. Rolling out.
2021-08-15T17:00:50.368Z,1629046850.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-15T17:00:52.677Z,1629046852.677 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:00:53.025Z,1629046853.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:00:53.025Z,1629046853.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:00:53.025Z,1629046853.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:00:53.026Z,1629046853.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:00:53.426Z,1629046853.426 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECD,000,00397,187,80,80,5C,FF
2021-08-15T17:00:53.426Z,1629046853.426 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:00:53.427Z,1629046853.427 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:00:53.446Z,1629046853.446 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:00:53.841Z,1629046853.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:00:54.237Z,1629046854.237 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,39A,000,003CA,189,80,80,49,FF
2021-08-15T17:00:54.237Z,1629046854.237 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:00:54.325Z,1629046854.325 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:00:54.681Z,1629046854.681 [Micromodem](INFO): Nmea in: $SNTTA,0.031621,,,,170054.49*4D

2021-08-15T17:00:54.704Z,1629046854.704 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.700001 m, bearing: 333.105676 deg, deltaT: 4.510857 s, approachRate: 0.678364 m/s, LOS rate: -10.908503 deg/s, posRepo size: 4
2021-08-15T17:00:57.154Z,1629046857.154 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:00:57.485Z,1629046857.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:00:57.485Z,1629046857.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:00:57.485Z,1629046857.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:00:57.486Z,1629046857.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:00:57.873Z,1629046857.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
39A,000,003CA,189,80,80,49,FF
2021-08-15T17:00:57.873Z,1629046857.873 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:00:57.873Z,1629046857.873 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:00:57.875Z,1629046857.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:00:58.289Z,1629046858.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:00:58.689Z,1629046858.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE1,000,003F5,184,80,80,92,FF
2021-08-15T17:00:58.690Z,1629046858.690 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:00:58.769Z,1629046858.769 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:00:59.126Z,1629046859.126 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170058.92*5E

2021-08-15T17:00:59.148Z,1629046859.148 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.280001 m, bearing: 37.054251 deg, deltaT: 4.443594 s, approachRate: 0.580611 m/s, LOS rate: 14.391181 deg/s, posRepo size: 4
2021-08-15T17:01:00.343Z,1629046860.343 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T17:01:01.558Z,1629046861.558 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:01:01.913Z,1629046861.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:01:01.913Z,1629046861.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:01:01.914Z,1629046861.914 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:01:01.915Z,1629046861.915 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:01:02.317Z,1629046862.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE1,000,003F5,184,80,80,92,FF
2021-08-15T17:01:02.317Z,1629046862.317 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:01:02.317Z,1629046862.317 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:01:02.319Z,1629046862.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:01:02.804Z,1629046862.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:01:03.598Z,1629046863.598 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170103.37*5E

2021-08-15T17:01:04.453Z,1629046864.453 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:01:05.609Z,1629046865.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4F5,184,80,80,92,FF
2021-08-15T17:01:05.610Z,1629046865.610 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4F5,184,80,80,92,FF
2021-08-15T17:01:05.610Z,1629046865.610 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T17:01:07.265Z,1629046867.265 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:01:07.625Z,1629046867.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:01:07.625Z,1629046867.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:01:07.625Z,1629046867.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:01:07.626Z,1629046867.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:01:08.037Z,1629046868.037 [DUSBL_Hydroid](INFO): DUSBL response received:
!U1,P
0,80,63,E4F5,184,80,80,92,FF
2021-08-15T17:01:08.037Z,1629046868.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:01:08.037Z,1629046868.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:01:08.039Z,1629046868.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:01:08.442Z,1629046868.442 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:01:08.841Z,1629046868.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3A,000,00453,186,80,80,37,FF
2021-08-15T17:01:08.841Z,1629046868.841 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:01:08.862Z,1629046868.862 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:01:09.289Z,1629046869.289 [Micromodem](INFO): Nmea in: $SNTTA,0.034962,,,,170109.09*4D

2021-08-15T17:01:09.329Z,1629046869.329 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.920000 m, bearing: 66.886226 deg, deltaT: 10.093334 s, approachRate: 0.558785 m/s, LOS rate: 2.955612 deg/s, posRepo size: 4
2021-08-15T17:01:11.691Z,1629046871.691 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:01:12.088Z,1629046872.088 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:01:12.089Z,1629046872.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:01:12.090Z,1629046872.090 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:01:12.091Z,1629046872.091 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:01:12.485Z,1629046872.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3A,000,00453,186,80,80,37,FF
2021-08-15T17:01:12.485Z,1629046872.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:01:12.486Z,1629046872.486 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:01:12.487Z,1629046872.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:01:12.888Z,1629046872.888 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:01:13.285Z,1629046873.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,034,000,004C8,186,80,80,1E,FF
2021-08-15T17:01:13.285Z,1629046873.285 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:01:13.306Z,1629046873.306 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:01:13.733Z,1629046873.733 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170113.54*5A

2021-08-15T17:01:13.760Z,1629046873.760 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.939999 m, bearing: 41.851882 deg, deltaT: 4.443951 s, approachRate: 1.579675 m/s, LOS rate: -5.633353 deg/s, posRepo size: 4
2021-08-15T17:01:14.518Z,1629046874.518 [PowerOnly](INFO): Powering down loadControl
2021-08-15T17:01:16.214Z,1629046876.214 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:01:16.517Z,1629046876.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:01:16.517Z,1629046876.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:01:16.517Z,1629046876.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:01:16.518Z,1629046876.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:01:16.930Z,1629046876.930 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
034,000,004C8,186,80,80,1E,FF
2021-08-15T17:01:16.930Z,1629046876.930 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:01:16.930Z,1629046876.930 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:01:16.932Z,1629046876.932 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:01:17.328Z,1629046877.328 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:01:18.150Z,1629046878.150 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170117.98*5E

2021-08-15T17:01:18.974Z,1629046878.974 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:01:20.557Z,1629046880.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,186,80,80,1E,FF
2021-08-15T17:01:20.557Z,1629046880.557 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,186,80,80,1E,FF
2021-08-15T17:01:20.558Z,1629046880.558 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T17:01:21.813Z,1629046881.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:01:22.173Z,1629046882.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:01:22.173Z,1629046882.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:01:22.173Z,1629046882.173 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:01:22.174Z,1629046882.174 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:01:22.585Z,1629046882.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,186,80,80,1E,FF
2021-08-15T17:01:22.585Z,1629046882.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:01:22.585Z,1629046882.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:01:22.587Z,1629046882.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:01:22.992Z,1629046882.992 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:01:23.385Z,1629046883.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F97,000,004BC,186,80,80,AC,FF
2021-08-15T17:01:23.386Z,1629046883.386 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:01:23.469Z,1629046883.469 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:01:23.837Z,1629046883.837 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170123.64*5A

2021-08-15T17:01:23.863Z,1629046883.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.220001 m, bearing: 48.874535 deg, deltaT: 10.163459 s, approachRate: -0.070842 m/s, LOS rate: 0.690971 deg/s, posRepo size: 4
2021-08-15T17:01:26.284Z,1629046886.284 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:01:26.625Z,1629046886.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:01:26.625Z,1629046886.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:01:26.626Z,1629046886.626 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:01:26.627Z,1629046886.627 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:01:27.025Z,1629046887.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F97,000,004BC,186,80,80,AC,FF
2021-08-15T17:01:27.025Z,1629046887.025 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:01:27.026Z,1629046887.026 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:01:27.027Z,1629046887.027 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:01:27.442Z,1629046887.442 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:01:27.829Z,1629046887.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8B,000,004DF,186,80,80,A9,FF
2021-08-15T17:01:27.829Z,1629046887.829 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:01:27.878Z,1629046887.878 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:01:28.289Z,1629046888.289 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170128.07*54

2021-08-15T17:01:28.342Z,1629046888.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.320004 m, bearing: 49.125828 deg, deltaT: 4.408525 s, approachRate: 0.476350 m/s, LOS rate: 0.057002 deg/s, posRepo size: 4
2021-08-15T17:01:30.679Z,1629046890.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:01:31.061Z,1629046891.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:01:31.061Z,1629046891.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:01:31.061Z,1629046891.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:01:31.062Z,1629046891.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:01:31.473Z,1629046891.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8B,000,004DF,186,80,80,A9,FF
2021-08-15T17:01:31.473Z,1629046891.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:01:31.473Z,1629046891.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:01:31.475Z,1629046891.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:01:31.877Z,1629046891.877 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:01:32.277Z,1629046892.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA7,000,004FF,185,80,80,80,FF
2021-08-15T17:01:32.277Z,1629046892.277 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:01:32.332Z,1629046892.332 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:01:32.733Z,1629046892.733 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170132.52*5F

2021-08-15T17:01:32.758Z,1629046892.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.240002 m, bearing: 48.434084 deg, deltaT: 4.454117 s, approachRate: 0.431061 m/s, LOS rate: -0.155305 deg/s, posRepo size: 4
2021-08-15T17:01:35.251Z,1629046895.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:01:35.510Z,1629046895.510 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:01:35.511Z,1629046895.511 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:01:35.511Z,1629046895.511 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:01:35.512Z,1629046895.512 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:01:35.922Z,1629046895.922 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA7,000,004FF,185,80,80,80,FF
2021-08-15T17:01:35.922Z,1629046895.922 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:01:35.922Z,1629046895.922 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:01:35.924Z,1629046895.924 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:01:36.320Z,1629046896.320 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:01:36.733Z,1629046896.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F95,000,00522,186,80,80,94,FF
2021-08-15T17:01:36.734Z,1629046896.734 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:01:36.753Z,1629046896.753 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:01:37.166Z,1629046897.166 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170136.97*52

2021-08-15T17:01:37.265Z,1629046897.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.340000 m, bearing: 49.050583 deg, deltaT: 4.421230 s, approachRate: 0.474981 m/s, LOS rate: 0.139441 deg/s, posRepo size: 4
2021-08-15T17:01:37.581Z,1629046897.581 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T17:01:37.581Z,1629046897.581 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T17:01:37.582Z,1629046897.582 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T17:01:37.582Z,1629046897.582 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T17:01:37.582Z,1629046897.582 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T17:01:37.583Z,1629046897.583 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T17:01:37.975Z,1629046897.975 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T17:01:37.975Z,1629046897.975 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T17:01:37.975Z,1629046897.975 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T17:01:37.976Z,1629046897.976 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T17:01:39.307Z,1629046899.307 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:01:39.553Z,1629046899.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:01:39.553Z,1629046899.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:01:39.553Z,1629046899.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:01:39.554Z,1629046899.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:01:39.959Z,1629046899.959 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F95,000,00522,186,80,80,94,FF
2021-08-15T17:01:39.959Z,1629046899.959 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:01:39.959Z,1629046899.959 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:01:39.962Z,1629046899.962 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:01:40.364Z,1629046900.364 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:01:40.777Z,1629046900.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01B,000,00544,185,80,80,AC,FF
2021-08-15T17:01:40.777Z,1629046900.777 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:01:41.234Z,1629046901.234 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170141.01*5D

2021-08-15T17:01:41.303Z,1629046901.303 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.380001 m, bearing: 41.683241 deg, deltaT: 4.043713 s, approachRate: 0.504487 m/s, LOS rate: -1.821925 deg/s, posRepo size: 4
2021-08-15T17:01:43.301Z,1629046903.301 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:01:43.585Z,1629046903.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:01:43.585Z,1629046903.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:01:43.585Z,1629046903.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:01:43.586Z,1629046903.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:01:44.002Z,1629046904.002 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01B,000,00544,185,80,80,AC,FF
2021-08-15T17:01:44.003Z,1629046904.003 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:01:44.003Z,1629046904.003 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:01:44.006Z,1629046904.006 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:01:44.409Z,1629046904.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:01:44.806Z,1629046904.806 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,018,000,00561,183,80,80,85,FF
2021-08-15T17:01:44.807Z,1629046904.807 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:01:45.265Z,1629046905.265 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170145.05*5D

2021-08-15T17:01:45.349Z,1629046905.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.119999 m, bearing: 42.327686 deg, deltaT: 4.068377 s, approachRate: 0.427688 m/s, LOS rate: 0.158404 deg/s, posRepo size: 4
2021-08-15T17:01:47.659Z,1629046907.659 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:01:48.034Z,1629046908.034 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:01:48.034Z,1629046908.034 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:01:48.035Z,1629046908.035 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:01:48.036Z,1629046908.036 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:01:48.438Z,1629046908.438 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
018,000,00561,183,80,80,85,FF
2021-08-15T17:01:48.438Z,1629046908.438 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:01:48.438Z,1629046908.438 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:01:48.441Z,1629046908.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:01:48.845Z,1629046908.845 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:01:49.669Z,1629046909.669 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170149.49*59

2021-08-15T17:01:50.515Z,1629046910.515 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:01:52.069Z,1629046912.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,183,80,80,85,FF
2021-08-15T17:01:52.069Z,1629046912.069 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,183,80,80,85,FF
2021-08-15T17:01:52.069Z,1629046912.069 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T17:01:53.360Z,1629046913.360 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:01:53.697Z,1629046913.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:01:53.697Z,1629046913.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:01:53.697Z,1629046913.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:01:53.698Z,1629046913.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:01:53.724Z,1629046913.724 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,183,80,80,85,FF
2021-08-15T17:01:53.724Z,1629046913.724 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:01:53.725Z,1629046913.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:01:53.726Z,1629046913.726 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:01:54.092Z,1629046914.092 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:01:54.497Z,1629046914.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCD,000,005A2,184,80,80,6A,FF
2021-08-15T17:01:54.498Z,1629046914.498 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:01:54.927Z,1629046914.927 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170154.77*58

2021-08-15T17:01:54.944Z,1629046914.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.019997 m, bearing: 47.293821 deg, deltaT: 9.662320 s, approachRate: 0.403630 m/s, LOS rate: 0.513969 deg/s, posRepo size: 4
2021-08-15T17:01:57.392Z,1629046917.392 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:01:57.729Z,1629046917.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:01:57.729Z,1629046917.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:01:57.729Z,1629046917.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:01:57.730Z,1629046917.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:01:58.142Z,1629046918.142 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCD,000,005A2,184,80,80,6A,FF
2021-08-15T17:01:58.142Z,1629046918.142 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:01:58.142Z,1629046918.142 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:01:58.144Z,1629046918.144 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:01:58.541Z,1629046918.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:01:59.362Z,1629046919.362 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170159.20*57

2021-08-15T17:02:00.176Z,1629046920.176 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:02:01.374Z,1629046921.374 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCD,000,082FA,184,80,80,6A,FF
2021-08-15T17:02:01.374Z,1629046921.374 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:02:01.807Z,1629046921.807 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 1974.300049 m, bearing: 46.669832 deg, deltaT: 6.957228 s, approachRate: 276.730896 m/s, LOS rate: -0.089689 deg/s, posRepo size: 4
2021-08-15T17:02:04.255Z,1629046924.255 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:02:04.597Z,1629046924.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:02:04.597Z,1629046924.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:02:04.597Z,1629046924.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:02:04.598Z,1629046924.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:02:05.017Z,1629046925.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCD,000,082FA,184,80,80,6A,FF
2021-08-15T17:02:05.017Z,1629046925.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:02:05.017Z,1629046925.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:02:05.019Z,1629046925.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:02:05.414Z,1629046925.414 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:02:05.434Z,1629046925.434 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T17:02:05.817Z,1629046925.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,020,000,00A43,185,80,80,84,FF
2021-08-15T17:02:05.818Z,1629046925.818 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:02:06.261Z,1629046926.261 [Micromodem](INFO): Nmea in: $SNTTA,0.099216,,,,170206.07*40

2021-08-15T17:02:06.309Z,1629046926.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.120003 m, bearing: 42.558943 deg, deltaT: 4.351903 s, approachRate: -426.061890 m/s, LOS rate: -0.944619 deg/s, posRepo size: 4
2021-08-15T17:02:08.670Z,1629046928.670 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:02:09.041Z,1629046929.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:02:09.041Z,1629046929.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:02:09.041Z,1629046929.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:02:09.042Z,1629046929.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:02:09.446Z,1629046929.446 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
020,000,00A43,185,80,80,84,FF
2021-08-15T17:02:09.446Z,1629046929.446 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:02:09.446Z,1629046929.446 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:02:09.448Z,1629046929.448 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:02:09.865Z,1629046929.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:02:10.277Z,1629046930.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00B,000,0061C,184,80,80,39,FF
2021-08-15T17:02:10.278Z,1629046930.278 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:02:10.701Z,1629046930.701 [Micromodem](INFO): Nmea in: $SNTTA,0.050424,,,,170210.49*4F

2021-08-15T17:02:10.723Z,1629046930.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.340000 m, bearing: 43.745746 deg, deltaT: 4.527190 s, approachRate: -14.088210 m/s, LOS rate: 0.262150 deg/s, posRepo size: 4
2021-08-15T17:02:13.167Z,1629046933.167 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:02:13.489Z,1629046933.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:02:13.489Z,1629046933.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:02:13.489Z,1629046933.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:02:13.490Z,1629046933.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:02:13.893Z,1629046933.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00B,000,0061C,184,80,80,39,FF
2021-08-15T17:02:13.893Z,1629046933.893 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:02:13.893Z,1629046933.893 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:02:13.895Z,1629046933.895 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:02:14.305Z,1629046934.305 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:02:15.202Z,1629046935.202 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170214.94*52

2021-08-15T17:02:15.226Z,1629046935.226 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T17:02:15.942Z,1629046935.942 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:02:17.540Z,1629046937.540 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,184,80,80,39,FF
2021-08-15T17:02:17.541Z,1629046937.541 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,184,80,80,39,FF
2021-08-15T17:02:17.541Z,1629046937.541 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T17:02:18.755Z,1629046938.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:02:19.173Z,1629046939.173 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:02:19.173Z,1629046939.173 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:02:19.174Z,1629046939.174 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:02:19.175Z,1629046939.175 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:02:19.545Z,1629046939.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,184,80,80,39,FF
2021-08-15T17:02:19.545Z,1629046939.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:02:19.545Z,1629046939.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:02:19.547Z,1629046939.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:02:19.956Z,1629046939.956 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:02:20.783Z,1629046940.783 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170220.60*5E

2021-08-15T17:02:21.279Z,1629046941.279 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:02:23.231Z,1629046943.231 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,184,80,80,39,FF
2021-08-15T17:02:23.231Z,1629046943.231 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,184,80,80,39,FF
2021-08-15T17:02:23.231Z,1629046943.231 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T17:02:24.022Z,1629046944.022 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:02:24.389Z,1629046944.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:02:24.389Z,1629046944.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:02:24.389Z,1629046944.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:02:24.390Z,1629046944.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:02:24.805Z,1629046944.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,184,80,80,39,FF
2021-08-15T17:02:24.805Z,1629046944.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:02:24.805Z,1629046944.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:02:24.807Z,1629046944.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:02:25.240Z,1629046945.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:02:25.260Z,1629046945.260 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T17:02:25.613Z,1629046945.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,099,000,00683,186,80,80,93,FF
2021-08-15T17:02:25.614Z,1629046945.614 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:02:26.041Z,1629046946.041 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170225.85*50

2021-08-15T17:02:26.071Z,1629046946.071 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.520000 m, bearing: 37.002335 deg, deltaT: 15.292819 s, approachRate: 0.404111 m/s, LOS rate: -0.440953 deg/s, posRepo size: 4
2021-08-15T17:02:26.960Z,1629046946.960 [ThrusterServo](FAULT): Invalid EZ Servo response:"/0@2621"
2021-08-15T17:02:26.961Z,1629046946.961 [ThrusterServo] Communications Fault, FailCount= 1
2021-08-15T17:02:26.961Z,1629046946.961 [ThrusterServo](ERROR): Communications Fault
2021-08-15T17:02:26.965Z,1629046946.965 [CBIT](ERROR): Communications Fault in component: ThrusterServo
2021-08-15T17:02:27.385Z,1629046947.385 [ThrusterServo](DEBUG): Uninitialize Thruster Servo.
2021-08-15T17:02:27.385Z,1629046947.385 [ThrusterServo](INFO): Powering down
2021-08-15T17:02:27.745Z,1629046947.745 [ThrusterServo](FAULT): LCB fault:  Software Overcurrent.
2021-08-15T17:02:27.745Z,1629046947.745 [ThrusterServo] Hardware Fault, FailCount= 1
2021-08-15T17:02:27.745Z,1629046947.745 [ThrusterServo](ERROR): Hardware Fault
2021-08-15T17:02:28.134Z,1629046948.134 [ThrusterServo](DEBUG): Initializing EZServoServo.
2021-08-15T17:02:28.249Z,1629046948.249 [ThrusterServo](DEBUG): Initializing ThrusterServo.
2021-08-15T17:02:28.253Z,1629046948.253 [CBIT](INFO): Clearing failed state for component ThrusterServo
2021-08-15T17:02:28.253Z,1629046948.253 [ThrusterServo] No Fault, FailCount= 1
2021-08-15T17:02:28.477Z,1629046948.477 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:02:28.837Z,1629046948.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:02:28.837Z,1629046948.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:02:28.837Z,1629046948.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:02:28.838Z,1629046948.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:02:29.269Z,1629046949.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
099,000,00683,186,80,80,93,FF
2021-08-15T17:02:29.269Z,1629046949.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:02:29.269Z,1629046949.269 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:02:29.271Z,1629046949.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:02:29.649Z,1629046949.649 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:02:30.058Z,1629046950.058 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,136,000,006A9,185,80,80,66,FF
2021-08-15T17:02:30.058Z,1629046950.058 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:02:30.485Z,1629046950.485 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170230.32*58

2021-08-15T17:02:30.511Z,1629046950.511 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.800003 m, bearing: 28.477827 deg, deltaT: 4.420745 s, approachRate: 0.515751 m/s, LOS rate: -1.928297 deg/s, posRepo size: 4
2021-08-15T17:02:32.903Z,1629046952.903 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:02:33.281Z,1629046953.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:02:33.281Z,1629046953.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:02:33.281Z,1629046953.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:02:33.282Z,1629046953.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:02:33.693Z,1629046953.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
136,000,006A9,185,80,80,66,FF
2021-08-15T17:02:33.693Z,1629046953.693 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:02:33.693Z,1629046953.693 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:02:33.695Z,1629046953.695 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:02:34.093Z,1629046954.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:02:34.505Z,1629046954.505 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,16B,000,00726,186,80,80,67,FF
2021-08-15T17:02:34.506Z,1629046954.506 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:02:34.939Z,1629046954.939 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170234.75*5F

2021-08-15T17:02:34.959Z,1629046954.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.300003 m, bearing: 24.706966 deg, deltaT: 4.497438 s, approachRate: 1.667616 m/s, LOS rate: -0.838446 deg/s, posRepo size: 4
2021-08-15T17:02:35.349Z,1629046955.349 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T17:02:37.411Z,1629046957.411 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:02:37.738Z,1629046957.738 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:02:37.738Z,1629046957.738 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:02:37.738Z,1629046957.738 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:02:37.739Z,1629046957.739 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:02:38.137Z,1629046958.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
16B,000,00726,186,80,80,67,FF
2021-08-15T17:02:38.137Z,1629046958.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:02:38.137Z,1629046958.137 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:02:38.139Z,1629046958.139 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:02:38.562Z,1629046958.562 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:02:38.941Z,1629046958.941 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,159,000,006E1,185,80,80,60,FF
2021-08-15T17:02:38.942Z,1629046958.942 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:02:39.390Z,1629046959.390 [Micromodem](INFO): Nmea in: $SNTTA,0.084908,,,,170239.19*4B

2021-08-15T17:02:39.473Z,1629046959.473 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.160004 m, bearing: 25.473042 deg, deltaT: 4.386199 s, approachRate: -0.943869 m/s, LOS rate: 0.174656 deg/s, posRepo size: 4
2021-08-15T17:02:41.815Z,1629046961.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:02:42.176Z,1629046962.176 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:02:42.176Z,1629046962.176 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:02:42.176Z,1629046962.176 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:02:42.177Z,1629046962.177 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:02:42.582Z,1629046962.582 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
159,000,006E1,185,80,80,60,FF
2021-08-15T17:02:42.582Z,1629046962.582 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:02:42.582Z,1629046962.582 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:02:42.585Z,1629046962.585 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:02:42.981Z,1629046962.981 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:02:43.395Z,1629046963.395 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,16F,000,00700,186,80,80,85,FF
2021-08-15T17:02:43.395Z,1629046963.395 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:02:43.821Z,1629046963.821 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170243.63*58

2021-08-15T17:02:43.840Z,1629046963.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.020004 m, bearing: 24.101974 deg, deltaT: 4.547961 s, approachRate: 0.408975 m/s, LOS rate: -0.301469 deg/s, posRepo size: 4
2021-08-15T17:02:45.445Z,1629046965.445 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T17:02:46.262Z,1629046966.262 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:02:46.613Z,1629046966.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:02:46.613Z,1629046966.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:02:46.613Z,1629046966.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:02:46.614Z,1629046966.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:02:47.030Z,1629046967.030 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
16F,000,00700,186,80,80,85,FF
2021-08-15T17:02:47.030Z,1629046967.030 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:02:47.030Z,1629046967.030 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:02:47.032Z,1629046967.032 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:02:47.447Z,1629046967.447 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:02:47.825Z,1629046967.825 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C6,000,0071C,186,80,80,6E,FF
2021-08-15T17:02:47.825Z,1629046967.825 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:02:48.286Z,1629046968.286 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170248.08*5E

2021-08-15T17:02:48.345Z,1629046968.345 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.700005 m, bearing: 20.214592 deg, deltaT: 4.360096 s, approachRate: 0.385313 m/s, LOS rate: -0.891582 deg/s, posRepo size: 4
2021-08-15T17:02:50.691Z,1629046970.691 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:02:51.061Z,1629046971.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:02:51.061Z,1629046971.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:02:51.061Z,1629046971.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:02:51.062Z,1629046971.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:02:51.480Z,1629046971.480 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C6,000,0071C,186,80,80,6E,FF
2021-08-15T17:02:51.480Z,1629046971.480 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:02:51.481Z,1629046971.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:02:51.482Z,1629046971.482 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:02:51.869Z,1629046971.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:02:52.281Z,1629046972.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AD,000,00741,186,80,80,5A,FF
2021-08-15T17:02:52.282Z,1629046972.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:02:52.702Z,1629046972.702 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170252.53*5B

2021-08-15T17:02:52.724Z,1629046972.724 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.920006 m, bearing: 35.102050 deg, deltaT: 4.442308 s, approachRate: 0.499741 m/s, LOS rate: 3.351289 deg/s, posRepo size: 4
2021-08-15T17:02:55.194Z,1629046975.194 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:02:55.513Z,1629046975.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:02:55.513Z,1629046975.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:02:55.513Z,1629046975.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:02:55.514Z,1629046975.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:02:55.562Z,1629046975.562 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-15T17:02:55.914Z,1629046975.914 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AD,000,00741,186,80,80,5A,FF
2021-08-15T17:02:55.914Z,1629046975.914 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:02:55.914Z,1629046975.914 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:02:55.916Z,1629046975.916 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:02:56.317Z,1629046976.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:02:57.166Z,1629046977.166 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170256.96*56

2021-08-15T17:02:57.947Z,1629046977.947 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:02:59.221Z,1629046979.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,186,80,80,5A,FF
2021-08-15T17:02:59.222Z,1629046979.222 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,186,80,80,5A,FF
2021-08-15T17:02:59.222Z,1629046979.222 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T17:03:00.799Z,1629046980.799 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:03:01.220Z,1629046981.220 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:03:01.221Z,1629046981.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:03:01.221Z,1629046981.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:03:01.223Z,1629046981.223 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:03:01.565Z,1629046981.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,186,80,80,5A,FF
2021-08-15T17:03:01.565Z,1629046981.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:03:01.565Z,1629046981.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:03:01.567Z,1629046981.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:03:01.972Z,1629046981.972 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:03:02.373Z,1629046982.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,120,000,00783,186,80,80,55,FF
2021-08-15T17:03:02.374Z,1629046982.374 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:03:02.809Z,1629046982.809 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170302.62*5D

2021-08-15T17:03:02.839Z,1629046982.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.880005 m, bearing: 29.336991 deg, deltaT: 10.119172 s, approachRate: 0.391336 m/s, LOS rate: -0.569716 deg/s, posRepo size: 4
2021-08-15T17:03:05.285Z,1629046985.285 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:03:05.605Z,1629046985.605 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:03:05.605Z,1629046985.605 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:03:05.605Z,1629046985.605 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:03:05.606Z,1629046985.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:03:06.009Z,1629046986.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
120,000,00783,186,80,80,55,FF
2021-08-15T17:03:06.009Z,1629046986.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:03:06.009Z,1629046986.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:03:06.011Z,1629046986.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:03:06.423Z,1629046986.423 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:03:07.262Z,1629046987.262 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170307.06*5A

2021-08-15T17:03:08.046Z,1629046988.046 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:03:09.645Z,1629046989.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,186,80,80,55,FF
2021-08-15T17:03:09.645Z,1629046989.645 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,186,80,80,55,FF
2021-08-15T17:03:09.646Z,1629046989.646 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T17:03:10.898Z,1629046990.898 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:03:11.277Z,1629046991.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:03:11.277Z,1629046991.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:03:11.277Z,1629046991.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:03:11.278Z,1629046991.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:03:11.671Z,1629046991.671 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,186,80,80,55,FF
2021-08-15T17:03:11.671Z,1629046991.671 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:03:11.671Z,1629046991.671 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:03:11.673Z,1629046991.673 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:03:12.073Z,1629046992.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:03:12.481Z,1629046992.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CF,000,007D0,186,80,80,82,FF
2021-08-15T17:03:12.481Z,1629046992.481 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:03:12.913Z,1629046992.913 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170312.72*5D

2021-08-15T17:03:12.947Z,1629046992.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.500000 m, bearing: 19.989445 deg, deltaT: 10.113291 s, approachRate: 0.456824 m/s, LOS rate: -0.924283 deg/s, posRepo size: 4
2021-08-15T17:03:15.352Z,1629046995.352 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:03:15.709Z,1629046995.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:03:15.710Z,1629046995.710 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:03:15.710Z,1629046995.710 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:03:15.711Z,1629046995.711 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:03:16.109Z,1629046996.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CF,000,007D0,186,80,80,82,FF
2021-08-15T17:03:16.109Z,1629046996.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:03:16.109Z,1629046996.109 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:03:16.111Z,1629046996.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:03:16.521Z,1629046996.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:03:16.929Z,1629046996.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,203,000,007F2,187,80,80,73,FF
2021-08-15T17:03:16.930Z,1629046996.930 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:03:17.357Z,1629046997.357 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170317.16*5A

2021-08-15T17:03:17.435Z,1629046997.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.540001 m, bearing: 16.752929 deg, deltaT: 4.405917 s, approachRate: 0.463014 m/s, LOS rate: -0.734584 deg/s, posRepo size: 4
2021-08-15T17:03:19.763Z,1629046999.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:03:20.176Z,1629047000.176 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:03:20.176Z,1629047000.176 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:03:20.177Z,1629047000.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:03:20.177Z,1629047000.177 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:03:20.553Z,1629047000.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
203,000,007F2,187,80,80,73,FF
2021-08-15T17:03:20.553Z,1629047000.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:03:20.553Z,1629047000.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:03:20.555Z,1629047000.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:03:20.961Z,1629047000.961 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:03:21.370Z,1629047001.370 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BD,000,00905,186,80,80,8D,FF
2021-08-15T17:03:21.370Z,1629047001.370 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:03:21.801Z,1629047001.801 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170321.61*5F

2021-08-15T17:03:21.824Z,1629047001.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.040001 m, bearing: 21.214465 deg, deltaT: 4.509750 s, approachRate: 3.658739 m/s, LOS rate: 0.989309 deg/s, posRepo size: 4
2021-08-15T17:03:24.253Z,1629047004.253 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:03:24.589Z,1629047004.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:03:24.589Z,1629047004.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:03:24.589Z,1629047004.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:03:24.590Z,1629047004.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:03:24.997Z,1629047004.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BD,000,00905,186,80,80,8D,FF
2021-08-15T17:03:24.997Z,1629047004.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:03:24.997Z,1629047004.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:03:24.999Z,1629047004.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:03:25.409Z,1629047005.409 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:03:26.265Z,1629047006.265 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170326.05*5A

2021-08-15T17:03:27.025Z,1629047007.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22D,000,037E8,188,80,80,60,FF
2021-08-15T17:03:27.025Z,1629047007.025 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:03:27.505Z,1629047007.505 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 821.220093 m, bearing: 15.523758 deg, deltaT: 5.605400 s, approachRate: 128.479706 m/s, LOS rate: -1.015219 deg/s, posRepo size: 4
2021-08-15T17:03:29.894Z,1629047009.894 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:03:30.281Z,1629047010.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:03:30.281Z,1629047010.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:03:30.281Z,1629047010.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:03:30.282Z,1629047010.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:03:30.669Z,1629047010.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22D,000,037E8,188,80,80,60,FF
2021-08-15T17:03:30.669Z,1629047010.669 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:03:30.669Z,1629047010.669 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:03:30.671Z,1629047010.671 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:03:31.084Z,1629047011.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:03:31.481Z,1629047011.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,097,000,00864,187,80,80,54,FF
2021-08-15T17:03:31.481Z,1629047011.481 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:03:31.917Z,1629047011.917 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170331.72*5C

2021-08-15T17:03:31.933Z,1629047011.933 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.379997 m, bearing: 35.640818 deg, deltaT: 4.514943 s, approachRate: -161.649902 m/s, LOS rate: 4.455662 deg/s, posRepo size: 4
2021-08-15T17:03:34.336Z,1629047014.336 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:03:34.717Z,1629047014.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:03:34.717Z,1629047014.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:03:34.717Z,1629047014.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:03:34.718Z,1629047014.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:03:35.113Z,1629047015.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
097,000,00864,187,80,80,54,FF
2021-08-15T17:03:35.113Z,1629047015.113 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:03:35.114Z,1629047015.114 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:03:35.120Z,1629047015.120 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:03:35.529Z,1629047015.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:03:35.581Z,1629047015.581 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T17:03:35.909Z,1629047015.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FB,000,00885,185,80,80,58,FF
2021-08-15T17:03:35.910Z,1629047015.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:03:36.361Z,1629047016.361 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170336.17*58

2021-08-15T17:03:36.387Z,1629047016.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.360008 m, bearing: 30.951695 deg, deltaT: 4.386370 s, approachRate: 0.451401 m/s, LOS rate: -1.069021 deg/s, posRepo size: 4
2021-08-15T17:03:38.797Z,1629047018.797 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:03:39.226Z,1629047019.226 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:03:39.227Z,1629047019.227 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:03:39.227Z,1629047019.227 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:03:39.229Z,1629047019.229 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:03:39.577Z,1629047019.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FB,000,00885,185,80,80,58,FF
2021-08-15T17:03:39.577Z,1629047019.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:03:39.577Z,1629047019.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:03:39.581Z,1629047019.581 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:03:39.964Z,1629047019.964 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:03:40.378Z,1629047020.378 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,204,000,0089E,187,80,80,87,FF
2021-08-15T17:03:40.378Z,1629047020.378 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:03:40.390Z,1629047020.390 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T17:03:40.797Z,1629047020.797 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170340.63*5A

2021-08-15T17:03:40.819Z,1629047020.819 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.860001 m, bearing: 17.337875 deg, deltaT: 4.476643 s, approachRate: 0.335071 m/s, LOS rate: -3.041078 deg/s, posRepo size: 4
2021-08-15T17:03:43.307Z,1629047023.307 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:03:43.599Z,1629047023.599 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:03:43.599Z,1629047023.599 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:03:43.599Z,1629047023.599 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:03:43.600Z,1629047023.600 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:03:44.005Z,1629047024.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
204,000,0089E,187,80,80,87,FF
2021-08-15T17:03:44.005Z,1629047024.005 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:03:44.006Z,1629047024.006 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:03:44.007Z,1629047024.007 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:03:44.413Z,1629047024.413 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:03:44.809Z,1629047024.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D1,000,008BF,18A,80,80,4D,FF
2021-08-15T17:03:44.810Z,1629047024.810 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:03:45.309Z,1629047025.309 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170345.06*5C

2021-08-15T17:03:45.352Z,1629047025.352 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T17:03:45.366Z,1629047025.366 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.840004 m, bearing: 6.143872 deg, deltaT: 4.439815 s, approachRate: 0.445965 m/s, LOS rate: -2.521277 deg/s, posRepo size: 4
2021-08-15T17:03:47.660Z,1629047027.660 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:03:48.053Z,1629047028.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:03:48.053Z,1629047028.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:03:48.053Z,1629047028.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:03:48.054Z,1629047028.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:03:48.457Z,1629047028.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D1,000,008BF,18A,80,80,4D,FF
2021-08-15T17:03:48.457Z,1629047028.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:03:48.458Z,1629047028.458 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:03:48.459Z,1629047028.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:03:48.857Z,1629047028.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:03:49.281Z,1629047029.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24B,000,008E0,189,80,80,43,FF
2021-08-15T17:03:49.281Z,1629047029.281 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:03:49.689Z,1629047029.689 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170349.51*52

2021-08-15T17:03:49.723Z,1629047029.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.820000 m, bearing: 12.839414 deg, deltaT: 4.522600 s, approachRate: 0.437800 m/s, LOS rate: 1.480463 deg/s, posRepo size: 4
2021-08-15T17:03:52.130Z,1629047032.130 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:03:52.497Z,1629047032.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:03:52.497Z,1629047032.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:03:52.497Z,1629047032.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:03:52.498Z,1629047032.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:03:52.893Z,1629047032.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24B,000,008E0,189,80,80,43,FF
2021-08-15T17:03:52.894Z,1629047032.894 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:03:52.894Z,1629047032.894 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:03:52.896Z,1629047032.896 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:03:53.297Z,1629047033.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:03:53.702Z,1629047033.702 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26E,000,008FF,189,80,80,7D,FF
2021-08-15T17:03:53.702Z,1629047033.702 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:03:54.137Z,1629047034.137 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170353.95*51

2021-08-15T17:03:54.176Z,1629047034.176 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.680000 m, bearing: 11.101538 deg, deltaT: 4.321103 s, approachRate: 0.430446 m/s, LOS rate: -0.402183 deg/s, posRepo size: 4
2021-08-15T17:03:55.372Z,1629047035.372 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-15T17:03:56.578Z,1629047036.578 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:03:56.933Z,1629047036.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:03:56.933Z,1629047036.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:03:56.933Z,1629047036.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:03:56.934Z,1629047036.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:03:57.350Z,1629047037.350 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26E,000,008FF,189,80,80,7D,FF
2021-08-15T17:03:57.350Z,1629047037.350 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:03:57.350Z,1629047037.350 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:03:57.353Z,1629047037.353 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:03:57.740Z,1629047037.740 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:03:58.562Z,1629047038.562 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170358.40*52

2021-08-15T17:03:59.361Z,1629047039.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,281,000,03883,18A,80,80,58,FF
2021-08-15T17:03:59.362Z,1629047039.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:03:59.799Z,1629047039.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 830.520020 m, bearing: 9.889692 deg, deltaT: 5.724616 s, approachRate: 127.491524 m/s, LOS rate: -0.211690 deg/s, posRepo size: 4
2021-08-15T17:04:00.593Z,1629047040.593 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-15T17:04:02.248Z,1629047042.248 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:04:02.589Z,1629047042.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:04:02.589Z,1629047042.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:04:02.590Z,1629047042.590 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:04:02.591Z,1629047042.591 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:04:02.997Z,1629047042.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
281,000,03883,18A,80,80,58,FF
2021-08-15T17:04:02.997Z,1629047042.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:04:02.997Z,1629047042.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:04:02.999Z,1629047042.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:04:03.415Z,1629047043.415 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:04:03.797Z,1629047043.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,268,000,0094D,189,80,80,84,FF
2021-08-15T17:04:03.797Z,1629047043.797 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:04:04.249Z,1629047044.249 [Micromodem](INFO): Nmea in: $SNTTA,0.075088,,,,170404.05*41

2021-08-15T17:04:04.291Z,1629047044.291 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.360001 m, bearing: 10.545096 deg, deltaT: 4.398412 s, approachRate: -164.868607 m/s, LOS rate: 0.149009 deg/s, posRepo size: 4
2021-08-15T17:04:06.648Z,1629047046.648 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:04:07.025Z,1629047047.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:04:07.025Z,1629047047.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:04:07.025Z,1629047047.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:04:07.026Z,1629047047.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:04:07.438Z,1629047047.438 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
268,000,0094D,189,80,80,84,FF
2021-08-15T17:04:07.438Z,1629047047.438 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:04:07.438Z,1629047047.438 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:04:07.441Z,1629047047.441 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:04:07.841Z,1629047047.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:04:08.273Z,1629047048.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24B,000,0096C,189,80,80,8E,FF
2021-08-15T17:04:08.274Z,1629047048.274 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:04:08.685Z,1629047048.685 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170408.49*59

2021-08-15T17:04:08.707Z,1629047048.707 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.220001 m, bearing: 12.163382 deg, deltaT: 4.474295 s, approachRate: 0.415708 m/s, LOS rate: 0.361685 deg/s, posRepo size: 4
2021-08-15T17:04:11.103Z,1629047051.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:04:11.485Z,1629047051.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:04:11.485Z,1629047051.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:04:11.485Z,1629047051.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:04:11.486Z,1629047051.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:04:11.881Z,1629047051.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24B,000,0096C,189,80,80,8E,FF
2021-08-15T17:04:11.881Z,1629047051.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:04:11.881Z,1629047051.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:04:11.883Z,1629047051.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:04:12.297Z,1629047052.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:04:12.685Z,1629047052.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,234,000,00990,189,80,80,72,FF
2021-08-15T17:04:12.685Z,1629047052.685 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:04:13.145Z,1629047053.145 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170412.93*55

2021-08-15T17:04:13.255Z,1629047053.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.380005 m, bearing: 13.837281 deg, deltaT: 4.426739 s, approachRate: 0.487945 m/s, LOS rate: 0.378134 deg/s, posRepo size: 4
2021-08-15T17:04:15.557Z,1629047055.557 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T17:04:15.573Z,1629047055.573 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:04:15.917Z,1629047055.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:04:15.917Z,1629047055.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:04:15.917Z,1629047055.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:04:15.918Z,1629047055.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:04:16.317Z,1629047056.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
234,000,00990,189,80,80,72,FF
2021-08-15T17:04:16.317Z,1629047056.317 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:04:16.317Z,1629047056.317 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:04:16.319Z,1629047056.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:04:16.725Z,1629047056.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:04:17.141Z,1629047057.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,260,000,009B0,189,80,80,77,FF
2021-08-15T17:04:17.142Z,1629047057.142 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:04:17.569Z,1629047057.569 [Micromodem](INFO): Nmea in: $SNTTA,0.089932,,,,170417.37*49

2021-08-15T17:04:17.615Z,1629047057.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.300003 m, bearing: 11.596011 deg, deltaT: 4.515112 s, approachRate: 0.425238 m/s, LOS rate: -0.496393 deg/s, posRepo size: 4
2021-08-15T17:04:19.975Z,1629047059.975 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:04:20.365Z,1629047060.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:04:20.365Z,1629047060.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:04:20.365Z,1629047060.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:04:20.366Z,1629047060.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:04:20.761Z,1629047060.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
260,000,009B0,189,80,80,77,FF
2021-08-15T17:04:20.761Z,1629047060.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:04:20.761Z,1629047060.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:04:20.763Z,1629047060.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:04:21.235Z,1629047061.235 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:04:21.581Z,1629047061.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,271,000,009D3,189,80,80,9A,FF
2021-08-15T17:04:21.582Z,1629047061.582 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:04:22.009Z,1629047062.009 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170421.82*55

2021-08-15T17:04:22.043Z,1629047062.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.399994 m, bearing: 9.570073 deg, deltaT: 4.359797 s, approachRate: 0.481672 m/s, LOS rate: -0.464686 deg/s, posRepo size: 4
2021-08-15T17:04:22.823Z,1629047062.823 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-15T17:04:22.823Z,1629047062.823 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-15T17:04:22.824Z,1629047062.824 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-15T17:04:22.824Z,1629047062.824 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T17:04:22.824Z,1629047062.824 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-15T17:04:23.536Z,1629047063.536 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 10181961330000005D000004003E0000000000000000151D80030C5669C08C7A9706A56805CCC4743FA74ED8B2984925206FD250025BC81BB61E23A9827E5AA5
2021-08-15T17:04:23.537Z,1629047063.537 [Micromodem](INFO): Outgoing frame #2, 18 bytes: 6FA3467F5E78B36C81B2CC0CA5E2F5B80000
2021-08-15T17:04:23.537Z,1629047063.537 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-08-15T17:04:23.829Z,1629047063.829 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-08-15T17:04:24.237Z,1629047064.237 [Micromodem](INFO): Nmea in: $CADRQ,170424,1,10,0,64,1*72

2021-08-15T17:04:24.238Z,1629047064.238 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,10181961330000005D000004003E0000000000000000151D80030C5669C08C7A9706A56805CCC4743FA74ED8B2984925206FD250025BC81BB61E23A9827E5AA5*3D

2021-08-15T17:04:24.371Z,1629047064.371 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:04:24.621Z,1629047064.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:04:24.621Z,1629047064.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:04:24.621Z,1629047064.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:04:24.622Z,1629047064.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:04:24.628Z,1629047064.628 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-15T17:04:25.021Z,1629047065.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
271,000,009D3,189,80,80,9A,FF
2021-08-15T17:04:25.021Z,1629047065.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:04:25.022Z,1629047065.022 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:04:25.023Z,1629047065.023 [Micromodem](INFO): Nmea in: $CADRQ,170425,1,10,0,64,2*70

2021-08-15T17:04:25.024Z,1629047065.024 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,6FA3467F5E78B36C81B2CC0CA5E2F5B80000*43

2021-08-15T17:04:25.658Z,1629047065.658 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,18*42

2021-08-15T17:04:25.659Z,1629047065.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:04:26.054Z,1629047066.054 [Micromodem](INFO): Nmea in: $CATXP,82*78

2021-08-15T17:04:26.054Z,1629047066.054 [Micromodem](ERROR): Response from modem unexpected: $CATXP,82*78

2021-08-15T17:04:26.883Z,1629047066.883 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:04:28.498Z,1629047068.498 [Micromodem](INFO): Nmea in: $CATXF,82*6E

2021-08-15T17:04:28.498Z,1629047068.498 [Micromodem](ERROR): Response from modem unexpected: $CATXF,82*6E

2021-08-15T17:04:28.883Z,1629047068.883 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,170426.062661,3,0,200,4000,14500,1,1,10,1,2,2,3,82,14500*5A

2021-08-15T17:04:28.883Z,1629047068.883 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210815,170426.062661,3,0,200,4000,14500,1,1,10,1,2,2,3,82,14500*5A

2021-08-15T17:04:29.931Z,1629047069.931 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:04:30.944Z,1629047070.944 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.321667
2021-08-15T17:04:30.946Z,1629047070.946 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-15T17:04:31.322Z,1629047071.322 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-08-15T17:04:31.323Z,1629047071.323 [Micromodem](INFO): Sent 74 bytes from file Logs/20210815T133512/Courier0051.lzma.parts
2021-08-15T17:04:31.323Z,1629047071.323 [Micromodem](INFO): Packets left to send: 0
2021-08-15T17:04:31.718Z,1629047071.718 [Micromodem](INFO): Nmea in: $CACST,6,0,20210815170430.886335,06,8682,39,0104,0150,82,02,02,00,02,1,010,001,0,4,1,0,150,5.9,3.92,11,-0.92,-01,0.34,54,14500,4000*6C

2021-08-15T17:04:31.718Z,1629047071.718 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210815170430.886335,06,8682,39,0104,0150,82,02,02,00,02,1,010,001,0,4,1,0,150,5.9,3.92,11,-0.92,-01,0.34,54,14500,4000*6C

2021-08-15T17:04:32.382Z,1629047072.382 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-15T17:04:32.382Z,1629047072.382 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-15T17:04:32.382Z,1629047072.382 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-15T17:04:32.382Z,1629047072.382 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T17:04:32.383Z,1629047072.383 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-15T17:04:32.651Z,1629047072.651 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:04:33.023Z,1629047073.023 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:04:33.023Z,1629047073.023 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:04:33.023Z,1629047073.023 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:04:33.024Z,1629047073.024 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:04:33.434Z,1629047073.434 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
271,000,009D3,189,80,80,9A,FF
2021-08-15T17:04:33.434Z,1629047073.434 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:04:33.435Z,1629047073.435 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:04:35.475Z,1629047075.475 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-15T17:04:35.529Z,1629047075.529 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:04:37.063Z,1629047077.063 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:04:37.480Z,1629047077.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:04:37.889Z,1629047077.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,220,000,00A45,187,80,80,9A,FF
2021-08-15T17:04:37.889Z,1629047077.889 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:04:38.309Z,1629047078.309 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170438.11*57

2021-08-15T17:04:38.363Z,1629047078.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.239998 m, bearing: 14.000398 deg, deltaT: 16.283189 s, approachRate: 0.420065 m/s, LOS rate: 0.272080 deg/s, posRepo size: 4
2021-08-15T17:04:40.727Z,1629047080.727 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:04:41.137Z,1629047081.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:04:41.137Z,1629047081.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:04:41.138Z,1629047081.138 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:04:41.139Z,1629047081.139 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:04:41.529Z,1629047081.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
220,000,00A45,187,80,80,9A,FF
2021-08-15T17:04:41.529Z,1629047081.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:04:41.529Z,1629047081.529 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:04:41.531Z,1629047081.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:04:41.916Z,1629047081.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:04:42.325Z,1629047082.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,286,000,00A63,189,80,80,66,FF
2021-08-15T17:04:42.325Z,1629047082.325 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:04:42.762Z,1629047082.762 [Micromodem](INFO): Nmea in: $SNTTA,0.086003,,,,170442.58*44

2021-08-15T17:04:42.785Z,1629047082.785 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.040009 m, bearing: 8.977976 deg, deltaT: 4.511002 s, approachRate: 0.399027 m/s, LOS rate: -1.113372 deg/s, posRepo size: 4
2021-08-15T17:04:45.299Z,1629047085.299 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:04:45.561Z,1629047085.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:04:45.561Z,1629047085.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:04:45.561Z,1629047085.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:04:45.562Z,1629047085.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:04:45.961Z,1629047085.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
286,000,00A63,189,80,80,66,FF
2021-08-15T17:04:45.961Z,1629047085.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:04:45.961Z,1629047085.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:04:45.963Z,1629047085.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:04:46.371Z,1629047086.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:04:46.774Z,1629047086.774 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,275,000,00A88,189,80,80,7C,FF
2021-08-15T17:04:46.774Z,1629047086.774 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:04:47.253Z,1629047087.253 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170447.02*5D

2021-08-15T17:04:47.309Z,1629047087.309 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.260002 m, bearing: 9.595466 deg, deltaT: 4.401024 s, approachRate: 0.504427 m/s, LOS rate: 0.140306 deg/s, posRepo size: 4
2021-08-15T17:04:49.628Z,1629047089.628 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:04:49.997Z,1629047089.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:04:49.997Z,1629047089.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:04:49.997Z,1629047089.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:04:49.998Z,1629047089.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:04:50.414Z,1629047090.414 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
275,000,00A88,189,80,80,7C,FF
2021-08-15T17:04:50.414Z,1629047090.414 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:04:50.414Z,1629047090.414 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:04:50.417Z,1629047090.417 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:04:50.823Z,1629047090.823 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:04:51.245Z,1629047091.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14A,000,00AA9,186,80,80,52,FF
2021-08-15T17:04:51.246Z,1629047091.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:04:51.249Z,1629047091.249 [Micromodem](INFO): Nmea in: $SNTTA,0.101380,0.254937,,,170451.47*5E

2021-08-15T17:04:51.649Z,1629047091.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.239998 m, bearing: 24.659153 deg, deltaT: 4.517554 s, approachRate: 0.438289 m/s, LOS rate: 3.334479 deg/s, posRepo size: 4
2021-08-15T17:04:54.072Z,1629047094.072 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:04:54.458Z,1629047094.458 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:04:54.458Z,1629047094.458 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:04:54.458Z,1629047094.458 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:04:54.459Z,1629047094.459 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:04:54.845Z,1629047094.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14A,000,00AA9,186,80,80,52,FF
2021-08-15T17:04:54.845Z,1629047094.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:04:54.845Z,1629047094.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:04:54.847Z,1629047094.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:04:55.290Z,1629047095.290 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:04:55.653Z,1629047095.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AA,000,00AC6,189,80,80,54,FF
2021-08-15T17:04:55.654Z,1629047095.654 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:04:56.105Z,1629047096.105 [Micromodem](INFO): Nmea in: $SNTTA,0.040588,,,,170455.90*4A

2021-08-15T17:04:56.127Z,1629047096.127 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.980003 m, bearing: 7.437232 deg, deltaT: 4.335717 s, approachRate: 0.401319 m/s, LOS rate: -3.972105 deg/s, posRepo size: 4
2021-08-15T17:04:58.541Z,1629047098.541 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:04:58.885Z,1629047098.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:04:58.885Z,1629047098.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:04:58.885Z,1629047098.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:04:58.886Z,1629047098.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:04:59.293Z,1629047099.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AA,000,00AC6,189,80,80,54,FF
2021-08-15T17:04:59.294Z,1629047099.294 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:04:59.294Z,1629047099.294 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:04:59.297Z,1629047099.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:04:59.701Z,1629047099.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:05:00.102Z,1629047100.102 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,206,000,00AEB,187,80,80,5E,FF
2021-08-15T17:05:00.103Z,1629047100.103 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:05:00.537Z,1629047100.537 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170500.35*5B

2021-08-15T17:05:00.579Z,1629047100.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.199997 m, bearing: 14.950024 deg, deltaT: 4.488429 s, approachRate: 0.494604 m/s, LOS rate: 1.673813 deg/s, posRepo size: 4
2021-08-15T17:05:02.926Z,1629047102.926 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-15T17:05:02.945Z,1629047102.945 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:05:03.325Z,1629047103.325 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:05:03.325Z,1629047103.325 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:05:03.325Z,1629047103.325 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:05:03.326Z,1629047103.326 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:05:03.733Z,1629047103.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
206,000,00AEB,187,80,80,5E,FF
2021-08-15T17:05:03.733Z,1629047103.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:05:03.733Z,1629047103.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:05:03.735Z,1629047103.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:05:04.149Z,1629047104.149 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:05:04.549Z,1629047104.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CF,000,00B09,186,80,80,5B,FF
2021-08-15T17:05:04.549Z,1629047104.549 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:05:04.997Z,1629047104.997 [Micromodem](INFO): Nmea in: $SNTTA,0.097409,,,,170504.79*4A

2021-08-15T17:05:05.058Z,1629047105.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.000000 m, bearing: 17.177091 deg, deltaT: 4.463035 s, approachRate: 0.403314 m/s, LOS rate: 0.499003 deg/s, posRepo size: 4
2021-08-15T17:05:07.481Z,1629047107.481 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:05:07.773Z,1629047107.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:05:07.773Z,1629047107.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:05:07.773Z,1629047107.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:05:07.774Z,1629047107.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:05:08.176Z,1629047108.176 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CF,000,00B09,186,80,80,5B,FF
2021-08-15T17:05:08.176Z,1629047108.176 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:05:08.176Z,1629047108.176 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:05:08.178Z,1629047108.178 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:05:08.585Z,1629047108.585 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:05:08.985Z,1629047108.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D2,000,00B25,18A,80,80,55,FF
2021-08-15T17:05:08.986Z,1629047108.986 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:05:09.437Z,1629047109.437 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170509.23*55

2021-08-15T17:05:09.519Z,1629047109.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 133.680008 m, bearing: 4.266741 deg, deltaT: 4.385104 s, approachRate: 0.383117 m/s, LOS rate: -2.944137 deg/s, posRepo size: 4
2021-08-15T17:05:11.852Z,1629047111.852 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:05:12.025Z,1629047112.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:05:12.025Z,1629047112.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:05:12.025Z,1629047112.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:05:12.026Z,1629047112.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:05:12.426Z,1629047112.426 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D2,000,00B25,18A,80,80,55,FF
2021-08-15T17:05:12.426Z,1629047112.426 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:05:12.426Z,1629047112.426 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:05:12.429Z,1629047112.429 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:05:12.839Z,1629047112.839 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:05:13.269Z,1629047113.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,253,000,00B44,189,80,80,7D,FF
2021-08-15T17:05:13.270Z,1629047113.270 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:05:13.693Z,1629047113.693 [Micromodem](INFO): Nmea in: $SNTTA,0.092620,,,,170513.48*42

2021-08-15T17:05:13.715Z,1629047113.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.540009 m, bearing: 11.419218 deg, deltaT: 4.350210 s, approachRate: 0.427566 m/s, LOS rate: 1.644168 deg/s, posRepo size: 4
2021-08-15T17:05:16.100Z,1629047116.100 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:05:16.473Z,1629047116.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:05:16.473Z,1629047116.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:05:16.473Z,1629047116.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:05:16.474Z,1629047116.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:05:16.865Z,1629047116.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
253,000,00B44,189,80,80,7D,FF
2021-08-15T17:05:16.865Z,1629047116.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:05:16.865Z,1629047116.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:05:16.867Z,1629047116.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:05:17.292Z,1629047117.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:05:17.693Z,1629047117.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,23C,000,00B66,188,80,80,AA,FF
2021-08-15T17:05:17.694Z,1629047117.694 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:05:18.121Z,1629047118.121 [Micromodem](INFO): Nmea in: $SNTTA,0.029796,,,,170517.92*4D

2021-08-15T17:05:18.143Z,1629047118.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 137.580002 m, bearing: 12.733593 deg, deltaT: 4.410399 s, approachRate: 0.462542 m/s, LOS rate: 0.298017 deg/s, posRepo size: 4
2021-08-15T17:05:20.541Z,1629047120.541 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:05:20.922Z,1629047120.922 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:05:20.922Z,1629047120.922 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:05:20.923Z,1629047120.923 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:05:20.923Z,1629047120.923 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:05:21.325Z,1629047121.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
23C,000,00B66,188,80,80,AA,FF
2021-08-15T17:05:21.325Z,1629047121.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:05:21.325Z,1629047121.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:05:21.327Z,1629047121.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:05:21.724Z,1629047121.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:05:22.137Z,1629047122.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22D,000,00B83,189,80,80,95,FF
2021-08-15T17:05:22.138Z,1629047122.138 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:05:22.554Z,1629047122.554 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170522.38*56

2021-08-15T17:05:22.579Z,1629047122.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.320007 m, bearing: 13.263307 deg, deltaT: 4.386402 s, approachRate: 0.396682 m/s, LOS rate: 0.120763 deg/s, posRepo size: 4
2021-08-15T17:05:24.974Z,1629047124.974 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:05:25.355Z,1629047125.355 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:05:25.355Z,1629047125.355 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:05:25.355Z,1629047125.355 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:05:25.356Z,1629047125.356 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:05:25.749Z,1629047125.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22D,000,00B83,189,80,80,95,FF
2021-08-15T17:05:25.749Z,1629047125.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:05:25.750Z,1629047125.750 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:05:25.751Z,1629047125.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:05:26.164Z,1629047126.164 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:05:26.573Z,1629047126.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24B,000,00B9E,189,80,80,9D,FF
2021-08-15T17:05:26.574Z,1629047126.574 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:05:27.021Z,1629047127.021 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170526.80*51

2021-08-15T17:05:27.038Z,1629047127.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.940002 m, bearing: 11.557943 deg, deltaT: 4.469400 s, approachRate: 0.362464 m/s, LOS rate: -0.381564 deg/s, posRepo size: 4
2021-08-15T17:05:29.475Z,1629047129.475 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:05:29.793Z,1629047129.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:05:29.793Z,1629047129.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:05:29.793Z,1629047129.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:05:29.794Z,1629047129.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:05:30.202Z,1629047130.202 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24B,000,00B9E,189,80,80,9D,FF
2021-08-15T17:05:30.202Z,1629047130.202 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:05:30.203Z,1629047130.203 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:05:30.210Z,1629047130.210 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:05:30.604Z,1629047130.604 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:05:31.019Z,1629047131.019 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26F,000,00BC3,188,80,80,8C,FF
2021-08-15T17:05:31.020Z,1629047131.020 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:05:31.457Z,1629047131.457 [Micromodem](INFO): Nmea in: $SNTTA,0.097696,,,,170531.26*42

2021-08-15T17:05:31.513Z,1629047131.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.160004 m, bearing: 8.538122 deg, deltaT: 4.441696 s, approachRate: 0.499809 m/s, LOS rate: -0.679880 deg/s, posRepo size: 4
2021-08-15T17:05:33.854Z,1629047133.854 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:05:34.265Z,1629047134.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:05:34.265Z,1629047134.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:05:34.265Z,1629047134.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:05:34.266Z,1629047134.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:05:34.641Z,1629047134.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26F,000,00BC3,188,80,80,8C,FF
2021-08-15T17:05:34.641Z,1629047134.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:05:34.641Z,1629047134.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:05:34.643Z,1629047134.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:05:35.049Z,1629047135.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:05:35.465Z,1629047135.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B4,000,00BE4,18A,80,80,7F,FF
2021-08-15T17:05:35.465Z,1629047135.466 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:05:35.889Z,1629047135.889 [Micromodem](INFO): Nmea in: $SNTTA,0.117536,,,,170535.69*4D

2021-08-15T17:05:35.944Z,1629047135.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.140015 m, bearing: 3.931799 deg, deltaT: 4.493525 s, approachRate: 0.440636 m/s, LOS rate: -1.025102 deg/s, posRepo size: 4
2021-08-15T17:05:38.325Z,1629047138.325 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:05:38.681Z,1629047138.681 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:05:38.681Z,1629047138.681 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:05:38.681Z,1629047138.681 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:05:38.682Z,1629047138.682 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:05:39.101Z,1629047139.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B4,000,00BE4,18A,80,80,7F,FF
2021-08-15T17:05:39.101Z,1629047139.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:05:39.102Z,1629047139.102 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:05:39.111Z,1629047139.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:05:39.513Z,1629047139.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:05:39.902Z,1629047139.902 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F0,000,00BFF,18A,80,80,7F,FF
2021-08-15T17:05:39.902Z,1629047139.902 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:05:40.345Z,1629047140.345 [Micromodem](INFO): Nmea in: $SNTTA,0.101739,,,,170540.16*4D

2021-08-15T17:05:40.376Z,1629047140.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.760010 m, bearing: 359.989901 deg, deltaT: 4.393821 s, approachRate: 0.368698 m/s, LOS rate: -0.897149 deg/s, posRepo size: 4
2021-08-15T17:05:42.763Z,1629047142.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:05:43.162Z,1629047143.162 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:05:43.162Z,1629047143.162 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:05:43.162Z,1629047143.162 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:05:43.163Z,1629047143.163 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:05:43.537Z,1629047143.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F0,000,00BFF,18A,80,80,7F,FF
2021-08-15T17:05:43.537Z,1629047143.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:05:43.538Z,1629047143.538 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:05:43.539Z,1629047143.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:05:43.941Z,1629047143.941 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:05:44.355Z,1629047144.355 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F2,000,00C1F,189,80,80,63,FF
2021-08-15T17:05:44.356Z,1629047144.356 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:05:44.785Z,1629047144.785 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170544.59*51

2021-08-15T17:05:44.825Z,1629047144.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.679993 m, bearing: 359.407669 deg, deltaT: 4.443997 s, approachRate: 0.432040 m/s, LOS rate: -0.131016 deg/s, posRepo size: 4
2021-08-15T17:05:47.277Z,1629047147.277 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:05:47.569Z,1629047147.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:05:47.569Z,1629047147.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:05:47.569Z,1629047147.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:05:47.570Z,1629047147.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:05:47.978Z,1629047147.978 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F2,000,00C1F,189,80,80,63,FF
2021-08-15T17:05:47.978Z,1629047147.978 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:05:47.978Z,1629047147.978 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:05:47.985Z,1629047147.985 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:05:48.381Z,1629047148.381 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:05:48.784Z,1629047148.784 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BF,000,00C3A,189,80,80,63,FF
2021-08-15T17:05:48.784Z,1629047148.784 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:05:49.249Z,1629047149.249 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170549.04*54

2021-08-15T17:05:49.317Z,1629047149.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 150.300003 m, bearing: 2.595477 deg, deltaT: 4.408156 s, approachRate: 0.367503 m/s, LOS rate: 0.723160 deg/s, posRepo size: 4
2021-08-15T17:05:51.625Z,1629047151.625 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:05:52.017Z,1629047152.017 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:05:52.017Z,1629047152.017 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:05:52.017Z,1629047152.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:05:52.018Z,1629047152.018 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:05:52.426Z,1629047152.426 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BF,000,00C3A,189,80,80,63,FF
2021-08-15T17:05:52.427Z,1629047152.427 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:05:52.427Z,1629047152.427 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:05:52.430Z,1629047152.430 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:05:52.825Z,1629047152.825 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:05:53.253Z,1629047153.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BE,000,00C58,189,80,80,6A,FF
2021-08-15T17:05:53.254Z,1629047153.254 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:05:53.669Z,1629047153.669 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170553.48*57

2021-08-15T17:05:53.703Z,1629047153.703 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.099991 m, bearing: 2.612671 deg, deltaT: 4.533341 s, approachRate: 0.397055 m/s, LOS rate: 0.003793 deg/s, posRepo size: 4
2021-08-15T17:05:56.087Z,1629047156.087 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:05:56.469Z,1629047156.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:05:56.469Z,1629047156.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:05:56.469Z,1629047156.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:05:56.470Z,1629047156.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:05:56.869Z,1629047156.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BE,000,00C58,189,80,80,6A,FF
2021-08-15T17:05:56.869Z,1629047156.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:05:56.870Z,1629047156.870 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:05:56.871Z,1629047156.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:05:57.281Z,1629047157.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:05:57.674Z,1629047157.674 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BF,000,00C75,189,80,80,6A,FF
2021-08-15T17:05:57.674Z,1629047157.674 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:05:58.110Z,1629047158.110 [Micromodem](INFO): Nmea in: $SNTTA,0.104476,,,,170557.92*4A

2021-08-15T17:05:58.125Z,1629047158.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 153.840012 m, bearing: 2.401870 deg, deltaT: 4.386455 s, approachRate: 0.396680 m/s, LOS rate: -0.048057 deg/s, posRepo size: 4
2021-08-15T17:06:00.541Z,1629047160.541 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:06:00.909Z,1629047160.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:06:00.909Z,1629047160.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:06:00.909Z,1629047160.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:06:00.910Z,1629047160.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:06:01.317Z,1629047161.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BF,000,00C75,189,80,80,6A,FF
2021-08-15T17:06:01.317Z,1629047161.317 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:06:01.318Z,1629047161.318 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:06:01.319Z,1629047161.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:06:01.717Z,1629047161.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:06:02.118Z,1629047162.118 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B4,000,00C93,189,80,80,6A,FF
2021-08-15T17:06:02.118Z,1629047162.118 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:06:02.545Z,1629047162.545 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170602.37*58

2021-08-15T17:06:02.591Z,1629047162.591 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 155.639999 m, bearing: 3.208061 deg, deltaT: 4.415924 s, approachRate: 0.407613 m/s, LOS rate: 0.182565 deg/s, posRepo size: 4
2021-08-15T17:06:04.987Z,1629047164.987 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:06:05.373Z,1629047165.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:06:05.373Z,1629047165.373 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:06:05.373Z,1629047165.373 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:06:05.374Z,1629047165.374 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:06:05.754Z,1629047165.754 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B4,000,00C93,189,80,80,6A,FF
2021-08-15T17:06:05.754Z,1629047165.754 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:06:05.754Z,1629047165.754 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:06:05.756Z,1629047165.756 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:06:06.165Z,1629047166.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:06:06.994Z,1629047166.994 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170606.81*51

2021-08-15T17:06:07.786Z,1629047167.786 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:06:09.382Z,1629047169.382 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,189,80,80,6A,FF
2021-08-15T17:06:09.382Z,1629047169.382 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,189,80,80,6A,FF
2021-08-15T17:06:09.382Z,1629047169.382 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T17:06:10.630Z,1629047170.630 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:06:11.013Z,1629047171.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:06:11.013Z,1629047171.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:06:11.014Z,1629047171.014 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:06:11.015Z,1629047171.015 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:06:11.410Z,1629047171.410 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,189,80,80,6A,FF
2021-08-15T17:06:11.410Z,1629047171.410 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:06:11.410Z,1629047171.410 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:06:11.413Z,1629047171.413 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:06:11.827Z,1629047171.827 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:06:12.233Z,1629047172.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,330,000,00CD6,189,80,80,6A,FF
2021-08-15T17:06:12.234Z,1629047172.234 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:06:12.662Z,1629047172.662 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170612.47*5E

2021-08-15T17:06:12.688Z,1629047172.688 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 159.660004 m, bearing: 356.428176 deg, deltaT: 10.160956 s, approachRate: 0.395632 m/s, LOS rate: -0.667248 deg/s, posRepo size: 4
2021-08-15T17:06:15.086Z,1629047175.086 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:06:15.445Z,1629047175.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:06:15.445Z,1629047175.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:06:15.445Z,1629047175.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:06:15.446Z,1629047175.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:06:15.866Z,1629047175.866 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
330,000,00CD6,189,80,80,6A,FF
2021-08-15T17:06:15.866Z,1629047175.866 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:06:15.866Z,1629047175.866 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:06:15.892Z,1629047175.892 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:06:16.276Z,1629047176.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:06:17.073Z,1629047177.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,30E,000,00CF5,189,80,80,5F,FF
2021-08-15T17:06:17.073Z,1629047177.073 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:06:17.501Z,1629047177.501 [Micromodem](INFO): Nmea in: $SNTTA,0.124798,,,,170617.05*42

2021-08-15T17:06:17.557Z,1629047177.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 161.520004 m, bearing: 359.231504 deg, deltaT: 4.923860 s, approachRate: 0.377753 m/s, LOS rate: 0.569335 deg/s, posRepo size: 4
2021-08-15T17:06:19.938Z,1629047179.938 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:06:20.305Z,1629047180.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:06:20.305Z,1629047180.305 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:06:20.305Z,1629047180.305 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:06:20.306Z,1629047180.306 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:06:20.722Z,1629047180.722 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
30E,000,00CF5,189,80,80,5F,FF
2021-08-15T17:06:20.722Z,1629047180.722 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:06:20.722Z,1629047180.722 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:06:20.725Z,1629047180.725 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:06:21.156Z,1629047181.156 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:06:21.538Z,1629047181.538 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,298,000,00D12,189,80,80,5F,FF
2021-08-15T17:06:21.538Z,1629047181.538 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:06:21.954Z,1629047181.954 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170621.78*52

2021-08-15T17:06:21.971Z,1629047181.971 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 163.259995 m, bearing: 6.521360 deg, deltaT: 4.335642 s, approachRate: 0.401322 m/s, LOS rate: 1.681378 deg/s, posRepo size: 4
2021-08-15T17:06:24.374Z,1629047184.374 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:06:24.762Z,1629047184.762 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:06:24.762Z,1629047184.762 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:06:24.763Z,1629047184.763 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:06:24.764Z,1629047184.764 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:06:25.201Z,1629047185.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
298,000,00D12,189,80,80,5F,FF
2021-08-15T17:06:25.201Z,1629047185.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:06:25.202Z,1629047185.202 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:06:25.209Z,1629047185.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:06:25.632Z,1629047185.632 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:06:26.046Z,1629047186.046 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25B,000,00D29,18A,80,80,85,FF
2021-08-15T17:06:26.046Z,1629047186.046 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:06:26.469Z,1629047186.469 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170626.26*5E

2021-08-15T17:06:26.520Z,1629047186.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 164.640015 m, bearing: 9.811621 deg, deltaT: 4.501294 s, approachRate: 0.306583 m/s, LOS rate: 0.730959 deg/s, posRepo size: 4
2021-08-15T17:06:28.882Z,1629047188.882 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:06:29.269Z,1629047189.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:06:29.269Z,1629047189.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:06:29.269Z,1629047189.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:06:29.270Z,1629047189.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:06:29.670Z,1629047189.670 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
25B,000,00D29,18A,80,80,85,FF
2021-08-15T17:06:29.670Z,1629047189.670 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:06:29.670Z,1629047189.670 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:06:29.701Z,1629047189.701 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:06:30.069Z,1629047190.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:06:30.883Z,1629047190.883 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,295,000,00D48,188,80,80,7E,FF
2021-08-15T17:06:30.884Z,1629047190.884 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:06:30.898Z,1629047190.898 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170630.75*5F

2021-08-15T17:06:31.376Z,1629047191.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 166.500015 m, bearing: 6.615530 deg, deltaT: 4.876401 s, approachRate: 0.381429 m/s, LOS rate: -0.655420 deg/s, posRepo size: 4
2021-08-15T17:06:33.742Z,1629047193.742 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:06:34.105Z,1629047194.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:06:34.105Z,1629047194.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:06:34.105Z,1629047194.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:06:34.106Z,1629047194.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:06:34.514Z,1629047194.514 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
295,000,00D48,188,80,80,7E,FF
2021-08-15T17:06:34.514Z,1629047194.514 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:06:34.514Z,1629047194.514 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:06:34.517Z,1629047194.517 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:06:34.916Z,1629047194.916 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:06:35.333Z,1629047195.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27D,000,00D6B,188,80,80,7E,FF
2021-08-15T17:06:35.334Z,1629047195.334 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:06:35.757Z,1629047195.757 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170635.57*5A

2021-08-15T17:06:35.779Z,1629047195.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 168.600006 m, bearing: 7.610581 deg, deltaT: 4.522442 s, approachRate: 0.464349 m/s, LOS rate: 0.220025 deg/s, posRepo size: 4
2021-08-15T17:06:38.163Z,1629047198.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:06:38.549Z,1629047198.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:06:38.549Z,1629047198.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:06:38.549Z,1629047198.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:06:38.550Z,1629047198.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:06:38.953Z,1629047198.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27D,000,00D6B,188,80,80,7E,FF
2021-08-15T17:06:38.953Z,1629047198.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:06:38.953Z,1629047198.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:06:38.955Z,1629047198.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:06:39.361Z,1629047199.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:06:39.768Z,1629047199.768 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2CE,000,00D6B,188,80,80,7E,FF
2021-08-15T17:06:39.769Z,1629047199.769 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:06:40.205Z,1629047200.205 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170640.01*5B

2021-08-15T17:06:40.286Z,1629047200.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 168.600006 m, bearing: 2.769811 deg, deltaT: 4.330987 s, approachRate: 0.000000 m/s, LOS rate: -1.117706 deg/s, posRepo size: 4
2021-08-15T17:06:42.604Z,1629047202.604 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:06:42.993Z,1629047202.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:06:42.993Z,1629047202.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:06:42.993Z,1629047202.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:06:42.994Z,1629047202.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:06:43.406Z,1629047203.406 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2CE,000,00D6B,188,80,80,7E,FF
2021-08-15T17:06:43.406Z,1629047203.406 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:06:43.407Z,1629047203.407 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:06:43.410Z,1629047203.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:06:43.804Z,1629047203.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:06:44.221Z,1629047204.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A1,000,00D6B,188,80,80,7E,FF
2021-08-15T17:06:44.223Z,1629047204.223 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:06:44.649Z,1629047204.649 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170644.47*5D

2021-08-15T17:06:44.692Z,1629047204.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 168.600006 m, bearing: 5.303212 deg, deltaT: 4.527995 s, approachRate: 0.000000 m/s, LOS rate: 0.559497 deg/s, posRepo size: 4
2021-08-15T17:06:47.085Z,1629047207.085 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:06:47.438Z,1629047207.438 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:06:47.438Z,1629047207.438 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:06:47.438Z,1629047207.438 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:06:47.439Z,1629047207.439 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:06:47.841Z,1629047207.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A1,000,00D6B,188,80,80,7E,FF
2021-08-15T17:06:47.841Z,1629047207.841 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:06:47.842Z,1629047207.842 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:06:47.843Z,1629047207.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:06:48.276Z,1629047208.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:06:48.666Z,1629047208.666 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,283,000,00DC3,188,80,80,7E,FF
2021-08-15T17:06:48.666Z,1629047208.666 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:06:49.121Z,1629047209.121 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170648.89*53

2021-08-15T17:06:49.225Z,1629047209.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 173.880005 m, bearing: 6.858828 deg, deltaT: 4.368601 s, approachRate: 1.208625 m/s, LOS rate: 0.356090 deg/s, posRepo size: 4
2021-08-15T17:06:51.577Z,1629047211.577 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:06:51.909Z,1629047211.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:06:51.909Z,1629047211.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:06:51.910Z,1629047211.910 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:06:51.911Z,1629047211.911 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:06:52.309Z,1629047212.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
283,000,00DC3,188,80,80,7E,FF
2021-08-15T17:06:52.309Z,1629047212.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:06:52.309Z,1629047212.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:06:52.311Z,1629047212.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:06:52.729Z,1629047212.729 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:06:53.540Z,1629047213.540 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170653.36*5D

2021-08-15T17:06:54.359Z,1629047214.359 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:06:55.957Z,1629047215.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,188,80,80,7E,FF
2021-08-15T17:06:55.958Z,1629047215.958 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,188,80,80,7E,FF
2021-08-15T17:06:55.958Z,1629047215.958 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T17:06:57.272Z,1629047217.272 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:06:57.561Z,1629047217.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:06:57.561Z,1629047217.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:06:57.561Z,1629047217.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:06:57.562Z,1629047217.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:06:57.973Z,1629047217.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,188,80,80,7E,FF
2021-08-15T17:06:57.973Z,1629047217.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:06:57.973Z,1629047217.973 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:06:57.975Z,1629047217.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:06:58.380Z,1629047218.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:06:59.235Z,1629047219.235 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D6,000,00E06,189,80,80,70,FF
2021-08-15T17:06:59.235Z,1629047219.235 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:06:59.238Z,1629047219.238 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170659.03*51

2021-08-15T17:06:59.609Z,1629047219.609 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 177.900009 m, bearing: 1.391452 deg, deltaT: 10.627494 s, approachRate: 0.378265 m/s, LOS rate: -0.514456 deg/s, posRepo size: 4
2021-08-15T17:07:02.054Z,1629047222.054 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:07:02.418Z,1629047222.418 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:07:02.418Z,1629047222.418 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:07:02.418Z,1629047222.418 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:07:02.419Z,1629047222.419 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:07:02.813Z,1629047222.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D6,000,00E06,189,80,80,70,FF
2021-08-15T17:07:02.813Z,1629047222.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:07:02.814Z,1629047222.814 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:07:02.815Z,1629047222.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:07:03.257Z,1629047223.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:07:03.630Z,1629047223.630 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D6,000,00E06,189,80,80,70,FF
2021-08-15T17:07:03.630Z,1629047223.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:07:04.061Z,1629047224.061 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170703.88*5C

2021-08-15T17:07:04.098Z,1629047224.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 177.900009 m, bearing: 1.577758 deg, deltaT: 4.362673 s, approachRate: 0.000000 m/s, LOS rate: 0.042705 deg/s, posRepo size: 4
2021-08-15T17:07:06.522Z,1629047226.522 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:07:06.865Z,1629047226.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:07:06.865Z,1629047226.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:07:06.865Z,1629047226.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:07:06.866Z,1629047226.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:07:07.269Z,1629047227.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D6,000,00E06,189,80,80,70,FF
2021-08-15T17:07:07.269Z,1629047227.269 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:07:07.270Z,1629047227.270 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:07:07.271Z,1629047227.271 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:07:07.681Z,1629047227.681 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:07:08.501Z,1629047228.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2ED,000,00E43,189,80,80,6B,FF
2021-08-15T17:07:08.501Z,1629047228.501 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:07:08.523Z,1629047228.523 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170708.32*56

2021-08-15T17:07:08.919Z,1629047228.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 181.559998 m, bearing: 359.590718 deg, deltaT: 4.941858 s, approachRate: 0.740610 m/s, LOS rate: -0.402081 deg/s, posRepo size: 4
2021-08-15T17:07:11.362Z,1629047231.362 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:07:11.709Z,1629047231.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:07:11.709Z,1629047231.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:07:11.709Z,1629047231.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:07:11.710Z,1629047231.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:07:12.105Z,1629047232.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2ED,000,00E43,189,80,80,6B,FF
2021-08-15T17:07:12.105Z,1629047232.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:07:12.106Z,1629047232.106 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:07:12.107Z,1629047232.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:07:12.527Z,1629047232.527 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:07:12.922Z,1629047232.922 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,32D,000,00E43,189,80,80,6B,FF
2021-08-15T17:07:12.922Z,1629047232.922 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:07:13.362Z,1629047233.362 [Micromodem](INFO): Nmea in: $SNTTA,0.124701,,,,170713.16*45

2021-08-15T17:07:13.451Z,1629047233.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 181.559998 m, bearing: 356.144095 deg, deltaT: 4.354004 s, approachRate: 0.000000 m/s, LOS rate: -0.791598 deg/s, posRepo size: 4
2021-08-15T17:07:15.779Z,1629047235.779 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:07:16.149Z,1629047236.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:07:16.149Z,1629047236.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:07:16.149Z,1629047236.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:07:16.150Z,1629047236.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:07:16.557Z,1629047236.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
32D,000,00E43,189,80,80,6B,FF
2021-08-15T17:07:16.557Z,1629047236.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:07:16.557Z,1629047236.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:07:16.559Z,1629047236.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:07:16.969Z,1629047236.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:07:17.800Z,1629047237.800 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,302,000,00E83,189,80,80,57,FF
2021-08-15T17:07:17.801Z,1629047237.801 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:07:17.803Z,1629047237.803 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170717.61*5E

2021-08-15T17:07:18.242Z,1629047238.242 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 185.399994 m, bearing: 358.435678 deg, deltaT: 4.844139 s, approachRate: 0.792710 m/s, LOS rate: 0.473063 deg/s, posRepo size: 4
2021-08-15T17:07:20.614Z,1629047240.614 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:07:21.009Z,1629047241.009 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:07:21.009Z,1629047241.009 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:07:21.009Z,1629047241.009 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:07:21.010Z,1629047241.010 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:07:21.407Z,1629047241.407 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
302,000,00E83,189,80,80,57,FF
2021-08-15T17:07:21.407Z,1629047241.407 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:07:21.407Z,1629047241.407 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:07:21.410Z,1629047241.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:07:21.817Z,1629047241.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:07:22.242Z,1629047242.242 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,316,000,00E83,189,80,80,57,FF
2021-08-15T17:07:22.242Z,1629047242.242 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:07:22.661Z,1629047242.661 [Micromodem](INFO): Nmea in: $SNTTA,0.134166,,,,170722.46*44

2021-08-15T17:07:22.695Z,1629047242.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 185.399994 m, bearing: 357.544011 deg, deltaT: 4.493259 s, approachRate: 0.000000 m/s, LOS rate: -0.198446 deg/s, posRepo size: 4
2021-08-15T17:07:25.100Z,1629047245.100 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:07:25.469Z,1629047245.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:07:25.469Z,1629047245.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:07:25.469Z,1629047245.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:07:25.470Z,1629047245.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:07:25.857Z,1629047245.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
316,000,00E83,189,80,80,57,FF
2021-08-15T17:07:25.857Z,1629047245.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:07:25.858Z,1629047245.858 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:07:25.859Z,1629047245.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:07:26.284Z,1629047246.284 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:07:27.076Z,1629047247.076 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F7,000,00EBF,188,80,80,4D,FF
2021-08-15T17:07:27.077Z,1629047247.077 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:07:27.081Z,1629047247.081 [Micromodem](INFO): Nmea in: $SNTTA,0.127821,,,,170726.91*42

2021-08-15T17:07:27.554Z,1629047247.554 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 188.999985 m, bearing: 358.644655 deg, deltaT: 4.852714 s, approachRate: 0.741851 m/s, LOS rate: 0.226810 deg/s, posRepo size: 4
2021-08-15T17:07:29.930Z,1629047249.930 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:07:30.293Z,1629047250.293 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:07:30.293Z,1629047250.293 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:07:30.293Z,1629047250.293 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:07:30.294Z,1629047250.294 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:07:30.690Z,1629047250.690 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F7,000,00EBF,188,80,80,4D,FF
2021-08-15T17:07:30.690Z,1629047250.690 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:07:30.691Z,1629047250.691 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:07:30.698Z,1629047250.698 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:07:31.129Z,1629047251.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:07:31.933Z,1629047251.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,32E,000,00EDE,189,80,80,56,FF
2021-08-15T17:07:31.933Z,1629047251.933 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:07:31.936Z,1629047251.936 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170731.75*5F

2021-08-15T17:07:32.370Z,1629047252.370 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 190.859985 m, bearing: 356.963363 deg, deltaT: 4.786835 s, approachRate: 0.388566 m/s, LOS rate: -0.351232 deg/s, posRepo size: 4
2021-08-15T17:07:34.773Z,1629047254.773 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:07:35.177Z,1629047255.177 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:07:35.177Z,1629047255.177 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:07:35.177Z,1629047255.177 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:07:35.178Z,1629047255.178 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:07:35.541Z,1629047255.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
32E,000,00EDE,189,80,80,56,FF
2021-08-15T17:07:35.541Z,1629047255.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:07:35.541Z,1629047255.541 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:07:35.543Z,1629047255.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:07:36.025Z,1629047256.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:07:36.782Z,1629047256.782 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170736.59*56

2021-08-15T17:07:37.290Z,1629047257.290 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:07:39.212Z,1629047259.212 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,189,80,80,56,FF
2021-08-15T17:07:39.213Z,1629047259.213 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,189,80,80,56,FF
2021-08-15T17:07:39.214Z,1629047259.214 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T17:07:40.006Z,1629047260.006 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:07:40.385Z,1629047260.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:07:40.385Z,1629047260.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:07:40.385Z,1629047260.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:07:40.386Z,1629047260.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:07:40.793Z,1629047260.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,189,80,80,56,FF
2021-08-15T17:07:40.794Z,1629047260.794 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:07:40.794Z,1629047260.794 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:07:40.795Z,1629047260.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:07:41.224Z,1629047261.224 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:07:42.005Z,1629047262.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,33D,000,00F21,189,80,80,53,FF
2021-08-15T17:07:42.006Z,1629047262.006 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:07:42.458Z,1629047262.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 194.879990 m, bearing: 356.902246 deg, deltaT: 10.108585 s, approachRate: 0.397682 m/s, LOS rate: -0.006046 deg/s, posRepo size: 4
2021-08-15T17:07:44.859Z,1629047264.859 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:07:45.265Z,1629047265.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:07:45.265Z,1629047265.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:07:45.265Z,1629047265.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:07:45.266Z,1629047265.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:07:45.649Z,1629047265.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
33D,000,00F21,189,80,80,53,FF
2021-08-15T17:07:45.650Z,1629047265.650 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:07:45.650Z,1629047265.650 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:07:45.651Z,1629047265.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:07:46.121Z,1629047266.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:07:46.873Z,1629047266.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F9,000,00F3E,189,80,80,64,FF
2021-08-15T17:07:46.873Z,1629047266.873 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:07:46.876Z,1629047266.876 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170746.70*5A

2021-08-15T17:07:47.358Z,1629047267.358 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 196.619980 m, bearing: 1.728297 deg, deltaT: 4.830947 s, approachRate: 0.360176 m/s, LOS rate: 0.998984 deg/s, posRepo size: 4
2021-08-15T17:07:49.710Z,1629047269.710 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:07:50.085Z,1629047270.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:07:50.085Z,1629047270.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:07:50.085Z,1629047270.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:07:50.086Z,1629047270.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:07:50.489Z,1629047270.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F9,000,00F3E,189,80,80,64,FF
2021-08-15T17:07:50.489Z,1629047270.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:07:50.490Z,1629047270.490 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:07:50.491Z,1629047270.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:07:50.902Z,1629047270.902 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:07:51.729Z,1629047271.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C1,000,00F5E,189,80,80,5A,FF
2021-08-15T17:07:51.730Z,1629047271.730 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:07:51.733Z,1629047271.733 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170751.54*5A

2021-08-15T17:07:52.158Z,1629047272.158 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 198.539993 m, bearing: 5.454847 deg, deltaT: 4.862136 s, approachRate: 0.394891 m/s, LOS rate: 0.766443 deg/s, posRepo size: 4
2021-08-15T17:07:54.567Z,1629047274.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:07:54.933Z,1629047274.933 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:07:54.933Z,1629047274.933 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:07:54.933Z,1629047274.933 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:07:54.934Z,1629047274.934 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:07:55.346Z,1629047275.346 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C1,000,00F5E,189,80,80,5A,FF
2021-08-15T17:07:55.346Z,1629047275.346 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:07:55.346Z,1629047275.346 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:07:55.348Z,1629047275.348 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:07:55.771Z,1629047275.771 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:07:56.569Z,1629047276.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E17,000,00F78,187,80,80,6B,FF
2021-08-15T17:07:56.570Z,1629047276.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:07:57.022Z,1629047277.022 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 200.099991 m, bearing: 64.246631 deg, deltaT: 4.871084 s, approachRate: 0.320257 m/s, LOS rate: 12.069548 deg/s, posRepo size: 4
2021-08-15T17:07:59.496Z,1629047279.496 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:07:59.809Z,1629047279.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:07:59.809Z,1629047279.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:07:59.809Z,1629047279.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:07:59.810Z,1629047279.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:08:00.220Z,1629047280.220 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E17,000,00F78,187,80,80,6B,FF
2021-08-15T17:08:00.221Z,1629047280.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:08:00.221Z,1629047280.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:08:00.223Z,1629047280.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:08:00.648Z,1629047280.648 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:08:01.441Z,1629047281.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E09,000,00F99,187,80,80,6E,FF
2021-08-15T17:08:01.442Z,1629047281.442 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:08:01.445Z,1629047281.445 [Micromodem](INFO): Nmea in: $SNTTA,0.136571,,,,170801.28*42

2021-08-15T17:08:01.859Z,1629047281.859 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 202.080002 m, bearing: 64.351850 deg, deltaT: 4.909977 s, approachRate: 0.403263 m/s, LOS rate: 0.021430 deg/s, posRepo size: 4
2021-08-15T17:08:04.306Z,1629047284.306 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:08:04.657Z,1629047284.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:08:04.658Z,1629047284.658 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:08:04.658Z,1629047284.658 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:08:04.659Z,1629047284.659 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:08:05.049Z,1629047285.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E09,000,00F99,187,80,80,6E,FF
2021-08-15T17:08:05.050Z,1629047285.050 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:08:05.050Z,1629047285.050 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:08:05.052Z,1629047285.052 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:08:05.496Z,1629047285.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:08:06.293Z,1629047286.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E22,000,00FC0,186,80,80,6B,FF
2021-08-15T17:08:06.294Z,1629047286.294 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:08:06.297Z,1629047286.297 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170806.11*56

2021-08-15T17:08:06.714Z,1629047286.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 204.419998 m, bearing: 62.460878 deg, deltaT: 4.787813 s, approachRate: 0.488740 m/s, LOS rate: -0.394955 deg/s, posRepo size: 4
2021-08-15T17:08:09.203Z,1629047289.203 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:08:09.497Z,1629047289.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:08:09.497Z,1629047289.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:08:09.497Z,1629047289.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:08:09.498Z,1629047289.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:08:09.905Z,1629047289.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E22,000,00FC0,186,80,80,6B,FF
2021-08-15T17:08:09.906Z,1629047289.906 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:08:09.906Z,1629047289.906 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:08:09.907Z,1629047289.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:08:10.308Z,1629047290.308 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:08:11.178Z,1629047291.178 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E47,000,00FDA,187,80,80,62,FF
2021-08-15T17:08:11.178Z,1629047291.178 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:08:11.183Z,1629047291.183 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170810.96*5E

2021-08-15T17:08:11.553Z,1629047291.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 205.979996 m, bearing: 59.767331 deg, deltaT: 4.976869 s, approachRate: 0.313450 m/s, LOS rate: -0.541213 deg/s, posRepo size: 4
2021-08-15T17:08:13.962Z,1629047293.962 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:08:14.354Z,1629047294.354 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:08:14.354Z,1629047294.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:08:14.354Z,1629047294.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:08:14.355Z,1629047294.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:08:14.761Z,1629047294.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E47,000,00FDA,187,80,80,62,FF
2021-08-15T17:08:14.761Z,1629047294.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:08:14.762Z,1629047294.762 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:08:14.763Z,1629047294.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:08:15.223Z,1629047295.223 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:08:15.972Z,1629047295.972 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E26,000,00FFC,186,80,80,78,FF
2021-08-15T17:08:15.973Z,1629047295.973 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:08:15.993Z,1629047295.993 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170815.83*5F

2021-08-15T17:08:16.428Z,1629047296.428 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 208.019989 m, bearing: 61.754370 deg, deltaT: 4.725847 s, approachRate: 0.431667 m/s, LOS rate: 0.420462 deg/s, posRepo size: 4
2021-08-15T17:08:18.822Z,1629047298.822 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:08:19.224Z,1629047299.224 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:08:19.224Z,1629047299.224 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:08:19.224Z,1629047299.224 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:08:19.225Z,1629047299.225 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:08:19.605Z,1629047299.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E26,000,00FFC,186,80,80,78,FF
2021-08-15T17:08:19.606Z,1629047299.606 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:08:19.606Z,1629047299.606 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:08:19.607Z,1629047299.607 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:08:20.014Z,1629047300.014 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:08:20.830Z,1629047300.830 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E42,000,01016,187,80,80,84,FF
2021-08-15T17:08:20.830Z,1629047300.830 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:08:20.833Z,1629047300.833 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170820.66*52

2021-08-15T17:08:21.321Z,1629047301.321 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 209.579987 m, bearing: 60.597793 deg, deltaT: 4.866908 s, approachRate: 0.320532 m/s, LOS rate: -0.237641 deg/s, posRepo size: 4
2021-08-15T17:08:23.675Z,1629047303.675 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:08:24.045Z,1629047304.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:08:24.045Z,1629047304.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:08:24.045Z,1629047304.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:08:24.046Z,1629047304.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:08:24.470Z,1629047304.470 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E42,000,01016,187,80,80,84,FF
2021-08-15T17:08:24.470Z,1629047304.470 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:08:24.470Z,1629047304.470 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:08:24.472Z,1629047304.472 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:08:24.857Z,1629047304.857 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:08:25.681Z,1629047305.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1E,000,01037,187,80,80,70,FF
2021-08-15T17:08:25.682Z,1629047305.682 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:08:25.685Z,1629047305.685 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170825.53*51

2021-08-15T17:08:26.113Z,1629047306.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 211.559998 m, bearing: 63.218640 deg, deltaT: 4.807879 s, approachRate: 0.411826 m/s, LOS rate: 0.545115 deg/s, posRepo size: 4
2021-08-15T17:08:28.556Z,1629047308.556 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:08:28.889Z,1629047308.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:08:28.889Z,1629047308.889 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:08:28.889Z,1629047308.889 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:08:28.890Z,1629047308.890 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:08:29.295Z,1629047309.295 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1E,000,01037,187,80,80,70,FF
2021-08-15T17:08:29.295Z,1629047309.295 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:08:29.295Z,1629047309.295 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:08:29.298Z,1629047309.298 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:08:29.716Z,1629047309.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:08:30.565Z,1629047310.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E10,000,01057,187,80,80,82,FF
2021-08-15T17:08:30.566Z,1629047310.566 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:08:30.569Z,1629047310.569 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170830.35*55

2021-08-15T17:08:30.975Z,1629047310.975 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 213.479996 m, bearing: 64.379280 deg, deltaT: 4.925503 s, approachRate: 0.389808 m/s, LOS rate: 0.235639 deg/s, posRepo size: 4
2021-08-15T17:08:33.444Z,1629047313.444 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:08:33.741Z,1629047313.741 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:08:33.741Z,1629047313.741 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:08:33.741Z,1629047313.741 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:08:33.742Z,1629047313.742 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:08:34.145Z,1629047314.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E10,000,01057,187,80,80,82,FF
2021-08-15T17:08:34.145Z,1629047314.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:08:34.146Z,1629047314.146 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:08:34.147Z,1629047314.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:08:34.565Z,1629047314.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:08:35.373Z,1629047315.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E06,000,01079,186,80,80,74,FF
2021-08-15T17:08:35.374Z,1629047315.374 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:08:35.377Z,1629047315.377 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170835.20*54

2021-08-15T17:08:35.803Z,1629047315.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 215.519989 m, bearing: 65.086191 deg, deltaT: 4.898232 s, approachRate: 0.416475 m/s, LOS rate: 0.144320 deg/s, posRepo size: 4
2021-08-15T17:08:38.254Z,1629047318.254 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:08:38.585Z,1629047318.585 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:08:38.585Z,1629047318.585 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:08:38.585Z,1629047318.585 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:08:38.586Z,1629047318.586 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:08:38.993Z,1629047318.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E06,000,01079,186,80,80,74,FF
2021-08-15T17:08:38.994Z,1629047318.994 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:08:38.994Z,1629047318.994 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:08:38.996Z,1629047318.996 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:08:39.402Z,1629047319.402 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:08:40.245Z,1629047320.245 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2D,000,0109A,187,80,80,80,FF
2021-08-15T17:08:40.246Z,1629047320.246 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:08:40.249Z,1629047320.249 [Micromodem](INFO): Nmea in: $SNTTA,0.147346,,,,170840.05*4C

2021-08-15T17:08:40.652Z,1629047320.652 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 217.500000 m, bearing: 61.764506 deg, deltaT: 4.771284 s, approachRate: 0.414985 m/s, LOS rate: -0.696183 deg/s, posRepo size: 4
2021-08-15T17:08:43.066Z,1629047323.066 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:08:43.441Z,1629047323.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:08:43.441Z,1629047323.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:08:43.441Z,1629047323.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:08:43.442Z,1629047323.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:08:43.849Z,1629047323.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2D,000,0109A,187,80,80,80,FF
2021-08-15T17:08:43.849Z,1629047323.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:08:43.850Z,1629047323.850 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:08:43.851Z,1629047323.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:08:44.276Z,1629047324.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:08:45.078Z,1629047325.078 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1E,000,010BE,186,80,80,81,FF
2021-08-15T17:08:45.078Z,1629047325.078 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:08:45.081Z,1629047325.081 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170844.90*59

2021-08-15T17:08:45.563Z,1629047325.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 219.660004 m, bearing: 61.936190 deg, deltaT: 4.872801 s, approachRate: 0.443278 m/s, LOS rate: 0.035233 deg/s, posRepo size: 4
2021-08-15T17:08:47.919Z,1629047327.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:08:48.297Z,1629047328.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:08:48.297Z,1629047328.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:08:48.297Z,1629047328.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:08:48.298Z,1629047328.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:08:48.701Z,1629047328.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1E,000,010BE,186,80,80,81,FF
2021-08-15T17:08:48.701Z,1629047328.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:08:48.702Z,1629047328.702 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:08:48.703Z,1629047328.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:08:49.147Z,1629047329.147 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:08:49.945Z,1629047329.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E32,000,010D8,187,80,80,77,FF
2021-08-15T17:08:49.945Z,1629047329.945 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:08:49.948Z,1629047329.948 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170849.76*5C

2021-08-15T17:08:50.374Z,1629047330.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 221.220001 m, bearing: 62.203865 deg, deltaT: 4.795352 s, approachRate: 0.325314 m/s, LOS rate: 0.055820 deg/s, posRepo size: 4
2021-08-15T17:08:52.766Z,1629047332.766 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:08:53.181Z,1629047333.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:08:53.181Z,1629047333.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:08:53.181Z,1629047333.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:08:53.182Z,1629047333.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:08:53.549Z,1629047333.549 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E32,000,010D8,187,80,80,77,FF
2021-08-15T17:08:53.550Z,1629047333.550 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:08:53.550Z,1629047333.550 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:08:53.551Z,1629047333.551 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:08:53.965Z,1629047333.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:08:54.793Z,1629047334.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E25,000,010F9,187,80,80,74,FF
2021-08-15T17:08:54.793Z,1629047334.793 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:08:54.796Z,1629047334.796 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170854.60*57

2021-08-15T17:08:55.293Z,1629047335.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 223.199997 m, bearing: 63.384565 deg, deltaT: 4.848330 s, approachRate: 0.408387 m/s, LOS rate: 0.243527 deg/s, posRepo size: 4
2021-08-15T17:08:57.621Z,1629047337.621 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:08:58.045Z,1629047338.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:08:58.045Z,1629047338.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:08:58.045Z,1629047338.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:08:58.046Z,1629047338.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:08:58.398Z,1629047338.398 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E25,000,010F9,187,80,80,74,FF
2021-08-15T17:08:58.398Z,1629047338.398 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:08:58.398Z,1629047338.398 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:08:58.400Z,1629047338.400 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:08:58.809Z,1629047338.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:08:59.645Z,1629047339.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3F,000,01118,186,80,80,57,FF
2021-08-15T17:08:59.646Z,1629047339.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:08:59.649Z,1629047339.649 [Micromodem](INFO): Nmea in: $SNTTA,0.149548,,,,170859.45*46

2021-08-15T17:09:00.065Z,1629047340.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 225.059998 m, bearing: 61.265806 deg, deltaT: 4.857647 s, approachRate: 0.382902 m/s, LOS rate: -0.436170 deg/s, posRepo size: 4
2021-08-15T17:09:02.483Z,1629047342.483 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:09:02.849Z,1629047342.849 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:09:02.849Z,1629047342.849 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:09:02.849Z,1629047342.849 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:09:02.850Z,1629047342.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:09:03.264Z,1629047343.264 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3F,000,01118,186,80,80,57,FF
2021-08-15T17:09:03.265Z,1629047343.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:09:03.265Z,1629047343.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:09:03.266Z,1629047343.266 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:09:03.672Z,1629047343.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:09:04.498Z,1629047344.498 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E13,000,01139,187,80,80,5D,FF
2021-08-15T17:09:04.498Z,1629047344.498 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:09:04.501Z,1629047344.501 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170904.32*54

2021-08-15T17:09:04.895Z,1629047344.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 227.039978 m, bearing: 64.287100 deg, deltaT: 4.857771 s, approachRate: 0.407590 m/s, LOS rate: 0.621951 deg/s, posRepo size: 4
2021-08-15T17:09:07.359Z,1629047347.359 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:09:07.709Z,1629047347.709 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:09:07.709Z,1629047347.709 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:09:07.709Z,1629047347.709 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:09:07.710Z,1629047347.710 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:09:08.110Z,1629047348.110 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E13,000,01139,187,80,80,5D,FF
2021-08-15T17:09:08.110Z,1629047348.110 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:09:08.110Z,1629047348.110 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:09:08.112Z,1629047348.112 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:09:08.513Z,1629047348.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:09:09.347Z,1629047349.347 [Micromodem](INFO): Nmea in: $SNTTA,0.154537,,,,170909.17*41

2021-08-15T17:09:10.143Z,1629047350.143 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:09:11.745Z,1629047351.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,187,80,80,5D,FF
2021-08-15T17:09:11.746Z,1629047351.746 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,187,80,80,5D,FF
2021-08-15T17:09:11.746Z,1629047351.746 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T17:09:12.991Z,1629047352.991 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:09:13.369Z,1629047353.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:09:13.369Z,1629047353.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:09:13.369Z,1629047353.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:09:13.370Z,1629047353.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:09:13.761Z,1629047353.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,187,80,80,5D,FF
2021-08-15T17:09:13.761Z,1629047353.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:09:13.761Z,1629047353.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:09:13.763Z,1629047353.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:09:14.171Z,1629047354.171 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:09:15.001Z,1629047355.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E03,000,0118A,187,80,80,2B,FF
2021-08-15T17:09:15.001Z,1629047355.001 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:09:15.004Z,1629047355.004 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170914.82*5E

2021-08-15T17:09:15.464Z,1629047355.464 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 231.899994 m, bearing: 65.001824 deg, deltaT: 10.533719 s, approachRate: 0.461377 m/s, LOS rate: 0.067851 deg/s, posRepo size: 4
2021-08-15T17:09:17.823Z,1629047357.823 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:09:18.229Z,1629047358.229 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:09:18.229Z,1629047358.229 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:09:18.229Z,1629047358.229 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:09:18.230Z,1629047358.230 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:09:18.617Z,1629047358.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E03,000,0118A,187,80,80,2B,FF
2021-08-15T17:09:18.617Z,1629047358.617 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:09:18.617Z,1629047358.617 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:09:18.619Z,1629047358.619 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:09:19.025Z,1629047359.025 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:09:19.850Z,1629047359.850 [Micromodem](INFO): Nmea in: $SNTTA,0.154904,,,,170919.67*4B

2021-08-15T17:09:20.645Z,1629047360.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C2A,000,03C6E,189,80,80,67,FF
2021-08-15T17:09:20.646Z,1629047360.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:09:21.063Z,1629047361.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 890.700012 m, bearing: 90.610997 deg, deltaT: 5.629083 s, approachRate: 117.035057 m/s, LOS rate: 4.549440 deg/s, posRepo size: 4
2021-08-15T17:09:23.535Z,1629047363.535 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:09:23.874Z,1629047363.874 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:09:23.874Z,1629047363.874 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:09:23.874Z,1629047363.874 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:09:23.875Z,1629047363.875 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:09:24.273Z,1629047364.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C2A,000,03C6E,189,80,80,67,FF
2021-08-15T17:09:24.273Z,1629047364.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:09:24.273Z,1629047364.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:09:24.275Z,1629047364.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:09:24.690Z,1629047364.690 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:09:25.519Z,1629047365.519 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BD9,000,011C4,189,80,80,60,FF
2021-08-15T17:09:25.522Z,1629047365.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:09:25.530Z,1629047365.530 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170925.33*56

2021-08-15T17:09:25.959Z,1629047365.959 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 235.380005 m, bearing: 95.157772 deg, deltaT: 4.927098 s, approachRate: -133.003235 m/s, LOS rate: 0.922810 deg/s, posRepo size: 4
2021-08-15T17:09:28.338Z,1629047368.338 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:09:28.710Z,1629047368.710 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:09:28.710Z,1629047368.710 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:09:28.710Z,1629047368.710 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:09:28.711Z,1629047368.711 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:09:29.153Z,1629047369.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BD9,000,011C4,189,80,80,60,FF
2021-08-15T17:09:29.154Z,1629047369.154 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:09:29.155Z,1629047369.155 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:09:29.158Z,1629047369.158 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:09:29.545Z,1629047369.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:09:30.331Z,1629047370.331 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C0B,000,011E0,188,80,80,73,FF
2021-08-15T17:09:30.332Z,1629047370.332 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:09:30.339Z,1629047370.339 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170930.21*51

2021-08-15T17:09:30.778Z,1629047370.778 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 237.059982 m, bearing: 91.902053 deg, deltaT: 4.826708 s, approachRate: 0.348059 m/s, LOS rate: -0.674522 deg/s, posRepo size: 4
2021-08-15T17:09:33.304Z,1629047373.304 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:09:33.565Z,1629047373.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:09:33.565Z,1629047373.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:09:33.565Z,1629047373.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:09:33.566Z,1629047373.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:09:33.965Z,1629047373.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C0B,000,011E0,188,80,80,73,FF
2021-08-15T17:09:33.965Z,1629047373.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:09:33.965Z,1629047373.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:09:33.967Z,1629047373.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:09:34.376Z,1629047374.376 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:09:35.238Z,1629047375.238 [Micromodem](INFO): Nmea in: $SNTTA,0.161669,,,,170935.02*44

2021-08-15T17:09:35.244Z,1629047375.244 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,170936,AUV71
 expected A
2021-08-15T17:09:35.999Z,1629047375.999 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:09:37.601Z,1629047377.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,188,80,80,73,FF
2021-08-15T17:09:37.601Z,1629047377.601 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,188,80,80,73,FF
2021-08-15T17:09:37.601Z,1629047377.601 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T17:09:38.847Z,1629047378.847 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:09:39.225Z,1629047379.225 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:09:39.225Z,1629047379.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:09:39.226Z,1629047379.226 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:09:39.226Z,1629047379.226 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:09:39.629Z,1629047379.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,188,80,80,73,FF
2021-08-15T17:09:39.629Z,1629047379.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:09:39.629Z,1629047379.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:09:39.631Z,1629047379.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:09:40.034Z,1629047380.034 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:09:40.866Z,1629047380.866 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170940.68*5B

2021-08-15T17:09:41.645Z,1629047381.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEC,000,03CBA,183,80,80,38,FF
2021-08-15T17:09:41.646Z,1629047381.646 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:09:42.076Z,1629047382.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 895.260010 m, bearing: 41.072694 deg, deltaT: 11.219186 s, approachRate: 58.667358 m/s, LOS rate: -4.530575 deg/s, posRepo size: 4
2021-08-15T17:09:44.525Z,1629047384.525 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:09:44.865Z,1629047384.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:09:44.865Z,1629047384.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:09:44.865Z,1629047384.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:09:44.866Z,1629047384.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:09:45.277Z,1629047385.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEC,000,03CBA,183,80,80,38,FF
2021-08-15T17:09:45.277Z,1629047385.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:09:45.277Z,1629047385.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:09:45.279Z,1629047385.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:09:45.794Z,1629047385.794 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:09:46.586Z,1629047386.586 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170946.34*54

2021-08-15T17:09:47.493Z,1629047387.493 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:09:48.605Z,1629047388.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,183,80,80,38,FF
2021-08-15T17:09:48.605Z,1629047388.605 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,183,80,80,38,FF
2021-08-15T17:09:48.605Z,1629047388.605 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T17:09:50.289Z,1629047390.289 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:09:50.625Z,1629047390.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:09:50.625Z,1629047390.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:09:50.625Z,1629047390.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:09:50.626Z,1629047390.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:09:51.029Z,1629047391.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,183,80,80,38,FF
2021-08-15T17:09:51.029Z,1629047391.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:09:51.029Z,1629047391.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:09:51.031Z,1629047391.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:09:51.442Z,1629047391.442 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:09:52.278Z,1629047392.278 [Micromodem](INFO): Nmea in: $SNTTA,0.165805,,,,170952.08*4F

2021-08-15T17:09:53.062Z,1629047393.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:09:54.661Z,1629047394.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,183,80,80,38,FF
2021-08-15T17:09:54.661Z,1629047394.661 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,183,80,80,38,FF
2021-08-15T17:09:54.661Z,1629047394.661 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T17:09:55.606Z,1629047395.606 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:09:55.964Z,1629047395.964 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:09:55.964Z,1629047395.964 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:09:55.966Z,1629047395.966 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:09:55.970Z,1629047395.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:09:56.277Z,1629047396.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,183,80,80,38,FF
2021-08-15T17:09:56.277Z,1629047396.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:09:56.277Z,1629047396.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:09:56.279Z,1629047396.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:09:56.697Z,1629047396.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:09:57.518Z,1629047397.518 [Micromodem](INFO): Nmea in: $SNTTA,,,,,170957.33*53

2021-08-15T17:09:58.347Z,1629047398.347 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:09:59.913Z,1629047399.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,183,80,80,38,FF
2021-08-15T17:09:59.914Z,1629047399.914 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,183,80,80,38,FF
2021-08-15T17:09:59.914Z,1629047399.914 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T17:10:01.239Z,1629047401.239 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:10:01.537Z,1629047401.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:10:01.537Z,1629047401.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:10:01.537Z,1629047401.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:10:01.538Z,1629047401.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:10:01.933Z,1629047401.933 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,183,80,80,38,FF
2021-08-15T17:10:01.933Z,1629047401.933 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:10:01.933Z,1629047401.933 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:10:01.935Z,1629047401.935 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:10:02.351Z,1629047402.351 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:10:03.206Z,1629047403.206 [Micromodem](INFO): Nmea in: $SNTTA,0.168667,,,,171002.99*4D

2021-08-15T17:10:03.980Z,1629047403.980 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:10:05.597Z,1629047405.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,183,80,80,38,FF
2021-08-15T17:10:05.597Z,1629047405.597 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,183,80,80,38,FF
2021-08-15T17:10:05.597Z,1629047405.597 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T17:10:06.803Z,1629047406.803 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:10:07.209Z,1629047407.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:10:07.209Z,1629047407.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:10:07.210Z,1629047407.210 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:10:07.211Z,1629047407.211 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:10:07.593Z,1629047407.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,183,80,80,38,FF
2021-08-15T17:10:07.593Z,1629047407.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:10:07.593Z,1629047407.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:10:07.595Z,1629047407.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:10:08.012Z,1629047408.012 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:10:08.834Z,1629047408.834 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171008.65*52

2021-08-15T17:10:09.658Z,1629047409.658 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:10:11.261Z,1629047411.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
A,183,80,80,38,FF
2021-08-15T17:10:11.261Z,1629047411.261 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
A,183,80,80,38,FF
2021-08-15T17:10:11.262Z,1629047411.262 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T17:10:12.482Z,1629047412.482 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:10:12.864Z,1629047412.864 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:10:12.864Z,1629047412.864 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:10:12.864Z,1629047412.864 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:10:12.865Z,1629047412.865 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:10:13.257Z,1629047413.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
A,183,80,80,38,FF
2021-08-15T17:10:13.257Z,1629047413.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:10:13.257Z,1629047413.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:10:13.259Z,1629047413.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:10:13.669Z,1629047413.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:10:14.502Z,1629047414.502 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171014.31*5E

2021-08-15T17:10:15.297Z,1629047415.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24E,000,03D06,189,80,80,74,FF
2021-08-15T17:10:15.297Z,1629047415.297 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:10:15.723Z,1629047415.723 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 899.820068 m, bearing: 10.852291 deg, deltaT: 33.745767 s, approachRate: 0.135130 m/s, LOS rate: -0.895532 deg/s, posRepo size: 4
2021-08-15T17:10:18.119Z,1629047418.119 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:10:18.516Z,1629047418.516 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:10:18.516Z,1629047418.516 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:10:18.517Z,1629047418.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:10:18.517Z,1629047418.517 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:10:18.905Z,1629047418.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24E,000,03D06,189,80,80,74,FF
2021-08-15T17:10:18.905Z,1629047418.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:10:18.906Z,1629047418.906 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:10:18.907Z,1629047418.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:10:19.316Z,1629047419.316 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:10:20.148Z,1629047420.148 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA6,000,0132A,187,80,80,2D,FF
2021-08-15T17:10:20.149Z,1629047420.149 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:10:20.152Z,1629047420.152 [Micromodem](INFO): Nmea in: $SNTTA,0.172621,,,,171019.96*41

2021-08-15T17:10:20.598Z,1629047420.598 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 256.859985 m, bearing: 45.694672 deg, deltaT: 4.766822 s, approachRate: -134.882339 m/s, LOS rate: 7.309352 deg/s, posRepo size: 4
2021-08-15T17:10:22.979Z,1629047422.979 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:10:23.353Z,1629047423.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:10:23.354Z,1629047423.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:10:23.354Z,1629047423.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:10:23.355Z,1629047423.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:10:23.753Z,1629047423.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA6,000,0132A,187,80,80,2D,FF
2021-08-15T17:10:23.753Z,1629047423.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:10:23.753Z,1629047423.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:10:23.755Z,1629047423.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:10:24.174Z,1629047424.174 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:10:24.996Z,1629047424.996 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5F,000,01348,187,80,80,23,FF
2021-08-15T17:10:24.997Z,1629047424.997 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:10:24.999Z,1629047424.999 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171024.81*56

2021-08-15T17:10:25.461Z,1629047425.461 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 258.660004 m, bearing: 48.421885 deg, deltaT: 4.843966 s, approachRate: 0.371600 m/s, LOS rate: 0.563012 deg/s, posRepo size: 4
2021-08-15T17:10:27.811Z,1629047427.811 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:10:28.216Z,1629047428.216 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:10:28.217Z,1629047428.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:10:28.218Z,1629047428.218 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:10:28.219Z,1629047428.219 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:10:28.609Z,1629047428.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5F,000,01348,187,80,80,23,FF
2021-08-15T17:10:28.609Z,1629047428.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:10:28.609Z,1629047428.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:10:28.611Z,1629047428.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:10:29.032Z,1629047429.032 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:10:29.833Z,1629047429.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26F,000,01360,188,80,80,67,FF
2021-08-15T17:10:29.833Z,1629047429.833 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:10:29.836Z,1629047429.836 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171029.67*53

2021-08-15T17:10:30.268Z,1629047430.268 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 260.100006 m, bearing: 9.100181 deg, deltaT: 4.832110 s, approachRate: 0.298007 m/s, LOS rate: -8.137585 deg/s, posRepo size: 4
2021-08-15T17:10:32.666Z,1629047432.666 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:10:33.067Z,1629047433.067 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:10:33.067Z,1629047433.067 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:10:33.067Z,1629047433.067 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:10:33.068Z,1629047433.068 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:10:33.457Z,1629047433.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26F,000,01360,188,80,80,67,FF
2021-08-15T17:10:33.457Z,1629047433.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:10:33.457Z,1629047433.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:10:33.459Z,1629047433.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:10:33.980Z,1629047433.980 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:10:34.766Z,1629047434.766 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171034.52*59

2021-08-15T17:10:35.293Z,1629047435.293 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:10:36.781Z,1629047436.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,188,80,80,67,FF
2021-08-15T17:10:36.782Z,1629047436.782 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,188,80,80,67,FF
2021-08-15T17:10:36.782Z,1629047436.782 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T17:10:38.030Z,1629047438.030 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:10:38.395Z,1629047438.395 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:10:38.395Z,1629047438.395 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:10:38.395Z,1629047438.395 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:10:38.396Z,1629047438.396 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:10:38.801Z,1629047438.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,188,80,80,67,FF
2021-08-15T17:10:38.801Z,1629047438.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:10:38.802Z,1629047438.802 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:10:38.803Z,1629047438.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:10:39.243Z,1629047439.243 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:10:40.049Z,1629047440.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,272,000,01552,189,80,80,6C,FF
2021-08-15T17:10:40.049Z,1629047440.049 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:10:40.052Z,1629047440.052 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171039.86*5D

2021-08-15T17:10:40.487Z,1629047440.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 289.979980 m, bearing: 8.544635 deg, deltaT: 10.217011 s, approachRate: 2.924532 m/s, LOS rate: -0.054375 deg/s, posRepo size: 4
2021-08-15T17:10:42.884Z,1629047442.884 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:10:43.281Z,1629047443.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:10:43.281Z,1629047443.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:10:43.281Z,1629047443.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:10:43.282Z,1629047443.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:10:43.658Z,1629047443.658 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
272,000,01552,189,80,80,6C,FF
2021-08-15T17:10:43.658Z,1629047443.658 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:10:43.658Z,1629047443.658 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:10:43.659Z,1629047443.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:10:44.057Z,1629047444.057 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:10:44.877Z,1629047444.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2DC,000,013C6,18A,80,80,7A,FF
2021-08-15T17:10:44.877Z,1629047444.877 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:10:44.881Z,1629047444.881 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171044.72*5C

2021-08-15T17:10:45.357Z,1629047445.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 266.220001 m, bearing: 2.569814 deg, deltaT: 4.859987 s, approachRate: -4.888898 m/s, LOS rate: -1.229390 deg/s, posRepo size: 4
2021-08-15T17:10:47.738Z,1629047447.738 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:10:48.095Z,1629047448.095 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:10:48.095Z,1629047448.095 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:10:48.095Z,1629047448.095 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:10:48.096Z,1629047448.096 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:10:48.489Z,1629047448.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2DC,000,013C6,18A,80,80,7A,FF
2021-08-15T17:10:48.490Z,1629047448.490 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:10:48.490Z,1629047448.490 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:10:48.493Z,1629047448.493 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:10:48.902Z,1629047448.902 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:10:49.712Z,1629047449.712 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2DE,000,013E6,18A,80,80,71,FF
2021-08-15T17:10:49.712Z,1629047449.712 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:10:50.162Z,1629047450.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 268.139984 m, bearing: 2.523029 deg, deltaT: 4.800601 s, approachRate: 0.399946 m/s, LOS rate: -0.009746 deg/s, posRepo size: 4
2021-08-15T17:10:52.589Z,1629047452.589 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:10:52.943Z,1629047452.943 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:10:52.943Z,1629047452.943 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:10:52.943Z,1629047452.943 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:10:52.945Z,1629047452.945 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:10:53.337Z,1629047453.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2DE,000,013E6,18A,80,80,71,FF
2021-08-15T17:10:53.338Z,1629047453.338 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:10:53.338Z,1629047453.338 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:10:53.339Z,1629047453.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:10:55.433Z,1629047455.433 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:10:56.178Z,1629047456.178 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,18A,80,80,71,FF
2021-08-15T17:10:56.179Z,1629047456.179 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,18A,80,80,71,FF
2021-08-15T17:10:56.179Z,1629047456.179 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T17:10:58.258Z,1629047458.258 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:10:58.590Z,1629047458.590 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:10:58.590Z,1629047458.590 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:10:58.591Z,1629047458.591 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:10:58.591Z,1629047458.591 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:10:58.997Z,1629047458.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,18A,80,80,71,FF
2021-08-15T17:10:58.997Z,1629047458.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:10:58.997Z,1629047458.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:11:01.033Z,1629047461.033 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:11:01.829Z,1629047461.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,18A,80,80,71,FF
2021-08-15T17:11:01.829Z,1629047461.829 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,18A,80,80,71,FF
2021-08-15T17:11:01.830Z,1629047461.830 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T17:11:03.881Z,1629047463.881 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:11:04.277Z,1629047464.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:11:04.277Z,1629047464.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:11:04.277Z,1629047464.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:11:04.278Z,1629047464.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:11:04.649Z,1629047464.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,18A,80,80,71,FF
2021-08-15T17:11:04.649Z,1629047464.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:11:04.649Z,1629047464.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:11:04.650Z,1629047464.650 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:11:06.697Z,1629047466.697 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:11:07.485Z,1629047467.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,18A,80,80,71,FF
2021-08-15T17:11:07.485Z,1629047467.485 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,18A,80,80,71,FF
2021-08-15T17:11:07.485Z,1629047467.485 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T17:11:09.257Z,1629047469.257 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:11:09.501Z,1629047469.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:11:09.501Z,1629047469.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:11:09.501Z,1629047469.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:11:09.502Z,1629047469.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:11:09.914Z,1629047469.914 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,18A,80,80,71,FF
2021-08-15T17:11:09.915Z,1629047469.915 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:11:09.915Z,1629047469.915 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:11:11.939Z,1629047471.939 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:11:12.737Z,1629047472.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,18A,80,80,71,FF
2021-08-15T17:11:12.737Z,1629047472.737 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,18A,80,80,71,FF
2021-08-15T17:11:12.738Z,1629047472.738 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T17:11:14.785Z,1629047474.785 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:11:15.224Z,1629047475.224 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:11:15.225Z,1629047475.225 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:11:15.225Z,1629047475.225 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:11:15.227Z,1629047475.227 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:11:15.565Z,1629047475.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,18A,80,80,71,FF
2021-08-15T17:11:15.566Z,1629047475.566 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:11:15.566Z,1629047475.566 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:11:15.567Z,1629047475.567 [Micromodem](FAULT): Failed to receive CAREV within timeout
2021-08-15T17:11:15.567Z,1629047475.567 [Micromodem] Hardware Fault, FailCount= 1
2021-08-15T17:11:15.567Z,1629047475.567 [Micromodem](ERROR): Hardware Fault
2021-08-15T17:11:15.585Z,1629047475.585 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-15T17:11:15.585Z,1629047475.585 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-15T17:11:15.585Z,1629047475.585 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-15T17:11:15.585Z,1629047475.585 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T17:11:15.585Z,1629047475.585 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-15T17:11:15.740Z,1629047475.740 [CBIT](ERROR): Hardware Fault in component: Micromodem
2021-08-15T17:11:16.294Z,1629047476.294 [Micromodem](INFO): Powering down
2021-08-15T17:11:16.683Z,1629047476.683 [Micromodem](FAULT): LCB 2 fault:  Software Overcurrent.
2021-08-15T17:11:17.324Z,1629047477.324 [CBIT](INFO): Clearing failed state for component Micromodem
2021-08-15T17:11:17.324Z,1629047477.324 [Micromodem] No Fault, FailCount= 1
2021-08-15T17:11:17.555Z,1629047477.555 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:11:18.773Z,1629047478.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,18A,80,80,71,FF
2021-08-15T17:11:18.774Z,1629047478.774 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,18A,80,80,71,FF
2021-08-15T17:11:18.774Z,1629047478.774 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T17:11:19.982Z,1629047479.982 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:11:19.982Z,1629047479.982 [Micromodem](INFO): Powering up
2021-08-15T17:11:19.982Z,1629047479.982 [Micromodem](DEBUG): Initializing Micromodem.
2021-08-15T17:11:20.450Z,1629047480.450 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:11:20.789Z,1629047480.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:11:20.789Z,1629047480.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:11:20.789Z,1629047480.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:11:20.790Z,1629047480.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:11:21.212Z,1629047481.212 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,18A,80,80,71,FF
2021-08-15T17:11:21.213Z,1629047481.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:11:21.213Z,1629047481.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:11:23.309Z,1629047483.309 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:11:24.065Z,1629047484.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
6,18A,80,80,71,FF
2021-08-15T17:11:24.066Z,1629047484.066 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
6,18A,80,80,71,FF
2021-08-15T17:11:24.066Z,1629047484.066 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T17:11:25.347Z,1629047485.347 [RDI_Pathfinder](ERROR): No DVL communication! Re-initializing
2021-08-15T17:11:25.347Z,1629047485.347 [RDI_Pathfinder] Communications Fault, FailCount= 1
2021-08-15T17:11:25.347Z,1629047485.347 [RDI_Pathfinder](ERROR): Communications Fault
2021-08-15T17:11:25.532Z,1629047485.532 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder
2021-08-15T17:11:25.840Z,1629047485.840 [RDI_Pathfinder](INFO): Powering down
2021-08-15T17:11:25.862Z,1629047485.862 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:11:26.185Z,1629047486.185 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:11:26.185Z,1629047486.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:11:26.185Z,1629047486.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:11:26.186Z,1629047486.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:11:26.557Z,1629047486.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,18A,80,80,71,FF
2021-08-15T17:11:26.557Z,1629047486.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:11:26.557Z,1629047486.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:11:26.796Z,1629047486.796 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder
2021-08-15T17:11:26.796Z,1629047486.796 [RDI_Pathfinder] No Fault, FailCount= 1
2021-08-15T17:11:27.767Z,1629047487.767 [Micromodem](INFO): Nmea in: $CATMG,2021-08-15T17:11:27.039583Z,RTC,RTC*5A

2021-08-15T17:11:27.767Z,1629047487.767 [Micromodem](ERROR): Response from modem unexpected: $CATMG,2021-08-15T17:11:27.039583Z,RTC,RTC*5A

2021-08-15T17:11:28.831Z,1629047488.831 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:11:31.070Z,1629047491.070 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:11:31.512Z,1629047491.512 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:11:31.524Z,1629047491.524 [Micromodem](INFO): Nmea out: $CCCFG,ALL,0*33

2021-08-15T17:11:31.576Z,1629047491.576 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:11:31.910Z,1629047491.910 [Micromodem](INFO): Nmea in: $CACFG,ALL,0*31

2021-08-15T17:11:31.910Z,1629047491.910 [Micromodem](INFO): Nmea out: $CCCFG,SRC,1*31

2021-08-15T17:11:32.332Z,1629047492.332 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.145880
2021-08-15T17:11:32.334Z,1629047492.334 [Micromodem](INFO): Nmea in: $CACFG,SRC,1*33

2021-08-15T17:11:32.334Z,1629047492.334 [Micromodem](INFO): Nmea out: $CCCFG,nav.dt.txtrig_gpio4,1*64

2021-08-15T17:11:32.730Z,1629047492.730 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171132.13*5B

2021-08-15T17:11:32.731Z,1629047492.731 [Micromodem](ERROR): CFG response from modem unexpected: $SNTTA,,,,,171132.13*5B

2021-08-15T17:11:33.934Z,1629047493.934 [Micromodem](INFO): Nmea in: $CACFG,nav.dt.txtrig_gpio4,1*66

2021-08-15T17:11:33.935Z,1629047493.935 [Micromodem](INFO): Nmea out: $CCCFG,pwramp.txlevel,0*2F

2021-08-15T17:11:34.334Z,1629047494.334 [Micromodem](INFO): Nmea in: $CACFG,pwramp.txlevel,0*2D

2021-08-15T17:11:34.334Z,1629047494.334 [Micromodem](INFO): Nmea out: $CCCFG,DTO,30*1E

2021-08-15T17:11:34.421Z,1629047494.421 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:11:34.733Z,1629047494.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:11:34.733Z,1629047494.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:11:34.733Z,1629047494.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:11:34.734Z,1629047494.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:11:34.757Z,1629047494.757 [Micromodem](INFO): Nmea in: $CACFG,DTO,30*1C

2021-08-15T17:11:34.758Z,1629047494.758 [Micromodem](INFO): Nmea out: $CCCFG,FC0,14500*47

2021-08-15T17:11:35.273Z,1629047495.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,18A,80,80,71,FF
2021-08-15T17:11:35.273Z,1629047495.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:11:35.274Z,1629047495.274 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:11:35.275Z,1629047495.275 [Micromodem](INFO): Nmea in: $CACFG,FC0,14500*45

2021-08-15T17:11:35.275Z,1629047495.275 [Micromodem](INFO): Nmea out: $CCCFG,BW0,4000*63

2021-08-15T17:11:35.647Z,1629047495.647 [Micromodem](INFO): Nmea in: $CACFG,BW0,4000*61

2021-08-15T17:11:35.647Z,1629047495.647 [Micromodem](INFO): Nmea out: $CCCFG,BND,0*3A

2021-08-15T17:11:36.034Z,1629047496.034 [Micromodem](INFO): Nmea in: $CACFG,BND,0*38

2021-08-15T17:11:36.035Z,1629047496.035 [Micromodem](INFO): Nmea out: $CCCLK,2021,08,15,17,11,37*4B

2021-08-15T17:11:36.450Z,1629047496.450 [Micromodem](INFO): Nmea in: $CACLK,2021,8,15,17,11,37*79

2021-08-15T17:11:36.691Z,1629047496.691 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 10181961360000005D00000400260000000000000000151D80030C5669C08C79984361930585A6D2FF6B92836233F4EB62D0578973972B891177A000
2021-08-15T17:11:36.691Z,1629047496.691 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-15T17:11:36.767Z,1629047496.767 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-15T17:11:36.767Z,1629047496.767 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-15T17:11:36.767Z,1629047496.767 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-15T17:11:36.767Z,1629047496.767 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T17:11:36.767Z,1629047496.767 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-15T17:11:37.002Z,1629047497.002 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-15T17:11:37.004Z,1629047497.004 [Micromodem](INFO): Nmea in: $CADRQ,171137,1,10,0,64,1*74

2021-08-15T17:11:37.004Z,1629047497.004 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,10181961360000005D00000400260000000000000000151D80030C5669C08C79984361930585A6D2FF6B92836233F4EB62D0578973972B891177A000*47

2021-08-15T17:11:37.419Z,1629047497.419 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:11:37.731Z,1629047497.731 [Micromodem](INFO): Nmea in: $CATMS,0,2021-08-15T17:1:38Z*76

2021-08-15T17:11:37.731Z,1629047497.731 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATMS,0,2021-08-15T17:1:38Z*76
 expected 47
2021-08-15T17:11:37.731Z,1629047497.731 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,10181961360000005D00000400260000000000000000151D80030C5669C08C79984361930585A6D2FF6B92836233F4EB62D0578973972B891177A000*47

2021-08-15T17:11:37.760Z,1629047497.760 [Micromodem](INFO): Nmea in: $CATMG2210-5T17:11:38.026591Z,USER_CMD,RTC*18

2021-08-15T17:11:37.762Z,1629047497.762 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATMG2210-5T17:11:38.026591Z,USER_CMD,RTC*18
 expected 20
2021-08-15T17:11:38.135Z,1629047498.135 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-15T17:11:38.137Z,1629047498.137 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-15T17:11:39.343Z,1629047499.343 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-15T17:11:39.345Z,1629047499.345 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,171138.099032,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*59

2021-08-15T17:11:40.158Z,1629047500.158 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:11:40.976Z,1629047500.976 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.241965
2021-08-15T17:11:42.991Z,1629047502.991 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:11:43.377Z,1629047503.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:11:43.378Z,1629047503.378 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:11:43.378Z,1629047503.378 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:11:43.379Z,1629047503.379 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:11:43.777Z,1629047503.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
6,18A,80,80,71,FF
2021-08-15T17:11:43.777Z,1629047503.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:11:43.777Z,1629047503.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:11:43.779Z,1629047503.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:11:44.188Z,1629047504.188 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:11:45.037Z,1629047505.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,299,000,0155B,18A,80,80,82,FF
2021-08-15T17:11:45.038Z,1629047505.038 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:11:45.076Z,1629047505.076 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171144.83*53

2021-08-15T17:11:45.451Z,1629047505.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 290.519989 m, bearing: 2.165827 deg, deltaT: 55.401021 s, approachRate: 0.403964 m/s, LOS rate: -0.006448 deg/s, posRepo size: 4
2021-08-15T17:11:45.452Z,1629047505.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 290.52 m. Resuming terminal guidance.
2021-08-15T17:11:45.452Z,1629047505.452 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-15T17:11:47.846Z,1629047507.846 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:11:48.237Z,1629047508.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:11:48.237Z,1629047508.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:11:48.237Z,1629047508.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:11:48.238Z,1629047508.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:11:48.625Z,1629047508.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
299,000,0155B,18A,80,80,82,FF
2021-08-15T17:11:48.625Z,1629047508.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:11:48.625Z,1629047508.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:11:48.627Z,1629047508.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:11:49.120Z,1629047509.120 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:11:49.913Z,1629047509.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AD,000,01574,189,80,80,7A,FF
2021-08-15T17:11:49.913Z,1629047509.913 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:11:49.916Z,1629047509.916 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171149.68*5B

2021-08-15T17:11:50.389Z,1629047510.389 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 292.019989 m, bearing: 0.741665 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-15T17:11:50.390Z,1629047510.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 0.741665deg and heading rate command to 0 deg/s.
2021-08-15T17:11:52.746Z,1629047512.746 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:11:53.133Z,1629047513.133 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:11:53.133Z,1629047513.133 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:11:53.133Z,1629047513.133 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:11:53.134Z,1629047513.134 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:11:53.541Z,1629047513.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AD,000,01574,189,80,80,7A,FF
2021-08-15T17:11:53.541Z,1629047513.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:11:53.541Z,1629047513.541 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:11:53.543Z,1629047513.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:11:53.948Z,1629047513.948 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:11:54.777Z,1629047514.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2F0,000,015A4,189,80,80,74,FF
2021-08-15T17:11:54.777Z,1629047514.777 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:11:54.780Z,1629047514.780 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171154.60*5F

2021-08-15T17:11:55.298Z,1629047515.298 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 294.899994 m, bearing: 354.473759 deg, deltaT: 4.898644 s, approachRate: 0.587919 m/s, LOS rate: -1.279521 deg/s, posRepo size: 2
2021-08-15T17:11:55.304Z,1629047515.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 294.899994 m,
      bearing: 354.473759 deg,
      approachRate: 0.587919 m/s,
      LOS rate: -1.279521 deg/s,
      cmd update: -5.118084 deg/s,
      cmd heading: 0.741665 deg,
      new cmd heading: 0.741665 deg.

2021-08-15T17:11:57.445Z,1629047517.445 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:11:57.773Z,1629047517.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:11:57.773Z,1629047517.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:11:57.773Z,1629047517.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:11:57.774Z,1629047517.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:11:58.172Z,1629047518.172 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2F0,000,015A4,189,80,80,74,FF
2021-08-15T17:11:58.172Z,1629047518.172 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:11:58.173Z,1629047518.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:11:58.175Z,1629047518.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:11:58.597Z,1629047518.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:11:59.397Z,1629047519.397 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4C8,000,015D1,189,80,80,5C,FF
2021-08-15T17:11:59.397Z,1629047519.397 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:11:59.401Z,1629047519.401 [Micromodem](INFO): Nmea in: $SNTTA,0.200263,0.366535,,,171159.23*50

2021-08-15T17:11:59.816Z,1629047519.816 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 297.599976 m, bearing: 317.209558 deg, deltaT: 4.675521 s, approachRate: 0.577472 m/s, LOS rate: -7.970064 deg/s, posRepo size: 3
2021-08-15T17:11:59.818Z,1629047519.818 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 297.599976 m,
      bearing: 317.209558 deg,
      approachRate: 0.577472 m/s,
      LOS rate: -7.970064 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 336.658679 deg,
      new cmd heading: 335.050008 deg.

2021-08-15T17:12:02.267Z,1629047522.267 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:12:02.625Z,1629047522.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:12:02.625Z,1629047522.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:12:02.625Z,1629047522.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:12:02.626Z,1629047522.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:12:03.057Z,1629047523.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4C8,000,015D1,189,80,80,5C,FF
2021-08-15T17:12:03.057Z,1629047523.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:12:03.058Z,1629047523.058 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:12:03.063Z,1629047523.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:12:03.472Z,1629047523.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:12:04.297Z,1629047524.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,233,000,015F7,188,80,80,97,FF
2021-08-15T17:12:04.297Z,1629047524.297 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:12:04.300Z,1629047524.300 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171204.12*5C

2021-08-15T17:12:04.695Z,1629047524.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 299.880005 m, bearing: 322.690238 deg, deltaT: 4.824012 s, approachRate: 0.472642 m/s, LOS rate: 1.136125 deg/s, posRepo size: 4
2021-08-15T17:12:04.698Z,1629047524.698 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 299.880005 m,
      bearing: 322.690238 deg,
      approachRate: 0.472642 m/s,
      LOS rate: 1.136125 deg/s,
      cmd update: 4.544500 deg/s,
      cmd heading: 278.720385 deg,
      new cmd heading: 274.329477 deg.

2021-08-15T17:12:07.154Z,1629047527.154 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:12:07.509Z,1629047527.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:12:07.509Z,1629047527.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:12:07.509Z,1629047527.509 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:12:07.510Z,1629047527.510 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:12:07.905Z,1629047527.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
233,000,015F7,188,80,80,97,FF
2021-08-15T17:12:07.905Z,1629047527.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:12:07.905Z,1629047527.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:12:07.907Z,1629047527.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:12:07.910Z,1629047527.910 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-15T17:12:08.329Z,1629047528.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:12:09.153Z,1629047529.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,116,000,01614,186,80,80,70,FF
2021-08-15T17:12:09.153Z,1629047529.153 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:12:09.157Z,1629047529.157 [Micromodem](INFO): Nmea in: $SNTTA,0.203451,,,,171208.96*43

2021-08-15T17:12:09.562Z,1629047529.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 301.619995 m, bearing: 316.718740 deg, deltaT: 4.946204 s, approachRate: 0.351783 m/s, LOS rate: -1.207289 deg/s, posRepo size: 4
2021-08-15T17:12:09.564Z,1629047529.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 301.619995 m,
      bearing: 316.718740 deg,
      approachRate: 0.351783 m/s,
      LOS rate: -1.207289 deg/s,
      cmd update: -4.829156 deg/s,
      cmd heading: 301.179720 deg,
      new cmd heading: 302.499175 deg.

2021-08-15T17:12:11.967Z,1629047531.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:12:12.389Z,1629047532.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:12:12.389Z,1629047532.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:12:12.389Z,1629047532.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:12:12.390Z,1629047532.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:12:12.773Z,1629047532.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
116,000,01614,186,80,80,70,FF
2021-08-15T17:12:12.773Z,1629047532.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:12:12.773Z,1629047532.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:12:12.775Z,1629047532.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:12:13.194Z,1629047533.194 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:12:14.009Z,1629047534.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3C0,000,01621,188,80,80,92,FF
2021-08-15T17:12:14.009Z,1629047534.009 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:12:14.013Z,1629047534.013 [Micromodem](INFO): Nmea in: $SNTTA,0.026849,,,,171213.83*4D

2021-08-15T17:12:14.441Z,1629047534.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 302.399994 m, bearing: 260.909292 deg, deltaT: 4.752470 s, approachRate: 0.164125 m/s, LOS rate: -11.743251 deg/s, posRepo size: 4
2021-08-15T17:12:14.442Z,1629047534.442 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -11.743251 deg/s. Setting heading cmd to target bearing of 260.909292deg and heading rate command to 0 deg/s.
2021-08-15T17:12:16.831Z,1629047536.831 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:12:17.233Z,1629047537.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:12:17.233Z,1629047537.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:12:17.233Z,1629047537.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:12:17.234Z,1629047537.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:12:17.613Z,1629047537.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3C0,000,01621,188,80,80,92,FF
2021-08-15T17:12:17.613Z,1629047537.613 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:12:17.614Z,1629047537.614 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:12:17.615Z,1629047537.615 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:12:18.034Z,1629047538.034 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:12:18.862Z,1629047538.862 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,0161D,189,80,80,AC,FF
2021-08-15T17:12:18.863Z,1629047538.863 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:12:18.867Z,1629047538.867 [Micromodem](INFO): Nmea in: $SNTTA,0.203834,,,,171218.67*43

2021-08-15T17:12:19.343Z,1629047539.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 302.159973 m, bearing: 225.811860 deg, deltaT: 4.863290 s, approachRate: -0.049354 m/s, LOS rate: -7.216809 deg/s, posRepo size: 4
2021-08-15T17:12:19.346Z,1629047539.346 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 302.159973 m,
      bearing: 225.811860 deg,
      approachRate: -0.049354 m/s,
      LOS rate: -7.216809 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 260.909292 deg,
      new cmd heading: 260.909292 deg.

2021-08-15T17:12:21.686Z,1629047541.686 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:12:22.057Z,1629047542.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:12:22.057Z,1629047542.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:12:22.057Z,1629047542.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:12:22.058Z,1629047542.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:12:22.473Z,1629047542.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,0161D,189,80,80,AC,FF
2021-08-15T17:12:22.473Z,1629047542.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:12:22.473Z,1629047542.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:12:22.475Z,1629047542.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:12:22.868Z,1629047542.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:12:23.689Z,1629047543.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,01611,189,80,80,93,FF
2021-08-15T17:12:23.690Z,1629047543.690 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:12:23.692Z,1629047543.692 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171223.53*5C

2021-08-15T17:12:24.113Z,1629047544.113 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 301.440002 m, bearing: 207.739534 deg, deltaT: 4.845344 s, approachRate: -0.148590 m/s, LOS rate: -3.729833 deg/s, posRepo size: 4
2021-08-15T17:12:24.115Z,1629047544.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 301.440002 m,
      bearing: 207.739534 deg,
      approachRate: -0.148590 m/s,
      LOS rate: -3.729833 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 203.108099 deg,
      new cmd heading: 198.244834 deg.

2021-08-15T17:12:26.537Z,1629047546.537 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:12:26.913Z,1629047546.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:12:26.913Z,1629047546.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:12:26.914Z,1629047546.914 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:12:26.915Z,1629047546.915 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:12:27.317Z,1629047547.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,01611,189,80,80,93,FF
2021-08-15T17:12:27.317Z,1629047547.317 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:12:27.317Z,1629047547.317 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:12:27.319Z,1629047547.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:12:27.745Z,1629047547.745 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:12:28.541Z,1629047548.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,38A,000,015F2,189,80,80,72,FF
2021-08-15T17:12:28.541Z,1629047548.541 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:12:28.544Z,1629047548.544 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171228.37*55

2021-08-15T17:12:28.963Z,1629047548.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 299.579987 m, bearing: 206.305263 deg, deltaT: 4.862296 s, approachRate: -0.382539 m/s, LOS rate: -0.294978 deg/s, posRepo size: 4
2021-08-15T17:12:28.966Z,1629047548.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 299.579987 m,
      bearing: 206.305263 deg,
      approachRate: -0.382539 m/s,
      LOS rate: -0.294978 deg/s,
      cmd update: -1.179913 deg/s,
      cmd heading: 144.878517 deg,
      new cmd heading: 140.043476 deg.

2021-08-15T17:12:31.436Z,1629047551.436 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:12:31.753Z,1629047551.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:12:31.753Z,1629047551.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:12:31.753Z,1629047551.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:12:31.754Z,1629047551.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:12:32.157Z,1629047552.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
38A,000,015F2,189,80,80,72,FF
2021-08-15T17:12:32.157Z,1629047552.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:12:32.157Z,1629047552.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:12:32.159Z,1629047552.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:12:32.576Z,1629047552.576 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:12:33.365Z,1629047553.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CA,000,015CC,186,80,80,58,FF
2021-08-15T17:12:33.366Z,1629047553.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:12:33.369Z,1629047553.369 [Micromodem](INFO): Nmea in: $SNTTA,0.373862,0.373781,,,171233.22*59

2021-08-15T17:12:33.805Z,1629047553.805 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 297.299988 m, bearing: 209.738772 deg, deltaT: 4.883033 s, approachRate: -0.466923 m/s, LOS rate: 0.703151 deg/s, posRepo size: 4
2021-08-15T17:12:33.825Z,1629047553.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 297.299988 m,
      bearing: 209.738772 deg,
      approachRate: -0.466923 m/s,
      LOS rate: 0.703151 deg/s,
      cmd update: 2.812603 deg/s,
      cmd heading: 139.084127 deg,
      new cmd heading: 138.692407 deg.

2021-08-15T17:12:36.256Z,1629047556.256 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:12:36.606Z,1629047556.606 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:12:36.606Z,1629047556.606 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:12:36.606Z,1629047556.606 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:12:36.606Z,1629047556.606 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:12:37.029Z,1629047557.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CA,000,015CC,186,80,80,58,FF
2021-08-15T17:12:37.029Z,1629047557.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:12:37.030Z,1629047557.030 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:12:37.041Z,1629047557.041 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:12:37.419Z,1629047557.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:12:38.227Z,1629047558.227 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,034,000,015B1,184,80,80,64,FF
2021-08-15T17:12:38.229Z,1629047558.229 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:12:38.244Z,1629047558.244 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171238.10*51

2021-08-15T17:12:38.667Z,1629047558.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 295.679993 m, bearing: 209.856934 deg, deltaT: 4.839285 s, approachRate: -0.334759 m/s, LOS rate: 0.024417 deg/s, posRepo size: 4
2021-08-15T17:12:38.669Z,1629047558.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 295.679993 m,
      bearing: 209.856934 deg,
      approachRate: -0.334759 m/s,
      LOS rate: 0.024417 deg/s,
      cmd update: 0.097669 deg/s,
      cmd heading: 152.690341 deg,
      new cmd heading: 153.697363 deg.

2021-08-15T17:12:41.138Z,1629047561.138 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:12:41.461Z,1629047561.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:12:41.461Z,1629047561.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:12:41.462Z,1629047561.462 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:12:41.463Z,1629047561.463 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:12:41.865Z,1629047561.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
034,000,015B1,184,80,80,64,FF
2021-08-15T17:12:41.865Z,1629047561.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:12:41.865Z,1629047561.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:12:41.867Z,1629047561.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:12:42.281Z,1629047562.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:12:43.101Z,1629047563.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9C,000,0157A,187,80,80,41,FF
2021-08-15T17:12:43.101Z,1629047563.101 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:12:43.104Z,1629047563.104 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171242.92*56

2021-08-15T17:12:43.524Z,1629047563.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 292.379974 m, bearing: 210.810975 deg, deltaT: 4.888907 s, approachRate: -0.675001 m/s, LOS rate: 0.195144 deg/s, posRepo size: 4
2021-08-15T17:12:43.526Z,1629047563.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 292.379974 m,
      bearing: 210.810975 deg,
      approachRate: -0.675001 m/s,
      LOS rate: 0.195144 deg/s,
      cmd update: 0.780576 deg/s,
      cmd heading: 153.165318 deg,
      new cmd heading: 153.199653 deg.

2021-08-15T17:12:45.919Z,1629047565.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:12:46.297Z,1629047566.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:12:46.297Z,1629047566.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:12:46.297Z,1629047566.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:12:46.298Z,1629047566.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:12:46.705Z,1629047566.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9C,000,0157A,187,80,80,41,FF
2021-08-15T17:12:46.705Z,1629047566.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:12:46.705Z,1629047566.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:12:46.707Z,1629047566.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:12:47.134Z,1629047567.134 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:12:47.913Z,1629047567.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CE9,000,01552,189,80,80,77,FF
2021-08-15T17:12:47.913Z,1629047567.913 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:12:48.367Z,1629047568.367 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 289.979980 m, bearing: 212.718947 deg, deltaT: 4.748155 s, approachRate: -0.505458 m/s, LOS rate: 0.401834 deg/s, posRepo size: 4
2021-08-15T17:12:48.369Z,1629047568.369 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 289.979980 m,
      bearing: 212.718947 deg,
      approachRate: -0.505458 m/s,
      LOS rate: 0.401834 deg/s,
      cmd update: 1.607338 deg/s,
      cmd heading: 156.898279 deg,
      new cmd heading: 157.219991 deg.

2021-08-15T17:12:50.832Z,1629047570.832 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:12:51.141Z,1629047571.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:12:51.141Z,1629047571.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:12:51.141Z,1629047571.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:12:51.142Z,1629047571.142 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:12:51.561Z,1629047571.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CE9,000,01552,189,80,80,77,FF
2021-08-15T17:12:51.561Z,1629047571.561 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:12:51.561Z,1629047571.561 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:12:51.563Z,1629047571.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:12:51.960Z,1629047571.960 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:12:52.797Z,1629047572.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B2B,000,01535,189,80,80,8F,FF
2021-08-15T17:12:52.797Z,1629047572.797 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:12:52.820Z,1629047572.820 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171252.62*58

2021-08-15T17:12:53.253Z,1629047573.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 288.239990 m, bearing: 220.051210 deg, deltaT: 4.877306 s, approachRate: -0.356752 m/s, LOS rate: 1.503343 deg/s, posRepo size: 4
2021-08-15T17:12:53.255Z,1629047573.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 288.239990 m,
      bearing: 220.051210 deg,
      approachRate: -0.356752 m/s,
      LOS rate: 1.503343 deg/s,
      cmd update: 6.013371 deg/s,
      cmd heading: 164.744146 deg,
      new cmd heading: 165.415629 deg.

2021-08-15T17:12:54.400Z,1629047574.400 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T17:12:55.626Z,1629047575.626 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:12:55.993Z,1629047575.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:12:55.994Z,1629047575.994 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:12:55.994Z,1629047575.994 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:12:55.995Z,1629047575.995 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:12:56.403Z,1629047576.403 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B2B,000,01535,189,80,80,8F,FF
2021-08-15T17:12:56.403Z,1629047576.403 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:12:56.403Z,1629047576.403 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:12:56.406Z,1629047576.406 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:12:56.804Z,1629047576.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:12:57.637Z,1629047577.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BBA,000,0151E,189,80,80,9A,FF
2021-08-15T17:12:57.638Z,1629047577.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:12:57.641Z,1629047577.641 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171257.46*5B

2021-08-15T17:12:58.056Z,1629047578.056 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 286.859985 m, bearing: 217.228129 deg, deltaT: 4.857819 s, approachRate: -0.284079 m/s, LOS rate: -0.581142 deg/s, posRepo size: 4
2021-08-15T17:12:58.058Z,1629047578.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 286.859985 m,
      bearing: 217.228129 deg,
      approachRate: -0.284079 m/s,
      LOS rate: -0.581142 deg/s,
      cmd update: -2.324567 deg/s,
      cmd heading: 193.956105 deg,
      new cmd heading: 196.132609 deg.

2021-08-15T17:13:00.493Z,1629047580.493 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:13:00.841Z,1629047580.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:13:00.841Z,1629047580.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:13:00.841Z,1629047580.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:13:00.842Z,1629047580.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:13:01.257Z,1629047581.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BBA,000,0151E,189,80,80,9A,FF
2021-08-15T17:13:01.257Z,1629047581.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:13:01.258Z,1629047581.258 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:13:01.259Z,1629047581.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:13:01.661Z,1629047581.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:13:02.485Z,1629047582.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D5A,000,01500,189,80,80,A9,FF
2021-08-15T17:13:02.485Z,1629047582.485 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:13:02.489Z,1629047582.489 [Micromodem](INFO): Nmea in: $SNTTA,0.192622,,,,171302.31*48

2021-08-15T17:13:02.495Z,1629047582.495 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T17:13:02.908Z,1629047582.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 285.059998 m, bearing: 213.284651 deg, deltaT: 4.813832 s, approachRate: -0.373920 m/s, LOS rate: -0.819197 deg/s, posRepo size: 4
2021-08-15T17:13:02.910Z,1629047582.910 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 285.059998 m,
      bearing: 213.284651 deg,
      approachRate: -0.373920 m/s,
      LOS rate: -0.819197 deg/s,
      cmd update: -3.276789 deg/s,
      cmd heading: 182.766064 deg,
      new cmd heading: 181.835942 deg.

2021-08-15T17:13:05.357Z,1629047585.357 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:13:05.705Z,1629047585.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:13:05.705Z,1629047585.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:13:05.707Z,1629047585.707 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:13:05.708Z,1629047585.708 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:13:06.101Z,1629047586.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D5A,000,01500,189,80,80,A9,FF
2021-08-15T17:13:06.101Z,1629047586.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:13:06.101Z,1629047586.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:13:06.103Z,1629047586.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:13:06.500Z,1629047586.500 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:13:07.305Z,1629047587.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DAD,000,014E0,189,80,80,80,FF
2021-08-15T17:13:07.305Z,1629047587.305 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:13:07.309Z,1629047587.309 [Micromodem](INFO): Nmea in: $SNTTA,0.402836,0.402842,,,171307.16*59

2021-08-15T17:13:07.783Z,1629047587.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 283.139984 m, bearing: 214.757048 deg, deltaT: 4.886543 s, approachRate: -0.392919 m/s, LOS rate: 0.301317 deg/s, posRepo size: 4
2021-08-15T17:13:07.801Z,1629047587.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 283.139984 m,
      bearing: 214.757048 deg,
      approachRate: -0.392919 m/s,
      LOS rate: 0.301317 deg/s,
      cmd update: 1.205267 deg/s,
      cmd heading: 166.767076 deg,
      new cmd heading: 165.480431 deg.

2021-08-15T17:13:10.150Z,1629047590.150 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:13:10.537Z,1629047590.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:13:10.537Z,1629047590.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:13:10.537Z,1629047590.537 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:13:10.538Z,1629047590.538 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:13:10.946Z,1629047590.946 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DAD,000,014E0,189,80,80,80,FF
2021-08-15T17:13:10.946Z,1629047590.946 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:13:10.946Z,1629047590.946 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:13:10.948Z,1629047590.948 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:13:11.357Z,1629047591.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:13:12.173Z,1629047592.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C42,000,014BF,189,80,80,B8,FF
2021-08-15T17:13:12.174Z,1629047592.174 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:13:12.178Z,1629047592.178 [Micromodem](INFO): Nmea in: $SNTTA,0.187146,,,,171312.00*4A

2021-08-15T17:13:12.614Z,1629047592.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 281.160004 m, bearing: 216.389600 deg, deltaT: 4.859553 s, approachRate: -0.407441 m/s, LOS rate: 0.335947 deg/s, posRepo size: 4
2021-08-15T17:13:12.617Z,1629047592.617 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 281.160004 m,
      bearing: 216.389600 deg,
      approachRate: -0.407441 m/s,
      LOS rate: 0.335947 deg/s,
      cmd update: 1.343788 deg/s,
      cmd heading: 172.613476 deg,
      new cmd heading: 173.064055 deg.

2021-08-15T17:13:15.084Z,1629047595.084 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:13:15.389Z,1629047595.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:13:15.389Z,1629047595.389 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:13:15.389Z,1629047595.389 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:13:15.390Z,1629047595.390 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:13:15.805Z,1629047595.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C42,000,014BF,189,80,80,B8,FF
2021-08-15T17:13:15.805Z,1629047595.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:13:15.805Z,1629047595.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:13:15.807Z,1629047595.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:13:16.221Z,1629047596.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:13:17.060Z,1629047597.060 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D05,000,0149F,188,80,80,BF,FF
2021-08-15T17:13:17.062Z,1629047597.062 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:13:17.065Z,1629047597.065 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171316.86*53

2021-08-15T17:13:17.475Z,1629047597.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 279.239990 m, bearing: 212.258633 deg, deltaT: 4.877463 s, approachRate: -0.393650 m/s, LOS rate: -0.846950 deg/s, posRepo size: 4
2021-08-15T17:13:17.477Z,1629047597.477 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 279.239990 m,
      bearing: 212.258633 deg,
      approachRate: -0.393650 m/s,
      LOS rate: -0.846950 deg/s,
      cmd update: -3.387799 deg/s,
      cmd heading: 179.185075 deg,
      new cmd heading: 179.647740 deg.

2021-08-15T17:13:19.884Z,1629047599.884 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:13:20.233Z,1629047600.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:13:20.233Z,1629047600.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:13:20.233Z,1629047600.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:13:20.234Z,1629047600.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:13:20.654Z,1629047600.654 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D05,000,0149F,188,80,80,BF,FF
2021-08-15T17:13:20.654Z,1629047600.654 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:13:20.654Z,1629047600.654 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:13:20.661Z,1629047600.661 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:13:21.089Z,1629047601.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:13:21.851Z,1629047601.851 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D26,000,0147E,18A,80,80,A5,FF
2021-08-15T17:13:21.852Z,1629047601.852 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:13:21.859Z,1629047601.859 [Micromodem](INFO): Nmea in: $SNTTA,0.186943,,,,171321.72*43

2021-08-15T17:13:22.302Z,1629047602.302 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 277.259979 m, bearing: 214.057664 deg, deltaT: 4.781019 s, approachRate: -0.414140 m/s, LOS rate: 0.376286 deg/s, posRepo size: 4
2021-08-15T17:13:22.304Z,1629047602.304 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 277.259979 m,
      bearing: 214.057664 deg,
      approachRate: -0.414140 m/s,
      LOS rate: 0.376286 deg/s,
      cmd update: 1.505144 deg/s,
      cmd heading: 162.990062 deg,
      new cmd heading: 161.666913 deg.

2021-08-15T17:13:24.738Z,1629047604.738 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:13:25.108Z,1629047605.108 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:13:25.109Z,1629047605.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:13:25.109Z,1629047605.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:13:25.110Z,1629047605.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:13:25.487Z,1629047605.487 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D26,000,0147E,18A,80,80,A5,FF
2021-08-15T17:13:25.487Z,1629047605.487 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:13:25.488Z,1629047605.488 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:13:25.491Z,1629047605.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:13:25.913Z,1629047605.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:13:26.733Z,1629047606.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,BD9,000,0145F,189,80,80,AB,FF
2021-08-15T17:13:26.733Z,1629047606.733 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:13:26.736Z,1629047606.736 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171326.55*5E

2021-08-15T17:13:27.229Z,1629047607.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 275.399994 m, bearing: 219.230207 deg, deltaT: 4.864226 s, approachRate: -0.382381 m/s, LOS rate: 1.063385 deg/s, posRepo size: 4
2021-08-15T17:13:27.231Z,1629047607.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 275.399994 m,
      bearing: 219.230207 deg,
      approachRate: -0.382381 m/s,
      LOS rate: 1.063385 deg/s,
      cmd update: 4.253539 deg/s,
      cmd heading: 170.312314 deg,
      new cmd heading: 170.987204 deg.

2021-08-15T17:13:29.554Z,1629047609.554 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:13:29.937Z,1629047609.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:13:29.938Z,1629047609.938 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:13:29.938Z,1629047609.938 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:13:29.939Z,1629047609.939 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:13:30.333Z,1629047610.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
BD9,000,0145F,189,80,80,AB,FF
2021-08-15T17:13:30.333Z,1629047610.333 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:13:30.333Z,1629047610.333 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:13:30.335Z,1629047610.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:13:30.792Z,1629047610.792 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:13:31.577Z,1629047611.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D14,000,01442,189,80,80,78,FF
2021-08-15T17:13:31.578Z,1629047611.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:13:31.580Z,1629047611.580 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171331.39*52

2021-08-15T17:13:32.026Z,1629047612.026 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 273.660004 m, bearing: 212.477951 deg, deltaT: 4.819477 s, approachRate: -0.361033 m/s, LOS rate: -1.401035 deg/s, posRepo size: 4
2021-08-15T17:13:32.038Z,1629047612.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 273.660004 m,
      bearing: 212.477951 deg,
      approachRate: -0.361033 m/s,
      LOS rate: -1.401035 deg/s,
      cmd update: -5.604141 deg/s,
      cmd heading: 190.812222 deg,
      new cmd heading: 192.620831 deg.

2021-08-15T17:13:34.445Z,1629047614.445 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:13:34.697Z,1629047614.697 [CTD_Seabird](ERROR): Failed to parse device response: ,24.3206,4.80464,4884.16
2021-08-15T17:13:34.777Z,1629047614.777 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:13:34.777Z,1629047614.777 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:13:34.777Z,1629047614.777 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:13:34.778Z,1629047614.778 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:13:35.201Z,1629047615.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D14,000,01442,189,80,80,78,FF
2021-08-15T17:13:35.201Z,1629047615.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:13:35.202Z,1629047615.202 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:13:35.211Z,1629047615.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:13:35.682Z,1629047615.682 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:13:36.091Z,1629047616.091 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEA,000,0106D,189,80,80,78,FF
2021-08-15T17:13:36.092Z,1629047616.092 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:13:36.493Z,1629047616.493 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171336.27*5A

2021-08-15T17:13:36.535Z,1629047616.535 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 214.799988 m, bearing: 216.095752 deg, deltaT: 4.525357 s, approachRate: -13.006712 m/s, LOS rate: 0.799451 deg/s, posRepo size: 4
2021-08-15T17:13:36.537Z,1629047616.537 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 214.799988 m,
      bearing: 216.095752 deg,
      approachRate: -13.006712 m/s,
      LOS rate: 0.799451 deg/s,
      cmd update: 3.197804 deg/s,
      cmd heading: 165.469928 deg,
      new cmd heading: 163.145028 deg.

2021-08-15T17:13:38.935Z,1629047618.935 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:13:39.309Z,1629047619.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:13:39.309Z,1629047619.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:13:39.309Z,1629047619.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:13:39.310Z,1629047619.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:13:39.706Z,1629047619.706 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEA,000,0106D,189,80,80,78,FF
2021-08-15T17:13:39.706Z,1629047619.706 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:13:39.706Z,1629047619.706 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:13:39.707Z,1629047619.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:13:40.117Z,1629047620.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:13:40.975Z,1629047620.975 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D06,000,013F9,189,80,80,9A,FF
2021-08-15T17:13:40.975Z,1629047620.975 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:13:40.984Z,1629047620.984 [Micromodem](INFO): Nmea in: $SNTTA,0.181672,,,,171340.76*4A

2021-08-15T17:13:41.409Z,1629047621.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 269.279999 m, bearing: 217.293617 deg, deltaT: 4.953889 s, approachRate: 10.997422 m/s, LOS rate: 0.241803 deg/s, posRepo size: 4
2021-08-15T17:13:41.413Z,1629047621.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 269.279999 m,
      bearing: 217.293617 deg,
      approachRate: 10.997422 m/s,
      LOS rate: 0.241803 deg/s,
      cmd update: 0.967212 deg/s,
      cmd heading: 181.308894 deg,
      new cmd heading: 182.386103 deg.

2021-08-15T17:13:43.782Z,1629047623.782 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:13:44.165Z,1629047624.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:13:44.165Z,1629047624.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:13:44.166Z,1629047624.166 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:13:44.167Z,1629047624.167 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:13:44.565Z,1629047624.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D06,000,013F9,189,80,80,9A,FF
2021-08-15T17:13:44.565Z,1629047624.565 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:13:44.565Z,1629047624.565 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:13:44.567Z,1629047624.567 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:13:44.973Z,1629047624.973 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:13:45.369Z,1629047625.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C9B,000,0032E,189,80,80,B4,FF
2021-08-15T17:13:45.370Z,1629047625.370 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:13:45.744Z,1629047625.744 [CTD_Seabird](ERROR): Failed to parse device response: 01,4876.79
2021-08-15T17:13:45.839Z,1629047625.839 [Micromodem](INFO): Nmea in: $SNTTA,0.007294,,,,171345.62*49

2021-08-15T17:13:45.895Z,1629047625.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.339997 m, bearing: 219.233281 deg, deltaT: 4.398168 s, approachRate: -58.647148 m/s, LOS rate: 0.441016 deg/s, posRepo size: 4
2021-08-15T17:13:45.900Z,1629047625.900 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 11.34 m.
2021-08-15T17:13:45.902Z,1629047625.902 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.339997 m,
      bearing: 219.233281 deg,
      approachRate: -58.647148 m/s,
      LOS rate: 0.441016 deg/s,
      cmd update: 1.764066 deg/s,
      cmd heading: 185.566625 deg,
      new cmd heading: 185.974370 deg.

2021-08-15T17:13:46.230Z,1629047626.230 [PowerOnly](INFO): Powering up loadControl
2021-08-15T17:13:46.269Z,1629047626.269 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T17:13:46.270Z,1629047626.270 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T17:13:46.270Z,1629047626.270 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T17:13:46.271Z,1629047626.271 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T17:13:46.271Z,1629047626.271 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T17:13:46.271Z,1629047626.271 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T17:13:46.637Z,1629047626.637 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T17:13:46.637Z,1629047626.637 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T17:13:46.637Z,1629047626.637 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T17:13:46.638Z,1629047626.638 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T17:13:48.257Z,1629047628.257 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:13:48.625Z,1629047628.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:13:48.625Z,1629047628.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:13:48.625Z,1629047628.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:13:48.626Z,1629047628.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:13:49.037Z,1629047629.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C9B,000,0032E,189,80,80,B4,FF
2021-08-15T17:13:49.037Z,1629047629.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:13:49.038Z,1629047629.038 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:13:49.047Z,1629047629.047 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:13:49.411Z,1629047629.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:13:50.249Z,1629047630.249 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171350.10*5E

2021-08-15T17:13:51.090Z,1629047631.090 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:13:52.637Z,1629047632.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,189,80,80,B4,FF
2021-08-15T17:13:52.637Z,1629047632.637 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,189,80,80,B4,FF
2021-08-15T17:13:52.637Z,1629047632.637 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T17:13:53.867Z,1629047633.867 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:13:54.269Z,1629047634.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:13:54.269Z,1629047634.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:13:54.269Z,1629047634.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:13:54.270Z,1629047634.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:13:54.657Z,1629047634.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,189,80,80,B4,FF
2021-08-15T17:13:54.657Z,1629047634.657 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:13:54.657Z,1629047634.657 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:13:54.659Z,1629047634.659 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:13:55.100Z,1629047635.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:13:55.903Z,1629047635.903 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171355.72*5F

2021-08-15T17:13:56.703Z,1629047636.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:13:58.302Z,1629047638.302 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
E,189,80,80,B4,FF
2021-08-15T17:13:58.302Z,1629047638.302 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
E,189,80,80,B4,FF
2021-08-15T17:13:58.302Z,1629047638.302 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T17:13:59.539Z,1629047639.539 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:13:59.909Z,1629047639.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:13:59.909Z,1629047639.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:13:59.909Z,1629047639.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:13:59.910Z,1629047639.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:14:00.313Z,1629047640.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
E,189,80,80,B4,FF
2021-08-15T17:14:00.313Z,1629047640.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:14:00.314Z,1629047640.314 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:14:00.315Z,1629047640.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:14:00.762Z,1629047640.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:14:01.546Z,1629047641.546 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EBD,000,01358,187,80,80,6E,FF
2021-08-15T17:14:01.546Z,1629047641.546 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:14:01.549Z,1629047641.549 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171401.37*58

2021-08-15T17:14:01.579Z,1629047641.579 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:14:01.972Z,1629047641.972 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 259.619995 m, bearing: 222.850959 deg, deltaT: 16.102666 s, approachRate: 15.418565 m/s, LOS rate: 0.224663 deg/s, posRepo size: 4
2021-08-15T17:14:01.974Z,1629047641.974 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 259.619995 m,
      bearing: 222.850959 deg,
      approachRate: 15.418565 m/s,
      LOS rate: 0.224663 deg/s,
      cmd update: 0.898653 deg/s,
      cmd heading: 213.972604 deg,
      new cmd heading: 214.671674 deg.

2021-08-15T17:14:02.379Z,1629047642.379 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T17:14:02.379Z,1629047642.379 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T17:14:02.379Z,1629047642.379 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T17:14:02.381Z,1629047642.381 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T17:14:02.381Z,1629047642.381 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T17:14:02.381Z,1629047642.381 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T17:14:02.781Z,1629047642.781 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T17:14:02.782Z,1629047642.782 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T17:14:02.782Z,1629047642.782 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T17:14:02.782Z,1629047642.782 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T17:14:04.391Z,1629047644.391 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:14:04.765Z,1629047644.765 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:14:04.765Z,1629047644.765 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:14:04.765Z,1629047644.765 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:14:04.766Z,1629047644.766 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:14:05.161Z,1629047645.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EBD,000,01358,187,80,80,6E,FF
2021-08-15T17:14:05.161Z,1629047645.161 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:14:05.161Z,1629047645.161 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:14:05.163Z,1629047645.163 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:14:05.584Z,1629047645.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:14:06.413Z,1629047646.413 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171406.22*5B

2021-08-15T17:14:07.270Z,1629047647.270 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:14:08.805Z,1629047648.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,187,80,80,6E,FF
2021-08-15T17:14:08.806Z,1629047648.806 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,187,80,80,6E,FF
2021-08-15T17:14:08.806Z,1629047648.806 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T17:14:10.035Z,1629047650.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:14:10.413Z,1629047650.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:14:10.414Z,1629047650.414 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:14:10.414Z,1629047650.414 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:14:10.415Z,1629047650.415 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:14:10.817Z,1629047650.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,187,80,80,6E,FF
2021-08-15T17:14:10.817Z,1629047650.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:14:10.817Z,1629047650.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:14:10.819Z,1629047650.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:14:11.244Z,1629047651.244 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:14:12.058Z,1629047652.058 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171411.87*52

2021-08-15T17:14:12.864Z,1629047652.864 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:14:14.461Z,1629047654.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,187,80,80,6E,FF
2021-08-15T17:14:14.461Z,1629047654.461 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,187,80,80,6E,FF
2021-08-15T17:14:14.461Z,1629047654.461 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T17:14:15.712Z,1629047655.712 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:14:16.077Z,1629047656.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:14:16.078Z,1629047656.078 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:14:16.078Z,1629047656.078 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:14:16.079Z,1629047656.079 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:14:16.477Z,1629047656.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,187,80,80,6E,FF
2021-08-15T17:14:16.477Z,1629047656.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:14:16.477Z,1629047656.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:14:16.479Z,1629047656.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:14:16.897Z,1629047656.897 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:14:17.730Z,1629047657.730 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171417.54*5A

2021-08-15T17:14:18.540Z,1629047658.540 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:14:20.129Z,1629047660.129 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,187,80,80,6E,FF
2021-08-15T17:14:20.129Z,1629047660.129 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,187,80,80,6E,FF
2021-08-15T17:14:20.130Z,1629047660.130 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T17:14:21.414Z,1629047661.414 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:14:21.757Z,1629047661.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:14:21.757Z,1629047661.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:14:21.757Z,1629047661.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:14:21.758Z,1629047661.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:14:22.141Z,1629047662.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,187,80,80,6E,FF
2021-08-15T17:14:22.141Z,1629047662.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:14:22.142Z,1629047662.142 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:14:22.143Z,1629047662.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:14:22.557Z,1629047662.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:14:23.382Z,1629047663.382 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171423.20*5E

2021-08-15T17:14:24.245Z,1629047664.245 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:14:25.413Z,1629047665.413 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T17:14:25.821Z,1629047665.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,187,80,80,6E,FF
2021-08-15T17:14:25.821Z,1629047665.821 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,187,80,80,6E,FF
2021-08-15T17:14:25.821Z,1629047665.821 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T17:14:27.077Z,1629047667.077 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:14:27.410Z,1629047667.410 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:14:27.410Z,1629047667.410 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:14:27.411Z,1629047667.411 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:14:27.411Z,1629047667.411 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:14:27.797Z,1629047667.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,187,80,80,6E,FF
2021-08-15T17:14:27.797Z,1629047667.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:14:27.797Z,1629047667.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:14:27.799Z,1629047667.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:14:28.242Z,1629047668.242 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:14:29.066Z,1629047669.066 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17E,000,0124D,186,80,80,44,FF
2021-08-15T17:14:29.066Z,1629047669.066 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:14:29.069Z,1629047669.069 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171428.86*59

2021-08-15T17:14:29.479Z,1629047669.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 243.599991 m, bearing: 218.860325 deg, deltaT: 27.553068 s, approachRate: -0.581424 m/s, LOS rate: -0.144834 deg/s, posRepo size: 4
2021-08-15T17:14:29.485Z,1629047669.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 243.599991 m,
      bearing: 218.860325 deg,
      approachRate: -0.581424 m/s,
      LOS rate: -0.144834 deg/s,
      cmd update: -0.579338 deg/s,
      cmd heading: 238.725568 deg,
      new cmd heading: 239.047962 deg.

2021-08-15T17:14:31.089Z,1629047671.089 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T17:14:31.867Z,1629047671.867 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:14:32.269Z,1629047672.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:14:32.269Z,1629047672.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:14:32.269Z,1629047672.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:14:32.271Z,1629047672.271 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:14:32.645Z,1629047672.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
17E,000,0124D,186,80,80,44,FF
2021-08-15T17:14:32.645Z,1629047672.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:14:32.645Z,1629047672.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:14:32.647Z,1629047672.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:14:33.114Z,1629047673.114 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:14:33.895Z,1629047673.895 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C7,000,01221,186,80,80,80,FF
2021-08-15T17:14:33.895Z,1629047673.895 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:14:33.900Z,1629047673.900 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171433.71*5B

2021-08-15T17:14:34.315Z,1629047674.315 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 240.960007 m, bearing: 217.251939 deg, deltaT: 4.796525 s, approachRate: -0.550395 m/s, LOS rate: -0.335323 deg/s, posRepo size: 4
2021-08-15T17:14:34.317Z,1629047674.317 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 240.960007 m,
      bearing: 217.251939 deg,
      approachRate: -0.550395 m/s,
      LOS rate: -0.335323 deg/s,
      cmd update: -1.341293 deg/s,
      cmd heading: 235.942938 deg,
      new cmd heading: 235.715735 deg.

2021-08-15T17:14:36.706Z,1629047676.706 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:14:37.101Z,1629047677.101 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:14:37.101Z,1629047677.101 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:14:37.101Z,1629047677.101 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:14:37.102Z,1629047677.102 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:14:37.498Z,1629047677.498 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C7,000,01221,186,80,80,80,FF
2021-08-15T17:14:37.498Z,1629047677.498 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:14:37.498Z,1629047677.498 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:14:37.500Z,1629047677.500 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:14:37.901Z,1629047677.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:14:38.730Z,1629047678.730 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171438.56*55

2021-08-15T17:14:39.584Z,1629047679.584 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:14:41.133Z,1629047681.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
1,186,80,80,80,FF
2021-08-15T17:14:41.133Z,1629047681.133 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
1,186,80,80,80,FF
2021-08-15T17:14:41.133Z,1629047681.133 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T17:14:42.390Z,1629047682.390 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:14:42.751Z,1629047682.751 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:14:42.751Z,1629047682.751 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:14:42.751Z,1629047682.751 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:14:42.752Z,1629047682.752 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:14:43.149Z,1629047683.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
1,186,80,80,80,FF
2021-08-15T17:14:43.149Z,1629047683.149 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:14:43.149Z,1629047683.149 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:14:43.151Z,1629047683.151 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:14:43.564Z,1629047683.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:14:44.385Z,1629047684.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,112,000,011B2,185,80,80,AF,FF
2021-08-15T17:14:44.385Z,1629047684.385 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:14:44.388Z,1629047684.388 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171444.21*5E

2021-08-15T17:14:44.808Z,1629047684.808 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 234.299988 m, bearing: 217.474917 deg, deltaT: 10.550590 s, approachRate: -0.631246 m/s, LOS rate: 0.021134 deg/s, posRepo size: 4
2021-08-15T17:14:44.810Z,1629047684.810 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 234.299988 m,
      bearing: 217.474917 deg,
      approachRate: -0.631246 m/s,
      LOS rate: 0.021134 deg/s,
      cmd update: 0.084537 deg/s,
      cmd heading: 221.794686 deg,
      new cmd heading: 221.343593 deg.

2021-08-15T17:14:47.282Z,1629047687.282 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:14:47.593Z,1629047687.593 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:14:47.593Z,1629047687.593 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:14:47.593Z,1629047687.593 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:14:47.594Z,1629047687.594 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:14:48.017Z,1629047688.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
112,000,011B2,185,80,80,AF,FF
2021-08-15T17:14:48.018Z,1629047688.018 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:14:48.018Z,1629047688.018 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:14:48.044Z,1629047688.044 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:14:48.419Z,1629047688.419 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:14:49.229Z,1629047689.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B3,000,01180,186,80,80,B6,FF
2021-08-15T17:14:49.231Z,1629047689.231 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:14:49.238Z,1629047689.238 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171449.10*51

2021-08-15T17:14:49.653Z,1629047689.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 231.299988 m, bearing: 217.637011 deg, deltaT: 4.845327 s, approachRate: -0.619153 m/s, LOS rate: 0.033454 deg/s, posRepo size: 4
2021-08-15T17:14:49.654Z,1629047689.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 231.299988 m,
      bearing: 217.637011 deg,
      approachRate: -0.619153 m/s,
      LOS rate: 0.033454 deg/s,
      cmd update: 0.133815 deg/s,
      cmd heading: 222.204669 deg,
      new cmd heading: 222.232670 deg.

2021-08-15T17:14:52.079Z,1629047692.079 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:14:52.453Z,1629047692.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:14:52.453Z,1629047692.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:14:52.453Z,1629047692.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:14:52.454Z,1629047692.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:14:52.849Z,1629047692.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B3,000,01180,186,80,80,B6,FF
2021-08-15T17:14:52.849Z,1629047692.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:14:52.849Z,1629047692.849 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:14:52.851Z,1629047692.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:14:53.268Z,1629047693.268 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:14:54.097Z,1629047694.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08F,000,0114E,186,80,80,A2,FF
2021-08-15T17:14:54.097Z,1629047694.097 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:14:54.100Z,1629047694.100 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171453.91*53

2021-08-15T17:14:54.524Z,1629047694.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 228.300003 m, bearing: 217.334079 deg, deltaT: 4.802574 s, approachRate: -0.624662 m/s, LOS rate: -0.063077 deg/s, posRepo size: 4
2021-08-15T17:14:54.526Z,1629047694.526 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 228.300003 m,
      bearing: 217.334079 deg,
      approachRate: -0.624662 m/s,
      LOS rate: -0.063077 deg/s,
      cmd update: -0.252308 deg/s,
      cmd heading: 222.847340 deg,
      new cmd heading: 222.900852 deg.

2021-08-15T17:14:55.298Z,1629047695.298 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T17:14:56.923Z,1629047696.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:14:57.289Z,1629047697.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:14:57.289Z,1629047697.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:14:57.289Z,1629047697.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:14:57.290Z,1629047697.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:14:57.697Z,1629047697.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08F,000,0114E,186,80,80,A2,FF
2021-08-15T17:14:57.697Z,1629047697.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:14:57.697Z,1629047697.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:14:57.699Z,1629047697.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:14:58.113Z,1629047698.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:14:58.925Z,1629047698.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07D,000,01119,186,80,80,C0,FF
2021-08-15T17:14:58.925Z,1629047698.925 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:14:58.929Z,1629047698.929 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171458.76*51

2021-08-15T17:14:59.391Z,1629047699.391 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 225.119995 m, bearing: 217.442118 deg, deltaT: 4.853962 s, approachRate: -0.655137 m/s, LOS rate: 0.022258 deg/s, posRepo size: 4
2021-08-15T17:14:59.398Z,1629047699.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 225.119995 m,
      bearing: 217.442118 deg,
      approachRate: -0.655137 m/s,
      LOS rate: 0.022258 deg/s,
      cmd update: 0.089032 deg/s,
      cmd heading: 221.630945 deg,
      new cmd heading: 221.518309 deg.

2021-08-15T17:15:01.759Z,1629047701.759 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:15:02.145Z,1629047702.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:15:02.145Z,1629047702.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:15:02.145Z,1629047702.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:15:02.146Z,1629047702.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:15:02.547Z,1629047702.547 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07D,000,01119,186,80,80,C0,FF
2021-08-15T17:15:02.547Z,1629047702.547 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:15:02.547Z,1629047702.547 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:15:02.549Z,1629047702.549 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:15:02.949Z,1629047702.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:15:03.770Z,1629047703.770 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,068,000,010E7,187,80,80,B0,FF
2021-08-15T17:15:03.770Z,1629047703.770 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:15:03.773Z,1629047703.773 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171503.61*58

2021-08-15T17:15:04.233Z,1629047704.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 222.119980 m, bearing: 217.668088 deg, deltaT: 4.853690 s, approachRate: -0.618090 m/s, LOS rate: 0.046556 deg/s, posRepo size: 4
2021-08-15T17:15:04.235Z,1629047704.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 222.119980 m,
      bearing: 217.668088 deg,
      approachRate: -0.618090 m/s,
      LOS rate: 0.046556 deg/s,
      cmd update: 0.186225 deg/s,
      cmd heading: 222.065658 deg,
      new cmd heading: 222.101724 deg.

2021-08-15T17:15:06.603Z,1629047706.603 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:15:06.990Z,1629047706.990 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:15:06.990Z,1629047706.990 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:15:06.990Z,1629047706.990 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:15:06.991Z,1629047706.991 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:15:07.389Z,1629047707.389 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
068,000,010E7,187,80,80,B0,FF
2021-08-15T17:15:07.389Z,1629047707.389 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:15:07.389Z,1629047707.389 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:15:07.391Z,1629047707.391 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:15:07.797Z,1629047707.797 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:15:08.621Z,1629047708.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,067,000,010B5,186,80,80,B5,FF
2021-08-15T17:15:08.621Z,1629047708.621 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:15:08.624Z,1629047708.624 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171508.45*55

2021-08-15T17:15:09.094Z,1629047709.094 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 219.119980 m, bearing: 217.531539 deg, deltaT: 4.808660 s, approachRate: -0.623874 m/s, LOS rate: -0.028397 deg/s, posRepo size: 4
2021-08-15T17:15:09.097Z,1629047709.097 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 219.119980 m,
      bearing: 217.531539 deg,
      approachRate: -0.623874 m/s,
      LOS rate: -0.028397 deg/s,
      cmd update: -0.113586 deg/s,
      cmd heading: 222.961898 deg,
      new cmd heading: 223.046510 deg.

2021-08-15T17:15:11.481Z,1629047711.481 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:15:11.833Z,1629047711.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:15:11.833Z,1629047711.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:15:11.833Z,1629047711.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:15:11.834Z,1629047711.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:15:12.265Z,1629047712.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
067,000,010B5,186,80,80,B5,FF
2021-08-15T17:15:12.265Z,1629047712.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:15:12.265Z,1629047712.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:15:12.267Z,1629047712.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:15:12.645Z,1629047712.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:15:13.473Z,1629047713.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,055,000,01083,184,80,80,B1,FF
2021-08-15T17:15:13.474Z,1629047713.474 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:15:13.477Z,1629047713.477 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171513.32*5F

2021-08-15T17:15:13.897Z,1629047713.897 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 216.119995 m, bearing: 217.855154 deg, deltaT: 4.862817 s, approachRate: -0.616923 m/s, LOS rate: 0.066549 deg/s, posRepo size: 4
2021-08-15T17:15:13.899Z,1629047713.899 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 216.119995 m,
      bearing: 217.855154 deg,
      approachRate: -0.616923 m/s,
      LOS rate: 0.066549 deg/s,
      cmd update: 0.266195 deg/s,
      cmd heading: 222.409569 deg,
      new cmd heading: 222.364807 deg.

2021-08-15T17:15:16.314Z,1629047716.314 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:15:16.677Z,1629047716.677 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:15:16.677Z,1629047716.677 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:15:16.677Z,1629047716.677 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:15:16.678Z,1629047716.678 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:15:17.117Z,1629047717.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
055,000,01083,184,80,80,B1,FF
2021-08-15T17:15:17.117Z,1629047717.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:15:17.117Z,1629047717.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:15:17.119Z,1629047717.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:15:17.521Z,1629047717.521 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:15:18.331Z,1629047718.331 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07F,000,01051,186,80,80,A6,FF
2021-08-15T17:15:18.331Z,1629047718.331 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:15:18.335Z,1629047718.335 [Micromodem](INFO): Nmea in: $SNTTA,0.144624,,,,171518.18*43

2021-08-15T17:15:18.764Z,1629047718.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 213.119995 m, bearing: 219.046789 deg, deltaT: 4.875215 s, approachRate: -0.615357 m/s, LOS rate: 0.244427 deg/s, posRepo size: 4
2021-08-15T17:15:18.766Z,1629047718.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 213.119995 m,
      bearing: 219.046789 deg,
      approachRate: -0.615357 m/s,
      LOS rate: 0.244427 deg/s,
      cmd update: 0.977709 deg/s,
      cmd heading: 223.703075 deg,
      new cmd heading: 223.810095 deg.

2021-08-15T17:15:21.266Z,1629047721.266 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:15:21.545Z,1629047721.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:15:21.545Z,1629047721.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:15:21.545Z,1629047721.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:15:21.546Z,1629047721.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:15:21.961Z,1629047721.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07F,000,01051,186,80,80,A6,FF
2021-08-15T17:15:21.961Z,1629047721.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:15:21.961Z,1629047721.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:15:21.963Z,1629047721.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:15:22.357Z,1629047722.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:15:23.193Z,1629047723.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,085,000,01024,186,80,80,A4,FF
2021-08-15T17:15:23.194Z,1629047723.194 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:15:23.207Z,1629047723.207 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171523.02*5F

2021-08-15T17:15:23.627Z,1629047723.627 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 210.419983 m, bearing: 219.378149 deg, deltaT: 4.915975 s, approachRate: -0.549232 m/s, LOS rate: 0.067405 deg/s, posRepo size: 4
2021-08-15T17:15:23.646Z,1629047723.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 210.419983 m,
      bearing: 219.378149 deg,
      approachRate: -0.549232 m/s,
      LOS rate: 0.067405 deg/s,
      cmd update: 0.269619 deg/s,
      cmd heading: 228.525178 deg,
      new cmd heading: 228.851042 deg.

2021-08-15T17:15:26.057Z,1629047726.057 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:15:26.422Z,1629047726.422 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:15:26.422Z,1629047726.422 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:15:26.423Z,1629047726.423 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:15:26.424Z,1629047726.424 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:15:26.817Z,1629047726.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
085,000,01024,186,80,80,A4,FF
2021-08-15T17:15:26.818Z,1629047726.818 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:15:26.818Z,1629047726.818 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:15:26.821Z,1629047726.821 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:15:27.260Z,1629047727.260 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:15:28.045Z,1629047728.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E0,000,00FED,186,80,80,AC,FF
2021-08-15T17:15:28.045Z,1629047728.045 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:15:28.048Z,1629047728.048 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171527.88*59

2021-08-15T17:15:28.480Z,1629047728.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 207.119995 m, bearing: 218.906798 deg, deltaT: 4.770612 s, approachRate: -0.691733 m/s, LOS rate: -0.098803 deg/s, posRepo size: 4
2021-08-15T17:15:28.482Z,1629047728.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 207.119995 m,
      bearing: 218.906798 deg,
      approachRate: -0.691733 m/s,
      LOS rate: -0.098803 deg/s,
      cmd update: -0.395212 deg/s,
      cmd heading: 229.811346 deg,
      new cmd heading: 229.923420 deg.

2021-08-15T17:15:30.922Z,1629047730.922 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:15:31.277Z,1629047731.277 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:15:31.277Z,1629047731.277 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:15:31.277Z,1629047731.277 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:15:31.278Z,1629047731.278 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:15:31.659Z,1629047731.659 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E0,000,00FED,186,80,80,AC,FF
2021-08-15T17:15:31.659Z,1629047731.659 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:15:31.660Z,1629047731.660 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:15:31.664Z,1629047731.664 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:15:32.073Z,1629047732.073 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:15:32.893Z,1629047732.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FC,000,00FBE,186,80,80,A3,FF
2021-08-15T17:15:32.893Z,1629047732.893 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:15:32.896Z,1629047732.896 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171532.72*58

2021-08-15T17:15:33.374Z,1629047733.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 204.299988 m, bearing: 218.460978 deg, deltaT: 4.876515 s, approachRate: -0.578283 m/s, LOS rate: -0.091422 deg/s, posRepo size: 4
2021-08-15T17:15:33.376Z,1629047733.376 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 204.299988 m,
      bearing: 218.460978 deg,
      approachRate: -0.578283 m/s,
      LOS rate: -0.091422 deg/s,
      cmd update: -0.365687 deg/s,
      cmd heading: 227.895170 deg,
      new cmd heading: 227.713023 deg.

2021-08-15T17:15:35.741Z,1629047735.741 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:15:36.105Z,1629047736.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:15:36.105Z,1629047736.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:15:36.105Z,1629047736.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:15:36.106Z,1629047736.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:15:36.509Z,1629047736.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FC,000,00FBE,186,80,80,A3,FF
2021-08-15T17:15:36.509Z,1629047736.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:15:36.510Z,1629047736.510 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:15:36.511Z,1629047736.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:15:36.913Z,1629047736.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:15:37.733Z,1629047737.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FA,000,00F8F,185,80,80,B0,FF
2021-08-15T17:15:37.733Z,1629047737.733 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:15:37.736Z,1629047737.736 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171537.57*5A

2021-08-15T17:15:38.164Z,1629047738.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 201.479980 m, bearing: 217.524299 deg, deltaT: 4.811482 s, approachRate: -0.586100 m/s, LOS rate: -0.194676 deg/s, posRepo size: 4
2021-08-15T17:15:38.166Z,1629047738.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 201.479980 m,
      bearing: 217.524299 deg,
      approachRate: -0.586100 m/s,
      LOS rate: -0.194676 deg/s,
      cmd update: -0.778703 deg/s,
      cmd heading: 226.125412 deg,
      new cmd heading: 225.976036 deg.

2021-08-15T17:15:40.573Z,1629047740.573 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:15:40.957Z,1629047740.957 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:15:40.957Z,1629047740.957 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:15:40.958Z,1629047740.958 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:15:40.958Z,1629047740.958 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:15:41.354Z,1629047741.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FA,000,00F8F,185,80,80,B0,FF
2021-08-15T17:15:41.354Z,1629047741.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:15:41.354Z,1629047741.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:15:41.356Z,1629047741.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:15:41.765Z,1629047741.765 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:15:42.589Z,1629047742.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B7,000,00F59,186,80,80,B0,FF
2021-08-15T17:15:42.589Z,1629047742.589 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:15:42.592Z,1629047742.592 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171542.41*5F

2021-08-15T17:15:43.080Z,1629047743.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 198.239990 m, bearing: 218.343895 deg, deltaT: 4.865958 s, approachRate: -0.665848 m/s, LOS rate: 0.168435 deg/s, posRepo size: 4
2021-08-15T17:15:43.083Z,1629047743.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 198.239990 m,
      bearing: 218.343895 deg,
      approachRate: -0.665848 m/s,
      LOS rate: 0.168435 deg/s,
      cmd update: 0.673738 deg/s,
      cmd heading: 222.335994 deg,
      new cmd heading: 221.981190 deg.

2021-08-15T17:15:45.474Z,1629047745.474 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:15:45.805Z,1629047745.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:15:45.805Z,1629047745.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:15:45.805Z,1629047745.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:15:45.806Z,1629047745.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:15:46.221Z,1629047746.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B7,000,00F59,186,80,80,B0,FF
2021-08-15T17:15:46.221Z,1629047746.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:15:46.221Z,1629047746.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:15:46.223Z,1629047746.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:15:46.617Z,1629047746.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:15:47.423Z,1629047747.423 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08B,000,00F24,186,80,80,AD,FF
2021-08-15T17:15:47.425Z,1629047747.425 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:15:47.453Z,1629047747.453 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171547.28*55

2021-08-15T17:15:47.864Z,1629047747.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 195.059982 m, bearing: 218.767189 deg, deltaT: 4.892411 s, approachRate: -0.649988 m/s, LOS rate: 0.086521 deg/s, posRepo size: 4
2021-08-15T17:15:47.866Z,1629047747.866 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 195.059982 m,
      bearing: 218.767189 deg,
      approachRate: -0.649988 m/s,
      LOS rate: 0.086521 deg/s,
      cmd update: 0.346082 deg/s,
      cmd heading: 225.632184 deg,
      new cmd heading: 225.869686 deg.

2021-08-15T17:15:50.289Z,1629047750.289 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:15:50.645Z,1629047750.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:15:50.645Z,1629047750.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:15:50.645Z,1629047750.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:15:50.646Z,1629047750.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:15:51.145Z,1629047751.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08B,000,00F24,186,80,80,AD,FF
2021-08-15T17:15:51.145Z,1629047751.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:15:51.145Z,1629047751.145 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:15:51.147Z,1629047751.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:15:51.589Z,1629047751.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:15:52.001Z,1629047752.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A7,000,00EF0,186,80,80,AD,FF
2021-08-15T17:15:52.001Z,1629047752.001 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:15:52.428Z,1629047752.428 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171552.21*58

2021-08-15T17:15:52.485Z,1629047752.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 191.939987 m, bearing: 218.391952 deg, deltaT: 4.524912 s, approachRate: -0.689515 m/s, LOS rate: -0.082927 deg/s, posRepo size: 4
2021-08-15T17:15:52.487Z,1629047752.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 191.939987 m,
      bearing: 218.391952 deg,
      approachRate: -0.689515 m/s,
      LOS rate: -0.082927 deg/s,
      cmd update: -0.331708 deg/s,
      cmd heading: 227.197474 deg,
      new cmd heading: 227.352105 deg.

2021-08-15T17:15:54.848Z,1629047754.848 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:15:55.253Z,1629047755.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:15:55.253Z,1629047755.253 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:15:55.253Z,1629047755.253 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:15:55.254Z,1629047755.254 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:15:55.637Z,1629047755.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A7,000,00EF0,186,80,80,AD,FF
2021-08-15T17:15:55.637Z,1629047755.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:15:55.637Z,1629047755.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:15:55.639Z,1629047755.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:15:56.047Z,1629047756.047 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:15:56.873Z,1629047756.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C2,000,00EC4,186,80,80,B5,FF
2021-08-15T17:15:56.873Z,1629047756.873 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:15:56.902Z,1629047756.902 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171556.70*58

2021-08-15T17:15:57.349Z,1629047757.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 189.299988 m, bearing: 218.796367 deg, deltaT: 4.930160 s, approachRate: -0.535479 m/s, LOS rate: 0.082029 deg/s, posRepo size: 4
2021-08-15T17:15:57.351Z,1629047757.351 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 189.299988 m,
      bearing: 218.796367 deg,
      approachRate: -0.535479 m/s,
      LOS rate: 0.082029 deg/s,
      cmd update: 0.328116 deg/s,
      cmd heading: 225.564796 deg,
      new cmd heading: 225.435913 deg.

2021-08-15T17:15:59.698Z,1629047759.698 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:16:00.073Z,1629047760.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:16:00.073Z,1629047760.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:16:00.073Z,1629047760.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:16:00.074Z,1629047760.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:16:00.481Z,1629047760.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C2,000,00EC4,186,80,80,B5,FF
2021-08-15T17:16:00.481Z,1629047760.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:16:00.481Z,1629047760.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:16:00.483Z,1629047760.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:16:00.917Z,1629047760.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:16:01.314Z,1629047761.314 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B5,000,00EC4,186,80,80,B5,FF
2021-08-15T17:16:01.314Z,1629047761.314 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:16:01.746Z,1629047761.746 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171601.54*5F

2021-08-15T17:16:01.766Z,1629047761.766 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 189.299988 m, bearing: 218.681169 deg, deltaT: 4.473888 s, approachRate: 0.000000 m/s, LOS rate: -0.025749 deg/s, posRepo size: 4
2021-08-15T17:16:01.769Z,1629047761.769 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 189.299988 m,
      bearing: 218.681169 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.025749 deg/s,
      cmd update: -0.102996 deg/s,
      cmd heading: 227.030556 deg,
      new cmd heading: 227.142941 deg.

2021-08-15T17:16:04.172Z,1629047764.172 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:16:04.545Z,1629047764.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:16:04.545Z,1629047764.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:16:04.545Z,1629047764.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:16:04.546Z,1629047764.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:16:04.961Z,1629047764.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B5,000,00EC4,186,80,80,B5,FF
2021-08-15T17:16:04.961Z,1629047764.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:16:04.961Z,1629047764.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:16:04.963Z,1629047764.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:16:05.357Z,1629047765.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:16:06.214Z,1629047766.214 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CE,000,00E69,186,80,80,76,FF
2021-08-15T17:16:06.214Z,1629047766.214 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:16:06.220Z,1629047766.220 [Micromodem](INFO): Nmea in: $SNTTA,0.125280,,,,171606.02*49

2021-08-15T17:16:06.604Z,1629047766.604 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 183.839996 m, bearing: 218.229653 deg, deltaT: 4.819531 s, approachRate: -1.132889 m/s, LOS rate: -0.093685 deg/s, posRepo size: 4
2021-08-15T17:16:06.606Z,1629047766.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.839996 m,
      bearing: 218.229653 deg,
      approachRate: -1.132889 m/s,
      LOS rate: -0.093685 deg/s,
      cmd update: -0.374739 deg/s,
      cmd heading: 226.533697 deg,
      new cmd heading: 226.497011 deg.

2021-08-15T17:16:09.076Z,1629047769.076 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:16:09.413Z,1629047769.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:16:09.413Z,1629047769.413 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:16:09.413Z,1629047769.413 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:16:09.414Z,1629047769.414 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:16:09.797Z,1629047769.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CE,000,00E69,186,80,80,76,FF
2021-08-15T17:16:09.797Z,1629047769.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:16:09.797Z,1629047769.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:16:09.799Z,1629047769.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:16:10.227Z,1629047770.227 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:16:10.606Z,1629047770.606 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CE,000,00E69,186,80,80,76,FF
2021-08-15T17:16:10.606Z,1629047770.606 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:16:11.081Z,1629047771.081 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171610.86*50

2021-08-15T17:16:11.133Z,1629047771.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 183.839996 m, bearing: 218.653275 deg, deltaT: 4.405451 s, approachRate: 0.000000 m/s, LOS rate: 0.096159 deg/s, posRepo size: 4
2021-08-15T17:16:11.135Z,1629047771.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 183.839996 m,
      bearing: 218.653275 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.096159 deg/s,
      cmd update: 0.384634 deg/s,
      cmd heading: 224.881558 deg,
      new cmd heading: 224.702724 deg.

2021-08-15T17:16:13.490Z,1629047773.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:16:13.837Z,1629047773.837 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:16:13.837Z,1629047773.837 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:16:13.837Z,1629047773.837 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:16:13.838Z,1629047773.838 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:16:14.261Z,1629047774.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CE,000,00E69,186,80,80,76,FF
2021-08-15T17:16:14.261Z,1629047774.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:16:14.261Z,1629047774.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:16:14.263Z,1629047774.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:16:14.657Z,1629047774.657 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:16:15.090Z,1629047775.090 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BF,000,00E0D,186,80,80,76,FF
2021-08-15T17:16:15.090Z,1629047775.090 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:16:15.497Z,1629047775.497 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171615.32*5A

2021-08-15T17:16:15.548Z,1629047775.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 178.319992 m, bearing: 218.345712 deg, deltaT: 4.549442 s, approachRate: -1.213337 m/s, LOS rate: -0.067605 deg/s, posRepo size: 4
2021-08-15T17:16:15.550Z,1629047775.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.319992 m,
      bearing: 218.345712 deg,
      approachRate: -1.213337 m/s,
      LOS rate: -0.067605 deg/s,
      cmd update: -0.270419 deg/s,
      cmd heading: 226.623897 deg,
      new cmd heading: 226.763030 deg.

2021-08-15T17:16:17.905Z,1629047777.905 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:16:18.285Z,1629047778.285 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:16:18.285Z,1629047778.285 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:16:18.285Z,1629047778.285 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:16:18.286Z,1629047778.286 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:16:18.697Z,1629047778.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BF,000,00E0D,186,80,80,76,FF
2021-08-15T17:16:18.697Z,1629047778.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:16:18.698Z,1629047778.698 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:16:18.699Z,1629047778.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:16:19.105Z,1629047779.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:16:19.502Z,1629047779.502 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BF,000,00E0D,186,80,80,76,FF
2021-08-15T17:16:19.502Z,1629047779.502 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:16:19.941Z,1629047779.941 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171619.76*56

2021-08-15T17:16:19.964Z,1629047779.964 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 178.319992 m, bearing: 218.037083 deg, deltaT: 4.358305 s, approachRate: 0.000000 m/s, LOS rate: -0.070814 deg/s, posRepo size: 4
2021-08-15T17:16:19.966Z,1629047779.966 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.319992 m,
      bearing: 218.037083 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.070814 deg/s,
      cmd update: -0.283256 deg/s,
      cmd heading: 225.438052 deg,
      new cmd heading: 225.331944 deg.

2021-08-15T17:16:22.368Z,1629047782.368 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:16:22.733Z,1629047782.733 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:16:22.733Z,1629047782.733 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:16:22.733Z,1629047782.733 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:16:22.734Z,1629047782.734 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:16:23.141Z,1629047783.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BF,000,00E0D,186,80,80,76,FF
2021-08-15T17:16:23.141Z,1629047783.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:16:23.141Z,1629047783.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:16:23.143Z,1629047783.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:16:23.560Z,1629047783.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:16:23.942Z,1629047783.942 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BF,000,00E0D,186,80,80,76,FF
2021-08-15T17:16:23.942Z,1629047783.942 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:16:24.394Z,1629047784.394 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171624.20*5B

2021-08-15T17:16:24.435Z,1629047784.435 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 178.319992 m, bearing: 217.643992 deg, deltaT: 4.415513 s, approachRate: 0.000000 m/s, LOS rate: -0.089025 deg/s, posRepo size: 4
2021-08-15T17:16:24.458Z,1629047784.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.319992 m,
      bearing: 217.643992 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.089025 deg/s,
      cmd update: -0.356100 deg/s,
      cmd heading: 224.193789 deg,
      new cmd heading: 224.060247 deg.

2021-08-15T17:16:26.815Z,1629047786.815 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:16:27.184Z,1629047787.184 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:16:27.185Z,1629047787.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:16:27.185Z,1629047787.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:16:27.186Z,1629047787.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:16:27.582Z,1629047787.582 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BF,000,00E0D,186,80,80,76,FF
2021-08-15T17:16:27.582Z,1629047787.582 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:16:27.582Z,1629047787.582 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:16:27.584Z,1629047787.584 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:16:27.985Z,1629047787.985 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:16:28.390Z,1629047788.390 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09E,000,00E0D,186,80,80,76,FF
2021-08-15T17:16:28.390Z,1629047788.390 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:16:28.821Z,1629047788.821 [Micromodem](INFO): Nmea in: $SNTTA,0.172720,,,,171628.64*48

2021-08-15T17:16:28.867Z,1629047788.867 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 178.319992 m, bearing: 218.919570 deg, deltaT: 4.477564 s, approachRate: 0.000000 m/s, LOS rate: 0.284882 deg/s, posRepo size: 4
2021-08-15T17:16:28.870Z,1629047788.870 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 178.319992 m,
      bearing: 218.919570 deg,
      approachRate: 0.000000 m/s,
      LOS rate: 0.284882 deg/s,
      cmd update: 1.139529 deg/s,
      cmd heading: 222.590688 deg,
      new cmd heading: 222.449003 deg.

2021-08-15T17:16:31.305Z,1629047791.305 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:16:31.621Z,1629047791.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:16:31.621Z,1629047791.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:16:31.621Z,1629047791.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:16:31.622Z,1629047791.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:16:32.021Z,1629047792.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09E,000,00E0D,186,80,80,76,FF
2021-08-15T17:16:32.021Z,1629047792.021 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:16:32.021Z,1629047792.021 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:16:32.023Z,1629047792.023 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:16:32.431Z,1629047792.431 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:16:32.834Z,1629047792.834 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08F,000,00D5B,186,80,80,76,FF
2021-08-15T17:16:32.834Z,1629047792.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:16:33.277Z,1629047793.277 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171633.08*57

2021-08-15T17:16:33.363Z,1629047793.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.639999 m, bearing: 218.919885 deg, deltaT: 4.414832 s, approachRate: -2.419116 m/s, LOS rate: 0.000071 deg/s, posRepo size: 4
2021-08-15T17:16:33.365Z,1629047793.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.639999 m,
      bearing: 218.919885 deg,
      approachRate: -2.419116 m/s,
      LOS rate: 0.000071 deg/s,
      cmd update: 0.000285 deg/s,
      cmd heading: 227.593636 deg,
      new cmd heading: 228.171163 deg.

2021-08-15T17:16:35.675Z,1629047795.675 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:16:36.061Z,1629047796.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:16:36.061Z,1629047796.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:16:36.061Z,1629047796.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:16:36.062Z,1629047796.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:16:36.483Z,1629047796.483 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08F,000,00D5B,186,80,80,76,FF
2021-08-15T17:16:36.483Z,1629047796.483 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:16:36.483Z,1629047796.483 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:16:36.485Z,1629047796.485 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:16:36.873Z,1629047796.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:16:37.278Z,1629047797.278 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B4,000,00D5B,186,80,80,76,FF
2021-08-15T17:16:37.278Z,1629047797.278 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:16:37.713Z,1629047797.713 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171637.55*5B

2021-08-15T17:16:37.751Z,1629047797.751 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 167.639999 m, bearing: 218.362678 deg, deltaT: 4.496468 s, approachRate: 0.000000 m/s, LOS rate: -0.123921 deg/s, posRepo size: 4
2021-08-15T17:16:37.762Z,1629047797.762 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 167.639999 m,
      bearing: 218.362678 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.123921 deg/s,
      cmd update: -0.495684 deg/s,
      cmd heading: 227.594920 deg,
      new cmd heading: 227.595029 deg.

2021-08-15T17:16:40.127Z,1629047800.127 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:16:40.515Z,1629047800.515 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:16:40.515Z,1629047800.515 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:16:40.515Z,1629047800.515 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:16:40.517Z,1629047800.517 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:16:40.957Z,1629047800.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B4,000,00D5B,186,80,80,76,FF
2021-08-15T17:16:40.957Z,1629047800.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:16:40.957Z,1629047800.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:16:40.959Z,1629047800.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:16:41.317Z,1629047801.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:16:42.120Z,1629047802.120 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D9,000,00D05,186,80,80,A8,FF
2021-08-15T17:16:42.121Z,1629047802.121 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:16:42.126Z,1629047802.126 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171642.02*5B

2021-08-15T17:16:42.594Z,1629047802.594 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 162.480011 m, bearing: 218.071261 deg, deltaT: 4.862513 s, approachRate: -1.061177 m/s, LOS rate: -0.059931 deg/s, posRepo size: 4
2021-08-15T17:16:42.596Z,1629047802.596 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.480011 m,
      bearing: 218.071261 deg,
      approachRate: -1.061177 m/s,
      LOS rate: -0.059931 deg/s,
      cmd update: -0.239725 deg/s,
      cmd heading: 225.184272 deg,
      new cmd heading: 225.004872 deg.

2021-08-15T17:16:44.983Z,1629047804.983 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:16:45.353Z,1629047805.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:16:45.354Z,1629047805.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:16:45.354Z,1629047805.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:16:45.355Z,1629047805.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:16:45.770Z,1629047805.770 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D9,000,00D05,186,80,80,A8,FF
2021-08-15T17:16:45.770Z,1629047805.770 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:16:45.770Z,1629047805.770 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:16:45.800Z,1629047805.800 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:16:46.179Z,1629047806.179 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:16:46.577Z,1629047806.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D9,000,00D05,186,80,80,A8,FF
2021-08-15T17:16:46.578Z,1629047806.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:16:46.997Z,1629047806.997 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171646.86*53

2021-08-15T17:16:47.079Z,1629047807.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 162.480011 m, bearing: 217.497293 deg, deltaT: 4.413913 s, approachRate: 0.000000 m/s, LOS rate: -0.130036 deg/s, posRepo size: 4
2021-08-15T17:16:47.087Z,1629047807.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 162.480011 m,
      bearing: 217.497293 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -0.130036 deg/s,
      cmd update: -0.520144 deg/s,
      cmd heading: 224.125361 deg,
      new cmd heading: 224.022282 deg.

2021-08-15T17:16:49.473Z,1629047809.473 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:16:49.798Z,1629047809.798 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:16:49.798Z,1629047809.798 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:16:49.798Z,1629047809.798 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:16:49.799Z,1629047809.799 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:16:50.214Z,1629047810.214 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D9,000,00D05,186,80,80,A8,FF
2021-08-15T17:16:50.214Z,1629047810.214 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:16:50.215Z,1629047810.215 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:16:50.221Z,1629047810.221 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:16:50.627Z,1629047810.627 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:16:51.021Z,1629047811.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A0,000,00CAC,186,80,80,A8,FF
2021-08-15T17:16:51.022Z,1629047811.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:16:51.438Z,1629047811.438 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171651.28*51

2021-08-15T17:16:51.496Z,1629047811.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 157.139999 m, bearing: 218.498312 deg, deltaT: 4.459640 s, approachRate: -1.197409 m/s, LOS rate: 0.224462 deg/s, posRepo size: 4
2021-08-15T17:16:51.508Z,1629047811.508 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 157.139999 m,
      bearing: 218.498312 deg,
      approachRate: -1.197409 m/s,
      LOS rate: 0.224462 deg/s,
      cmd update: 0.897847 deg/s,
      cmd heading: 221.804175 deg,
      new cmd heading: 221.606262 deg.

2021-08-15T17:16:53.888Z,1629047813.888 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:16:54.269Z,1629047814.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:16:54.269Z,1629047814.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:16:54.269Z,1629047814.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:16:54.270Z,1629047814.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:16:54.653Z,1629047814.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A0,000,00CAC,186,80,80,A8,FF
2021-08-15T17:16:54.653Z,1629047814.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:16:54.653Z,1629047814.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:16:54.655Z,1629047814.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:16:55.098Z,1629047815.098 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:16:55.466Z,1629047815.466 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,096,000,00C81,186,80,80,A8,FF
2021-08-15T17:16:55.466Z,1629047815.466 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:16:55.917Z,1629047815.917 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171655.71*59

2021-08-15T17:16:55.953Z,1629047815.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 154.559998 m, bearing: 217.853774 deg, deltaT: 4.448825 s, approachRate: -0.579929 m/s, LOS rate: -0.144878 deg/s, posRepo size: 4
2021-08-15T17:16:55.955Z,1629047815.955 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 154.559998 m,
      bearing: 217.853774 deg,
      approachRate: -0.579929 m/s,
      LOS rate: -0.144878 deg/s,
      cmd update: -0.579513 deg/s,
      cmd heading: 225.788970 deg,
      new cmd heading: 226.150577 deg.

2021-08-15T17:16:58.318Z,1629047818.318 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:16:58.699Z,1629047818.699 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:16:58.699Z,1629047818.699 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:16:58.699Z,1629047818.699 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:16:58.700Z,1629047818.700 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:16:59.101Z,1629047819.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
096,000,00C81,186,80,80,A8,FF
2021-08-15T17:16:59.101Z,1629047819.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:16:59.101Z,1629047819.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:16:59.103Z,1629047819.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:16:59.512Z,1629047819.512 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:16:59.898Z,1629047819.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A7,000,00C56,186,80,80,A8,FF
2021-08-15T17:16:59.898Z,1629047819.898 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:17:00.333Z,1629047820.333 [Micromodem](INFO): Nmea in: $SNTTA,0.111121,,,,171700.16*44

2021-08-15T17:17:00.385Z,1629047820.385 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.980011 m, bearing: 218.009721 deg, deltaT: 4.378047 s, approachRate: -0.589301 m/s, LOS rate: 0.035620 deg/s, posRepo size: 4
2021-08-15T17:17:00.387Z,1629047820.387 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.980011 m,
      bearing: 218.009721 deg,
      approachRate: -0.589301 m/s,
      LOS rate: 0.035620 deg/s,
      cmd update: 0.142481 deg/s,
      cmd heading: 223.256782 deg,
      new cmd heading: 222.988059 deg.

2021-08-15T17:17:02.763Z,1629047822.763 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:17:03.129Z,1629047823.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:17:03.129Z,1629047823.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:17:03.129Z,1629047823.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:17:03.130Z,1629047823.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:17:03.533Z,1629047823.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A7,000,00C56,186,80,80,A8,FF
2021-08-15T17:17:03.533Z,1629047823.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:17:03.533Z,1629047823.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:17:03.535Z,1629047823.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:17:03.937Z,1629047823.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:17:04.342Z,1629047824.342 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,098,000,00C2B,185,80,80,AF,FF
2021-08-15T17:17:04.342Z,1629047824.342 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:17:04.777Z,1629047824.777 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171704.59*56

2021-08-15T17:17:04.796Z,1629047824.796 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 149.400009 m, bearing: 217.815989 deg, deltaT: 4.430995 s, approachRate: -0.582262 m/s, LOS rate: -0.043722 deg/s, posRepo size: 4
2021-08-15T17:17:04.798Z,1629047824.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 149.400009 m,
      bearing: 217.815989 deg,
      approachRate: -0.582262 m/s,
      LOS rate: -0.043722 deg/s,
      cmd update: -0.174888 deg/s,
      cmd heading: 223.891045 deg,
      new cmd heading: 223.951572 deg.

2021-08-15T17:17:07.259Z,1629047827.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:17:07.569Z,1629047827.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:17:07.569Z,1629047827.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:17:07.569Z,1629047827.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:17:07.570Z,1629047827.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:17:07.977Z,1629047827.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
098,000,00C2B,185,80,80,AF,FF
2021-08-15T17:17:07.977Z,1629047827.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:17:07.977Z,1629047827.977 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:17:07.979Z,1629047827.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:17:08.386Z,1629047828.386 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:17:08.795Z,1629047828.795 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09E,000,00C02,186,80,80,C4,FF
2021-08-15T17:17:08.795Z,1629047828.795 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:17:09.241Z,1629047829.241 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171709.04*53

2021-08-15T17:17:09.295Z,1629047829.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.940002 m, bearing: 217.619007 deg, deltaT: 4.442068 s, approachRate: -0.553798 m/s, LOS rate: -0.044345 deg/s, posRepo size: 4
2021-08-15T17:17:09.297Z,1629047829.297 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.940002 m,
      bearing: 217.619007 deg,
      approachRate: -0.553798 m/s,
      LOS rate: -0.044345 deg/s,
      cmd update: -0.177379 deg/s,
      cmd heading: 223.114221 deg,
      new cmd heading: 223.029986 deg.

2021-08-15T17:17:11.631Z,1629047831.631 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:17:12.021Z,1629047832.021 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:17:12.021Z,1629047832.021 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:17:12.021Z,1629047832.021 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:17:12.022Z,1629047832.022 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:17:12.418Z,1629047832.418 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09E,000,00C02,186,80,80,C4,FF
2021-08-15T17:17:12.418Z,1629047832.418 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:17:12.418Z,1629047832.418 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:17:12.421Z,1629047832.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:17:12.828Z,1629047832.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:17:13.257Z,1629047833.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08C,000,00BD7,186,80,80,AC,FF
2021-08-15T17:17:13.257Z,1629047833.257 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:17:13.669Z,1629047833.669 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171713.48*50

2021-08-15T17:17:13.706Z,1629047833.706 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.360001 m, bearing: 218.409328 deg, deltaT: 4.530346 s, approachRate: -0.569493 m/s, LOS rate: 0.174451 deg/s, posRepo size: 4
2021-08-15T17:17:13.708Z,1629047833.708 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.360001 m,
      bearing: 218.409328 deg,
      approachRate: -0.569493 m/s,
      LOS rate: 0.174451 deg/s,
      cmd update: 0.697802 deg/s,
      cmd heading: 222.310589 deg,
      new cmd heading: 222.246363 deg.

2021-08-15T17:17:16.071Z,1629047836.071 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:17:16.477Z,1629047836.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:17:16.477Z,1629047836.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:17:16.477Z,1629047836.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:17:16.478Z,1629047836.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:17:16.861Z,1629047836.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08C,000,00BD7,186,80,80,AC,FF
2021-08-15T17:17:16.861Z,1629047836.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:17:16.861Z,1629047836.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:17:16.863Z,1629047836.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:17:17.281Z,1629047837.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:17:17.685Z,1629047837.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,085,000,00BAD,186,80,80,9C,FF
2021-08-15T17:17:17.686Z,1629047837.686 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:17:18.109Z,1629047838.109 [Micromodem](INFO): Nmea in: $SNTTA,0.109119,,,,171717.92*4C

2021-08-15T17:17:18.131Z,1629047838.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.840012 m, bearing: 218.073146 deg, deltaT: 4.412534 s, approachRate: -0.571098 m/s, LOS rate: -0.076188 deg/s, posRepo size: 4
2021-08-15T17:17:18.134Z,1629047838.134 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.840012 m,
      bearing: 218.073146 deg,
      approachRate: -0.571098 m/s,
      LOS rate: -0.076188 deg/s,
      cmd update: -0.304752 deg/s,
      cmd heading: 225.389521 deg,
      new cmd heading: 225.651584 deg.

2021-08-15T17:17:20.534Z,1629047840.534 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:17:20.903Z,1629047840.903 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:17:20.905Z,1629047840.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:17:20.906Z,1629047840.906 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:17:20.924Z,1629047840.924 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:17:21.305Z,1629047841.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
085,000,00BAD,186,80,80,9C,FF
2021-08-15T17:17:21.305Z,1629047841.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:17:21.305Z,1629047841.305 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:17:21.307Z,1629047841.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:17:21.717Z,1629047841.717 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:17:22.115Z,1629047842.115 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A8,000,00B82,186,80,80,A4,FF
2021-08-15T17:17:22.115Z,1629047842.115 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:17:22.553Z,1629047842.553 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171722.37*5A

2021-08-15T17:17:22.600Z,1629047842.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.259995 m, bearing: 217.720339 deg, deltaT: 4.376190 s, approachRate: -0.589558 m/s, LOS rate: -0.080620 deg/s, posRepo size: 4
2021-08-15T17:17:22.602Z,1629047842.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.259995 m,
      bearing: 217.720339 deg,
      approachRate: -0.589558 m/s,
      LOS rate: -0.080620 deg/s,
      cmd update: -0.322478 deg/s,
      cmd heading: 224.056011 deg,
      new cmd heading: 223.913402 deg.

2021-08-15T17:17:24.965Z,1629047844.965 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:17:25.358Z,1629047845.358 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:17:25.358Z,1629047845.358 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:17:25.358Z,1629047845.358 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:17:25.359Z,1629047845.359 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:17:25.749Z,1629047845.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A8,000,00B82,186,80,80,A4,FF
2021-08-15T17:17:25.749Z,1629047845.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:17:25.749Z,1629047845.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:17:25.751Z,1629047845.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:17:26.176Z,1629047846.176 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:17:26.565Z,1629047846.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09E,000,00B5A,187,80,80,93,FF
2021-08-15T17:17:26.566Z,1629047846.566 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:17:27.013Z,1629047847.013 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171726.81*53

2021-08-15T17:17:27.079Z,1629047847.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.860001 m, bearing: 218.111641 deg, deltaT: 4.501067 s, approachRate: -0.533206 m/s, LOS rate: 0.086935 deg/s, posRepo size: 4
2021-08-15T17:17:27.085Z,1629047847.085 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.860001 m,
      bearing: 218.111641 deg,
      approachRate: -0.533206 m/s,
      LOS rate: 0.086935 deg/s,
      cmd update: 0.347741 deg/s,
      cmd heading: 222.607024 deg,
      new cmd heading: 222.460599 deg.

2021-08-15T17:17:29.502Z,1629047849.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:17:29.805Z,1629047849.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:17:29.805Z,1629047849.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:17:29.805Z,1629047849.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:17:29.806Z,1629047849.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:17:30.219Z,1629047850.219 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09E,000,00B5A,187,80,80,93,FF
2021-08-15T17:17:30.219Z,1629047850.219 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:17:30.219Z,1629047850.219 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:17:30.221Z,1629047850.221 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:17:30.627Z,1629047850.627 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:17:31.057Z,1629047851.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08F,000,00B30,185,80,80,AD,FF
2021-08-15T17:17:31.058Z,1629047851.058 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:17:31.473Z,1629047851.473 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171731.28*56

2021-08-15T17:17:31.528Z,1629047851.528 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.339996 m, bearing: 217.821495 deg, deltaT: 4.498480 s, approachRate: -0.560190 m/s, LOS rate: -0.064499 deg/s, posRepo size: 4
2021-08-15T17:17:31.530Z,1629047851.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.339996 m,
      bearing: 217.821495 deg,
      approachRate: -0.560190 m/s,
      LOS rate: -0.064499 deg/s,
      cmd update: -0.257995 deg/s,
      cmd heading: 224.172564 deg,
      new cmd heading: 224.310676 deg.

2021-08-15T17:17:33.866Z,1629047853.866 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:17:34.261Z,1629047854.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:17:34.261Z,1629047854.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:17:34.261Z,1629047854.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:17:34.262Z,1629047854.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:17:34.653Z,1629047854.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08F,000,00B30,185,80,80,AD,FF
2021-08-15T17:17:34.653Z,1629047854.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:17:34.653Z,1629047854.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:17:34.655Z,1629047854.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:17:35.109Z,1629047855.109 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:17:35.481Z,1629047855.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,094,000,00B03,186,80,80,B1,FF
2021-08-15T17:17:35.481Z,1629047855.481 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:17:35.927Z,1629047855.927 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171735.72*5D

2021-08-15T17:17:35.951Z,1629047855.951 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.639999 m, bearing: 217.662542 deg, deltaT: 4.408932 s, approachRate: -0.612392 m/s, LOS rate: -0.036052 deg/s, posRepo size: 4
2021-08-15T17:17:35.953Z,1629047855.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 131.639999 m,
      bearing: 217.662542 deg,
      approachRate: -0.612392 m/s,
      LOS rate: -0.036052 deg/s,
      cmd update: -0.144209 deg/s,
      cmd heading: 223.035994 deg,
      new cmd heading: 222.927936 deg.

2021-08-15T17:17:38.322Z,1629047858.322 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:17:38.705Z,1629047858.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:17:38.705Z,1629047858.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:17:38.705Z,1629047858.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:17:38.706Z,1629047858.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:17:39.105Z,1629047859.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
094,000,00B03,186,80,80,B1,FF
2021-08-15T17:17:39.105Z,1629047859.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:17:39.105Z,1629047859.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:17:39.107Z,1629047859.107 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:17:39.516Z,1629047859.516 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:17:39.910Z,1629047859.910 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A0,000,00AD8,186,80,80,AF,FF
2021-08-15T17:17:39.910Z,1629047859.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:17:40.345Z,1629047860.345 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171740.17*5C

2021-08-15T17:17:40.388Z,1629047860.388 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.060013 m, bearing: 217.553628 deg, deltaT: 4.391278 s, approachRate: -0.587525 m/s, LOS rate: -0.024802 deg/s, posRepo size: 4
2021-08-15T17:17:40.390Z,1629047860.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.060013 m,
      bearing: 217.553628 deg,
      approachRate: -0.587525 m/s,
      LOS rate: -0.024802 deg/s,
      cmd update: -0.099210 deg/s,
      cmd heading: 222.401548 deg,
      new cmd heading: 222.335821 deg.

2021-08-15T17:17:42.770Z,1629047862.770 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:17:43.137Z,1629047863.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:17:43.137Z,1629047863.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:17:43.137Z,1629047863.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:17:43.138Z,1629047863.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:17:43.550Z,1629047863.550 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A0,000,00AD8,186,80,80,AF,FF
2021-08-15T17:17:43.550Z,1629047863.550 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:17:43.550Z,1629047863.550 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:17:43.553Z,1629047863.553 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:17:43.949Z,1629047863.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:17:44.362Z,1629047864.362 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07A,000,00AAE,187,80,80,B8,FF
2021-08-15T17:17:44.362Z,1629047864.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:17:44.798Z,1629047864.798 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171744.61*59

2021-08-15T17:17:44.820Z,1629047864.820 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.540009 m, bearing: 218.378674 deg, deltaT: 4.511451 s, approachRate: -0.558580 m/s, LOS rate: 0.182878 deg/s, posRepo size: 4
2021-08-15T17:17:44.822Z,1629047864.822 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.540009 m,
      bearing: 218.378674 deg,
      approachRate: -0.558580 m/s,
      LOS rate: 0.182878 deg/s,
      cmd update: 0.731513 deg/s,
      cmd heading: 221.954366 deg,
      new cmd heading: 221.916607 deg.

2021-08-15T17:17:47.268Z,1629047867.268 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:17:47.582Z,1629047867.582 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:17:47.582Z,1629047867.582 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:17:47.583Z,1629047867.583 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:17:47.584Z,1629047867.584 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:17:47.993Z,1629047867.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07A,000,00AAE,187,80,80,B8,FF
2021-08-15T17:17:47.993Z,1629047867.993 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:17:47.993Z,1629047867.993 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:17:47.995Z,1629047867.995 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:17:48.395Z,1629047868.395 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:17:48.805Z,1629047868.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09B,000,00A81,186,80,80,A5,FF
2021-08-15T17:17:48.806Z,1629047868.806 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:17:49.265Z,1629047869.265 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171749.05*56

2021-08-15T17:17:49.331Z,1629047869.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 123.840004 m, bearing: 217.545090 deg, deltaT: 4.380067 s, approachRate: -0.616430 m/s, LOS rate: -0.190313 deg/s, posRepo size: 4
2021-08-15T17:17:49.333Z,1629047869.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 123.840004 m,
      bearing: 217.545090 deg,
      approachRate: -0.616430 m/s,
      LOS rate: -0.190313 deg/s,
      cmd update: -0.761252 deg/s,
      cmd heading: 225.161154 deg,
      new cmd heading: 225.532760 deg.

2021-08-15T17:17:51.670Z,1629047871.670 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:17:52.025Z,1629047872.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:17:52.025Z,1629047872.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:17:52.025Z,1629047872.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:17:52.026Z,1629047872.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:17:52.440Z,1629047872.440 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09B,000,00A81,186,80,80,A5,FF
2021-08-15T17:17:52.440Z,1629047872.440 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:17:52.440Z,1629047872.440 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:17:52.444Z,1629047872.444 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:17:52.848Z,1629047872.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:17:53.267Z,1629047873.267 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,094,000,00A57,185,80,80,A0,FF
2021-08-15T17:17:53.267Z,1629047873.267 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:17:53.669Z,1629047873.669 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171753.51*5C

2021-08-15T17:17:53.710Z,1629047873.710 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.320000 m, bearing: 217.534271 deg, deltaT: 4.539226 s, approachRate: -0.555162 m/s, LOS rate: -0.002383 deg/s, posRepo size: 4
2021-08-15T17:17:53.713Z,1629047873.713 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 121.320000 m,
      bearing: 217.534271 deg,
      approachRate: -0.555162 m/s,
      LOS rate: -0.002383 deg/s,
      cmd update: -0.009534 deg/s,
      cmd heading: 221.705261 deg,
      new cmd heading: 221.440534 deg.

2021-08-15T17:17:56.092Z,1629047876.092 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:17:56.473Z,1629047876.473 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:17:56.473Z,1629047876.473 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:17:56.473Z,1629047876.473 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:17:56.474Z,1629047876.474 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:17:56.873Z,1629047876.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
094,000,00A57,185,80,80,A0,FF
2021-08-15T17:17:56.873Z,1629047876.873 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:17:56.873Z,1629047876.873 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:17:56.875Z,1629047876.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:17:57.289Z,1629047877.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:17:57.685Z,1629047877.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,072,000,00A28,187,80,80,AF,FF
2021-08-15T17:17:57.685Z,1629047877.685 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:17:58.122Z,1629047878.122 [Micromodem](INFO): Nmea in: $SNTTA,0.203630,,,,171757.93*4C

2021-08-15T17:17:58.144Z,1629047878.144 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.500008 m, bearing: 217.977196 deg, deltaT: 4.400110 s, approachRate: -0.640891 m/s, LOS rate: 0.100662 deg/s, posRepo size: 4
2021-08-15T17:17:58.147Z,1629047878.147 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 118.500008 m,
      bearing: 217.977196 deg,
      approachRate: -0.640891 m/s,
      LOS rate: 0.100662 deg/s,
      cmd update: 0.402648 deg/s,
      cmd heading: 221.663311 deg,
      new cmd heading: 221.659692 deg.

2021-08-15T17:18:00.549Z,1629047880.549 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:18:00.909Z,1629047880.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:18:00.909Z,1629047880.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:18:00.910Z,1629047880.910 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:18:00.911Z,1629047880.911 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:18:01.325Z,1629047881.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
072,000,00A28,187,80,80,AF,FF
2021-08-15T17:18:01.325Z,1629047881.325 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:18:01.325Z,1629047881.325 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:18:01.327Z,1629047881.327 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:18:01.724Z,1629047881.724 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:18:02.133Z,1629047882.133 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,063,000,009FF,186,80,80,8C,FF
2021-08-15T17:18:02.134Z,1629047882.134 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:18:02.565Z,1629047882.565 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171802.39*59

2021-08-15T17:18:02.603Z,1629047882.603 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.040009 m, bearing: 218.832936 deg, deltaT: 4.388259 s, approachRate: -0.560587 m/s, LOS rate: 0.195007 deg/s, posRepo size: 4
2021-08-15T17:18:02.606Z,1629047882.606 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 116.040009 m,
      bearing: 218.832936 deg,
      approachRate: -0.560587 m/s,
      LOS rate: 0.195007 deg/s,
      cmd update: 0.780028 deg/s,
      cmd heading: 223.430186 deg,
      new cmd heading: 223.612326 deg.

2021-08-15T17:18:04.971Z,1629047884.971 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:18:05.365Z,1629047885.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:18:05.365Z,1629047885.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:18:05.365Z,1629047885.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:18:05.366Z,1629047885.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:18:05.766Z,1629047885.766 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
063,000,009FF,186,80,80,8C,FF
2021-08-15T17:18:05.766Z,1629047885.766 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:18:05.766Z,1629047885.766 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:18:05.768Z,1629047885.768 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:18:06.198Z,1629047886.198 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:18:06.577Z,1629047886.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,098,000,009D4,186,80,80,C5,FF
2021-08-15T17:18:06.577Z,1629047886.577 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:18:07.029Z,1629047887.029 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171806.83*5C

2021-08-15T17:18:07.109Z,1629047887.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.459999 m, bearing: 218.004475 deg, deltaT: 4.443499 s, approachRate: -0.580626 m/s, LOS rate: -0.186443 deg/s, posRepo size: 4
2021-08-15T17:18:07.114Z,1629047887.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 113.459999 m,
      bearing: 218.004475 deg,
      approachRate: -0.580626 m/s,
      LOS rate: -0.186443 deg/s,
      cmd update: -0.745774 deg/s,
      cmd heading: 226.896348 deg,
      new cmd heading: 227.296789 deg.

2021-08-15T17:18:09.481Z,1629047889.481 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:18:09.805Z,1629047889.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:18:09.805Z,1629047889.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:18:09.805Z,1629047889.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:18:09.806Z,1629047889.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:18:10.221Z,1629047890.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
098,000,009D4,186,80,80,C5,FF
2021-08-15T17:18:10.221Z,1629047890.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:18:10.222Z,1629047890.222 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:18:10.228Z,1629047890.228 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:18:10.621Z,1629047890.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:18:11.069Z,1629047891.069 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B0,000,009A8,186,80,80,A4,FF
2021-08-15T17:18:11.069Z,1629047891.069 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:18:11.445Z,1629047891.445 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171811.29*5A

2021-08-15T17:18:11.471Z,1629047891.471 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.820000 m, bearing: 217.996320 deg, deltaT: 4.535705 s, approachRate: -0.582048 m/s, LOS rate: -0.001798 deg/s, posRepo size: 4
2021-08-15T17:18:11.493Z,1629047891.493 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 110.820000 m,
      bearing: 217.996320 deg,
      approachRate: -0.582048 m/s,
      LOS rate: -0.001798 deg/s,
      cmd update: -0.007192 deg/s,
      cmd heading: 223.531601 deg,
      new cmd heading: 223.259722 deg.

2021-08-15T17:18:13.864Z,1629047893.864 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:18:14.269Z,1629047894.269 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:18:14.269Z,1629047894.269 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:18:14.269Z,1629047894.269 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:18:14.270Z,1629047894.270 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:18:14.649Z,1629047894.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B0,000,009A8,186,80,80,A4,FF
2021-08-15T17:18:14.649Z,1629047894.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:18:14.649Z,1629047894.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:18:14.651Z,1629047894.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:18:15.100Z,1629047895.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:18:15.469Z,1629047895.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08F,000,0097F,186,80,80,AC,FF
2021-08-15T17:18:15.470Z,1629047895.470 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:18:15.901Z,1629047895.901 [Micromodem](INFO): Nmea in: $SNTTA,0.079241,,,,171815.71*44

2021-08-15T17:18:15.917Z,1629047895.917 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.360001 m, bearing: 218.965196 deg, deltaT: 4.368171 s, approachRate: -0.563165 m/s, LOS rate: 0.221804 deg/s, posRepo size: 4
2021-08-15T17:18:15.919Z,1629047895.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.360001 m,
      bearing: 218.965196 deg,
      approachRate: -0.563165 m/s,
      LOS rate: 0.221804 deg/s,
      cmd update: 0.887214 deg/s,
      cmd heading: 223.500013 deg,
      new cmd heading: 223.497007 deg.

2021-08-15T17:18:18.318Z,1629047898.318 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:18:18.697Z,1629047898.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:18:18.697Z,1629047898.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:18:18.698Z,1629047898.698 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:18:18.698Z,1629047898.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:18:19.097Z,1629047899.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08F,000,0097F,186,80,80,AC,FF
2021-08-15T17:18:19.097Z,1629047899.097 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:18:19.098Z,1629047899.098 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:18:19.099Z,1629047899.099 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:18:19.512Z,1629047899.512 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:18:19.921Z,1629047899.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08E,000,00955,186,80,80,AB,FF
2021-08-15T17:18:19.921Z,1629047899.921 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:18:20.357Z,1629047900.357 [Micromodem](INFO): Nmea in: $SNTTA,0.073151,,,,171820.16*4B

2021-08-15T17:18:20.406Z,1629047900.406 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.840004 m, bearing: 218.448110 deg, deltaT: 4.469354 s, approachRate: -0.563839 m/s, LOS rate: -0.115696 deg/s, posRepo size: 4
2021-08-15T17:18:20.409Z,1629047900.409 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 105.840004 m,
      bearing: 218.448110 deg,
      approachRate: -0.563839 m/s,
      LOS rate: -0.115696 deg/s,
      cmd update: -0.462784 deg/s,
      cmd heading: 227.461807 deg,
      new cmd heading: 227.853133 deg.

2021-08-15T17:18:22.771Z,1629047902.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:18:23.145Z,1629047903.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:18:23.145Z,1629047903.145 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:18:23.145Z,1629047903.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:18:23.146Z,1629047903.146 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:18:23.557Z,1629047903.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08E,000,00955,186,80,80,AB,FF
2021-08-15T17:18:23.557Z,1629047903.557 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:18:23.557Z,1629047903.557 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:18:23.559Z,1629047903.559 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:18:23.983Z,1629047903.983 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:18:24.358Z,1629047904.358 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C5,000,0092B,186,80,80,A9,FF
2021-08-15T17:18:24.358Z,1629047904.358 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:18:24.789Z,1629047904.789 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171824.62*53

2021-08-15T17:18:24.836Z,1629047904.836 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.320000 m, bearing: 217.608461 deg, deltaT: 4.441566 s, approachRate: -0.567368 m/s, LOS rate: -0.189043 deg/s, posRepo size: 4
2021-08-15T17:18:24.838Z,1629047904.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.320000 m,
      bearing: 217.608461 deg,
      approachRate: -0.567368 m/s,
      LOS rate: -0.189043 deg/s,
      cmd update: -0.756174 deg/s,
      cmd heading: 225.415850 deg,
      new cmd heading: 225.209104 deg.

2021-08-15T17:18:27.272Z,1629047907.272 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:18:27.589Z,1629047907.589 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:18:27.589Z,1629047907.589 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:18:27.589Z,1629047907.589 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:18:27.590Z,1629047907.590 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:18:27.997Z,1629047907.997 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C5,000,0092B,186,80,80,A9,FF
2021-08-15T17:18:27.997Z,1629047907.997 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:18:27.997Z,1629047907.997 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:18:27.999Z,1629047907.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:18:28.411Z,1629047908.411 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:18:28.432Z,1629047908.432 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T17:18:28.805Z,1629047908.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B0,000,008FF,186,80,80,96,FF
2021-08-15T17:18:28.805Z,1629047908.805 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:18:29.261Z,1629047909.261 [Micromodem](INFO): Nmea in: $SNTTA,0.071997,,,,171829.06*43

2021-08-15T17:18:29.328Z,1629047909.328 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.680000 m, bearing: 217.355252 deg, deltaT: 4.445552 s, approachRate: -0.593852 m/s, LOS rate: -0.056958 deg/s, posRepo size: 4
2021-08-15T17:18:29.330Z,1629047909.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.680000 m,
      bearing: 217.355252 deg,
      approachRate: -0.593852 m/s,
      LOS rate: -0.056958 deg/s,
      cmd update: -0.227831 deg/s,
      cmd heading: 222.038720 deg,
      new cmd heading: 221.678200 deg.

2021-08-15T17:18:31.281Z,1629047911.281 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T17:18:31.655Z,1629047911.655 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:18:32.038Z,1629047912.038 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:18:32.038Z,1629047912.038 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:18:32.038Z,1629047912.038 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:18:32.039Z,1629047912.039 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:18:32.449Z,1629047912.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B0,000,008FF,186,80,80,96,FF
2021-08-15T17:18:32.449Z,1629047912.449 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:18:32.449Z,1629047912.449 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:18:32.451Z,1629047912.451 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:18:32.844Z,1629047912.844 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:18:33.269Z,1629047913.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,087,000,008D7,185,80,80,70,FF
2021-08-15T17:18:33.269Z,1629047913.269 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:18:33.689Z,1629047913.689 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171833.51*55

2021-08-15T17:18:33.721Z,1629047913.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.280006 m, bearing: 218.582036 deg, deltaT: 4.504866 s, approachRate: -0.532756 m/s, LOS rate: 0.272324 deg/s, posRepo size: 4
2021-08-15T17:18:33.722Z,1629047913.722 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 98.280006 m,
      bearing: 218.582036 deg,
      approachRate: -0.532756 m/s,
      LOS rate: 0.272324 deg/s,
      cmd update: 1.089297 deg/s,
      cmd heading: 221.012359 deg,
      new cmd heading: 220.929334 deg.

2021-08-15T17:18:36.091Z,1629047916.091 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:18:36.489Z,1629047916.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:18:36.489Z,1629047916.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:18:36.489Z,1629047916.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:18:36.490Z,1629047916.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:18:36.881Z,1629047916.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
087,000,008D7,185,80,80,70,FF
2021-08-15T17:18:36.881Z,1629047916.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:18:36.881Z,1629047916.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:18:36.883Z,1629047916.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:18:37.311Z,1629047917.311 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:18:37.693Z,1629047917.693 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06F,000,008AC,187,80,80,C4,FF
2021-08-15T17:18:37.693Z,1629047917.693 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:18:38.138Z,1629047918.138 [Micromodem](INFO): Nmea in: $SNTTA,0.063568,,,,171837.94*48

2021-08-15T17:18:38.170Z,1629047918.170 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.699997 m, bearing: 218.103977 deg, deltaT: 4.391915 s, approachRate: -0.587445 m/s, LOS rate: -0.108850 deg/s, posRepo size: 4
2021-08-15T17:18:38.172Z,1629047918.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 95.699997 m,
      bearing: 218.103977 deg,
      approachRate: -0.587445 m/s,
      LOS rate: -0.108850 deg/s,
      cmd update: -0.435399 deg/s,
      cmd heading: 225.800818 deg,
      new cmd heading: 226.249976 deg.

2021-08-15T17:18:40.572Z,1629047920.572 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:18:40.925Z,1629047920.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:18:40.925Z,1629047920.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:18:40.925Z,1629047920.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:18:40.926Z,1629047920.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:18:41.348Z,1629047921.348 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06F,000,008AC,187,80,80,C4,FF
2021-08-15T17:18:41.348Z,1629047921.348 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:18:41.349Z,1629047921.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:18:41.350Z,1629047921.350 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:18:41.732Z,1629047921.732 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:18:42.146Z,1629047922.146 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07D,000,00883,186,80,80,7D,FF
2021-08-15T17:18:42.146Z,1629047922.146 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:18:42.557Z,1629047922.557 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171842.41*52

2021-08-15T17:18:42.588Z,1629047922.588 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.239998 m, bearing: 218.721659 deg, deltaT: 4.421071 s, approachRate: -0.556426 m/s, LOS rate: 0.139713 deg/s, posRepo size: 4
2021-08-15T17:18:42.590Z,1629047922.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 93.239998 m,
      bearing: 218.721659 deg,
      approachRate: -0.556426 m/s,
      LOS rate: 0.139713 deg/s,
      cmd update: 0.558852 deg/s,
      cmd heading: 223.876007 deg,
      new cmd heading: 223.695276 deg.

2021-08-15T17:18:45.026Z,1629047925.026 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:18:45.369Z,1629047925.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:18:45.369Z,1629047925.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:18:45.370Z,1629047925.370 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:18:45.371Z,1629047925.371 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:18:45.777Z,1629047925.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07D,000,00883,186,80,80,7D,FF
2021-08-15T17:18:45.777Z,1629047925.777 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:18:45.777Z,1629047925.777 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:18:45.779Z,1629047925.779 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:18:46.178Z,1629047926.178 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:18:46.577Z,1629047926.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,094,000,0085C,186,80,80,76,FF
2021-08-15T17:18:46.577Z,1629047926.577 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:18:47.069Z,1629047927.069 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171846.84*5F

2021-08-15T17:18:47.115Z,1629047927.115 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.900009 m, bearing: 218.330603 deg, deltaT: 4.421990 s, approachRate: -0.529171 m/s, LOS rate: -0.088434 deg/s, posRepo size: 4
2021-08-15T17:18:47.118Z,1629047927.118 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 90.900009 m,
      bearing: 218.330603 deg,
      approachRate: -0.529171 m/s,
      LOS rate: -0.088434 deg/s,
      cmd update: -0.353737 deg/s,
      cmd heading: 226.347397 deg,
      new cmd heading: 226.638004 deg.

2021-08-15T17:18:49.121Z,1629047929.121 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:18:49.407Z,1629047929.407 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:18:49.407Z,1629047929.407 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:18:49.408Z,1629047929.408 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:18:49.409Z,1629047929.409 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:18:49.813Z,1629047929.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
094,000,0085C,186,80,80,76,FF
2021-08-15T17:18:49.813Z,1629047929.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:18:49.813Z,1629047929.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:18:49.815Z,1629047929.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:18:50.233Z,1629047930.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:18:50.614Z,1629047930.614 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B5,000,00837,185,80,80,B5,FF
2021-08-15T17:18:50.614Z,1629047930.614 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:18:51.154Z,1629047931.154 [Micromodem](INFO): Nmea in: $SNTTA,0.061174,,,,171850.88*4F

2021-08-15T17:18:51.166Z,1629047931.166 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T17:18:51.227Z,1629047931.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.680000 m, bearing: 218.003246 deg, deltaT: 4.068595 s, approachRate: -0.545645 m/s, LOS rate: -0.080460 deg/s, posRepo size: 4
2021-08-15T17:18:51.237Z,1629047931.237 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.680000 m,
      bearing: 218.003246 deg,
      approachRate: -0.545645 m/s,
      LOS rate: -0.080460 deg/s,
      cmd update: -0.321838 deg/s,
      cmd heading: 224.909594 deg,
      new cmd heading: 224.708972 deg.

2021-08-15T17:18:53.172Z,1629047933.172 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:18:53.449Z,1629047933.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:18:53.449Z,1629047933.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:18:53.449Z,1629047933.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:18:53.450Z,1629047933.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:18:53.849Z,1629047933.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B5,000,00837,185,80,80,B5,FF
2021-08-15T17:18:53.849Z,1629047933.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:18:53.850Z,1629047933.850 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:18:53.851Z,1629047933.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:18:54.276Z,1629047934.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:18:54.657Z,1629047934.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B5,000,00812,186,80,80,9C,FF
2021-08-15T17:18:54.658Z,1629047934.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:18:55.130Z,1629047935.130 [Micromodem](INFO): Nmea in: $SNTTA,0.059781,,,,171854.92*47

2021-08-15T17:18:55.238Z,1629047935.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.459999 m, bearing: 217.446326 deg, deltaT: 4.056225 s, approachRate: -0.547307 m/s, LOS rate: -0.137300 deg/s, posRepo size: 4
2021-08-15T17:18:55.244Z,1629047935.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.459999 m,
      bearing: 217.446326 deg,
      approachRate: -0.547307 m/s,
      LOS rate: -0.137300 deg/s,
      cmd update: -0.549200 deg/s,
      cmd heading: 223.602850 deg,
      new cmd heading: 223.436159 deg.

2021-08-15T17:18:57.241Z,1629047937.241 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:18:57.489Z,1629047937.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:18:57.489Z,1629047937.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:18:57.490Z,1629047937.490 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:18:57.491Z,1629047937.491 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:18:57.889Z,1629047937.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B5,000,00812,186,80,80,9C,FF
2021-08-15T17:18:57.889Z,1629047937.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:18:57.889Z,1629047937.889 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:18:57.891Z,1629047937.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:18:58.301Z,1629047938.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:18:58.697Z,1629047938.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08A,000,007EB,186,80,80,92,FF
2021-08-15T17:18:58.698Z,1629047938.698 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:18:59.158Z,1629047939.158 [Micromodem](INFO): Nmea in: $SNTTA,0.063231,,,,171858.95*4B

2021-08-15T17:18:59.259Z,1629047939.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.119995 m, bearing: 218.264596 deg, deltaT: 4.026942 s, approachRate: -0.581087 m/s, LOS rate: 0.203199 deg/s, posRepo size: 4
2021-08-15T17:18:59.263Z,1629047939.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 84.119995 m,
      bearing: 218.264596 deg,
      approachRate: -0.581087 m/s,
      LOS rate: 0.203199 deg/s,
      cmd update: 0.812796 deg/s,
      cmd heading: 221.393474 deg,
      new cmd heading: 221.109731 deg.

2021-08-15T17:19:01.567Z,1629047941.567 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:19:01.937Z,1629047941.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:19:01.937Z,1629047941.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:19:01.937Z,1629047941.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:19:01.938Z,1629047941.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:19:02.337Z,1629047942.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08A,000,007EB,186,80,80,92,FF
2021-08-15T17:19:02.337Z,1629047942.337 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:19:02.338Z,1629047942.338 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:19:02.339Z,1629047942.339 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:19:02.752Z,1629047942.752 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:19:03.149Z,1629047943.149 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,084,000,007BC,187,80,80,B0,FF
2021-08-15T17:19:03.149Z,1629047943.149 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:19:03.581Z,1629047943.581 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171903.40*57

2021-08-15T17:19:03.600Z,1629047943.600 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.300003 m, bearing: 217.914139 deg, deltaT: 4.548261 s, approachRate: -0.620015 m/s, LOS rate: -0.077053 deg/s, posRepo size: 4
2021-08-15T17:19:03.602Z,1629047943.602 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 81.300003 m,
      bearing: 217.914139 deg,
      approachRate: -0.620015 m/s,
      LOS rate: -0.077053 deg/s,
      cmd update: -0.308212 deg/s,
      cmd heading: 225.084105 deg,
      new cmd heading: 225.341278 deg.

2021-08-15T17:19:06.035Z,1629047946.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:19:06.385Z,1629047946.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:19:06.385Z,1629047946.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:19:06.385Z,1629047946.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:19:06.386Z,1629047946.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:19:06.781Z,1629047946.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
084,000,007BC,187,80,80,B0,FF
2021-08-15T17:19:06.781Z,1629047946.781 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:19:06.781Z,1629047946.781 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:19:06.783Z,1629047946.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:19:07.221Z,1629047947.221 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:19:07.593Z,1629047947.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,096,000,00790,185,80,80,C6,FF
2021-08-15T17:19:07.594Z,1629047947.594 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:19:08.037Z,1629047948.037 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171907.85*5A

2021-08-15T17:19:08.059Z,1629047948.059 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 78.660004 m, bearing: 217.493973 deg, deltaT: 4.348225 s, approachRate: -0.607144 m/s, LOS rate: -0.096629 deg/s, posRepo size: 4
2021-08-15T17:19:08.062Z,1629047948.062 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 78.660004 m,
      bearing: 217.493973 deg,
      approachRate: -0.607144 m/s,
      LOS rate: -0.096629 deg/s,
      cmd update: -0.386517 deg/s,
      cmd heading: 223.741630 deg,
      new cmd heading: 223.612046 deg.

2021-08-15T17:19:10.474Z,1629047950.474 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:19:10.821Z,1629047950.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:19:10.821Z,1629047950.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:19:10.821Z,1629047950.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:19:10.822Z,1629047950.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:19:11.257Z,1629047951.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
096,000,00790,185,80,80,C6,FF
2021-08-15T17:19:11.257Z,1629047951.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:19:11.257Z,1629047951.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:19:11.259Z,1629047951.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:19:11.307Z,1629047951.307 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T17:19:11.636Z,1629047951.636 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:19:12.034Z,1629047952.034 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07D,000,00768,187,80,80,8F,FF
2021-08-15T17:19:12.034Z,1629047952.034 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:19:12.468Z,1629047952.468 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171912.32*52

2021-08-15T17:19:12.494Z,1629047952.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.259995 m, bearing: 219.101445 deg, deltaT: 4.434267 s, approachRate: -0.541241 m/s, LOS rate: 0.362511 deg/s, posRepo size: 4
2021-08-15T17:19:12.496Z,1629047952.496 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 76.259995 m,
      bearing: 219.101445 deg,
      approachRate: -0.541241 m/s,
      LOS rate: 0.362511 deg/s,
      cmd update: 1.450045 deg/s,
      cmd heading: 222.026084 deg,
      new cmd heading: 221.865057 deg.

2021-08-15T17:19:14.883Z,1629047954.883 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:19:15.261Z,1629047955.261 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:19:15.261Z,1629047955.261 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:19:15.261Z,1629047955.261 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:19:15.262Z,1629047955.262 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:19:15.677Z,1629047955.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07D,000,00768,187,80,80,8F,FF
2021-08-15T17:19:15.677Z,1629047955.677 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:19:15.677Z,1629047955.677 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:19:15.679Z,1629047955.679 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:19:16.085Z,1629047956.085 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:19:16.482Z,1629047956.482 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,082,000,00742,186,80,80,93,FF
2021-08-15T17:19:16.482Z,1629047956.482 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:19:16.921Z,1629047956.921 [Micromodem](INFO): Nmea in: $SNTTA,0.060689,,,,171916.74*4B

2021-08-15T17:19:16.944Z,1629047956.944 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.980011 m, bearing: 218.871240 deg, deltaT: 4.432428 s, approachRate: -0.514387 m/s, LOS rate: -0.051936 deg/s, posRepo size: 4
2021-08-15T17:19:16.946Z,1629047956.946 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 73.980011 m,
      bearing: 218.871240 deg,
      approachRate: -0.514387 m/s,
      LOS rate: -0.051936 deg/s,
      cmd update: -0.207746 deg/s,
      cmd heading: 228.453110 deg,
      new cmd heading: 229.083105 deg.

2021-08-15T17:19:19.370Z,1629047959.370 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:19:19.713Z,1629047959.713 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:19:19.714Z,1629047959.714 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:19:19.715Z,1629047959.715 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:19:19.717Z,1629047959.717 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:19:20.125Z,1629047960.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
082,000,00742,186,80,80,93,FF
2021-08-15T17:19:20.125Z,1629047960.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:19:20.125Z,1629047960.125 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:19:20.127Z,1629047960.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:19:20.529Z,1629047960.529 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:19:20.921Z,1629047960.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C9,000,00718,186,80,80,A0,FF
2021-08-15T17:19:20.922Z,1629047960.922 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:19:21.359Z,1629047961.359 [Micromodem](INFO): Nmea in: $SNTTA,0.056994,,,,171921.19*42

2021-08-15T17:19:21.366Z,1629047961.366 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T17:19:21.390Z,1629047961.390 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.460007 m, bearing: 217.568846 deg, deltaT: 4.444810 s, approachRate: -0.566954 m/s, LOS rate: -0.293015 deg/s, posRepo size: 4
2021-08-15T17:19:21.392Z,1629047961.392 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 71.460007 m,
      bearing: 217.568846 deg,
      approachRate: -0.566954 m/s,
      LOS rate: -0.293015 deg/s,
      cmd update: -1.172058 deg/s,
      cmd heading: 227.530557 deg,
      new cmd heading: 227.439222 deg.

2021-08-15T17:19:23.778Z,1629047963.778 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:19:24.166Z,1629047964.166 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:19:24.166Z,1629047964.166 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:19:24.166Z,1629047964.166 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:19:24.167Z,1629047964.167 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:19:24.569Z,1629047964.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C9,000,00718,186,80,80,A0,FF
2021-08-15T17:19:24.569Z,1629047964.569 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:19:24.570Z,1629047964.570 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:19:24.571Z,1629047964.571 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:19:24.976Z,1629047964.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:19:25.365Z,1629047965.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CF,000,006F0,186,80,80,7E,FF
2021-08-15T17:19:25.366Z,1629047965.366 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:19:25.430Z,1629047965.430 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T17:19:25.806Z,1629047965.806 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171925.64*55

2021-08-15T17:19:25.828Z,1629047965.828 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.059998 m, bearing: 216.808755 deg, deltaT: 4.512920 s, approachRate: -0.531808 m/s, LOS rate: -0.168425 deg/s, posRepo size: 4
2021-08-15T17:19:25.830Z,1629047965.830 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.059998 m,
      bearing: 216.808755 deg,
      approachRate: -0.531808 m/s,
      LOS rate: -0.168425 deg/s,
      cmd update: -0.673702 deg/s,
      cmd heading: 222.241237 deg,
      new cmd heading: 221.814260 deg.

2021-08-15T17:19:28.258Z,1629047968.258 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:19:28.597Z,1629047968.597 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:19:28.597Z,1629047968.597 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:19:28.597Z,1629047968.597 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:19:28.598Z,1629047968.598 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:19:29.009Z,1629047969.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CF,000,006F0,186,80,80,7E,FF
2021-08-15T17:19:29.009Z,1629047969.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:19:29.010Z,1629047969.010 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:19:29.015Z,1629047969.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:19:29.424Z,1629047969.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:19:29.809Z,1629047969.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,072,000,006C6,186,80,80,95,FF
2021-08-15T17:19:29.809Z,1629047969.809 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:19:30.277Z,1629047970.277 [Micromodem](INFO): Nmea in: $SNTTA,0.069784,,,,171930.08*41

2021-08-15T17:19:30.319Z,1629047970.319 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.540009 m, bearing: 218.379944 deg, deltaT: 4.419498 s, approachRate: -0.570198 m/s, LOS rate: 0.355513 deg/s, posRepo size: 4
2021-08-15T17:19:30.325Z,1629047970.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.540009 m,
      bearing: 218.379944 deg,
      approachRate: -0.570198 m/s,
      LOS rate: 0.355513 deg/s,
      cmd update: 1.422052 deg/s,
      cmd heading: 219.261382 deg,
      new cmd heading: 218.969882 deg.

2021-08-15T17:19:31.101Z,1629047971.101 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T17:19:32.659Z,1629047972.659 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:19:33.081Z,1629047973.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:19:33.081Z,1629047973.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:19:33.081Z,1629047973.081 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:19:33.082Z,1629047973.082 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:19:33.457Z,1629047973.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
072,000,006C6,186,80,80,95,FF
2021-08-15T17:19:33.457Z,1629047973.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:19:33.457Z,1629047973.457 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:19:33.459Z,1629047973.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:19:33.863Z,1629047973.863 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:19:34.281Z,1629047974.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03D,000,0069E,184,80,80,91,FF
2021-08-15T17:19:34.282Z,1629047974.282 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:19:34.713Z,1629047974.713 [Micromodem](INFO): Nmea in: $SNTTA,0.050374,,,,171934.52*4B

2021-08-15T17:19:34.735Z,1629047974.735 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.139999 m, bearing: 218.753269 deg, deltaT: 4.422062 s, approachRate: -0.542735 m/s, LOS rate: 0.084423 deg/s, posRepo size: 4
2021-08-15T17:19:34.738Z,1629047974.738 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.139999 m,
      bearing: 218.753269 deg,
      approachRate: -0.542735 m/s,
      LOS rate: 0.084423 deg/s,
      cmd update: 0.337693 deg/s,
      cmd heading: 225.550134 deg,
      new cmd heading: 226.156910 deg.

2021-08-15T17:19:37.155Z,1629047977.155 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:19:37.513Z,1629047977.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:19:37.513Z,1629047977.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:19:37.513Z,1629047977.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:19:37.514Z,1629047977.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:19:37.909Z,1629047977.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03D,000,0069E,184,80,80,91,FF
2021-08-15T17:19:37.910Z,1629047977.910 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:19:37.910Z,1629047977.910 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:19:37.912Z,1629047977.912 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:19:38.336Z,1629047978.336 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:19:38.717Z,1629047978.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07C,000,00672,186,80,80,7E,FF
2021-08-15T17:19:38.717Z,1629047978.717 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:19:39.169Z,1629047979.169 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171938.97*55

2021-08-15T17:19:39.286Z,1629047979.286 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.500000 m, bearing: 218.283297 deg, deltaT: 4.425475 s, approachRate: -0.596546 m/s, LOS rate: -0.106197 deg/s, posRepo size: 4
2021-08-15T17:19:39.295Z,1629047979.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.500000 m,
      bearing: 218.283297 deg,
      approachRate: -0.596546 m/s,
      LOS rate: -0.106197 deg/s,
      cmd update: -0.424788 deg/s,
      cmd heading: 227.044669 deg,
      new cmd heading: 227.231030 deg.

2021-08-15T17:19:41.249Z,1629047981.249 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:19:41.569Z,1629047981.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:19:41.569Z,1629047981.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:19:41.569Z,1629047981.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:19:41.570Z,1629047981.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:19:41.961Z,1629047981.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07C,000,00672,186,80,80,7E,FF
2021-08-15T17:19:41.961Z,1629047981.961 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:19:41.961Z,1629047981.961 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:19:41.963Z,1629047981.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:19:42.380Z,1629047982.380 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:19:42.769Z,1629047982.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AF,000,0064E,186,80,80,B3,FF
2021-08-15T17:19:42.770Z,1629047982.770 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:19:43.225Z,1629047983.225 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171943.02*55

2021-08-15T17:19:43.320Z,1629047983.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.340008 m, bearing: 217.459044 deg, deltaT: 4.083917 s, approachRate: -0.528902 m/s, LOS rate: -0.201829 deg/s, posRepo size: 4
2021-08-15T17:19:43.322Z,1629047983.322 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 59.340008 m,
      bearing: 217.459044 deg,
      approachRate: -0.528902 m/s,
      LOS rate: -0.201829 deg/s,
      cmd update: -0.807317 deg/s,
      cmd heading: 225.311526 deg,
      new cmd heading: 225.098610 deg.

2021-08-15T17:19:45.628Z,1629047985.628 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:19:46.019Z,1629047986.019 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:19:46.019Z,1629047986.019 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:19:46.022Z,1629047986.022 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:19:46.033Z,1629047986.033 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:19:46.411Z,1629047986.411 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AF,000,0064E,186,80,80,B3,FF
2021-08-15T17:19:46.411Z,1629047986.411 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:19:46.411Z,1629047986.411 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:19:46.414Z,1629047986.414 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:19:46.816Z,1629047986.816 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:19:47.238Z,1629047987.238 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,098,000,00629,186,80,80,84,FF
2021-08-15T17:19:47.238Z,1629047987.238 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:19:47.657Z,1629047987.657 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171947.48*5F

2021-08-15T17:19:47.682Z,1629047987.682 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.119999 m, bearing: 218.758583 deg, deltaT: 4.532188 s, approachRate: -0.489832 m/s, LOS rate: 0.286735 deg/s, posRepo size: 4
2021-08-15T17:19:47.686Z,1629047987.686 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 57.119999 m,
      bearing: 218.758583 deg,
      approachRate: -0.489832 m/s,
      LOS rate: 0.286735 deg/s,
      cmd update: 1.146942 deg/s,
      cmd heading: 221.659080 deg,
      new cmd heading: 221.383818 deg.

2021-08-15T17:19:50.089Z,1629047990.089 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:19:50.458Z,1629047990.458 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:19:50.458Z,1629047990.458 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:19:50.458Z,1629047990.458 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:19:50.459Z,1629047990.459 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:19:50.861Z,1629047990.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
098,000,00629,186,80,80,84,FF
2021-08-15T17:19:50.861Z,1629047990.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:19:50.861Z,1629047990.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:19:50.863Z,1629047990.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:19:51.289Z,1629047991.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:19:51.657Z,1629047991.657 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,067,000,00600,186,80,80,87,FF
2021-08-15T17:19:51.657Z,1629047991.657 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:19:52.100Z,1629047992.100 [Micromodem](INFO): Nmea in: $SNTTA,0.047922,,,,171951.93*4A

2021-08-15T17:19:52.125Z,1629047992.125 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.660000 m, bearing: 219.317265 deg, deltaT: 4.356444 s, approachRate: -0.564681 m/s, LOS rate: 0.128243 deg/s, posRepo size: 4
2021-08-15T17:19:52.128Z,1629047992.128 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 54.660000 m,
      bearing: 219.317265 deg,
      approachRate: -0.564681 m/s,
      LOS rate: 0.128243 deg/s,
      cmd update: 0.512971 deg/s,
      cmd heading: 226.664592 deg,
      new cmd heading: 227.147326 deg.

2021-08-15T17:19:54.536Z,1629047994.536 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:19:54.889Z,1629047994.889 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:19:54.889Z,1629047994.889 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:19:54.889Z,1629047994.889 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:19:54.890Z,1629047994.890 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:19:55.293Z,1629047995.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
067,000,00600,186,80,80,87,FF
2021-08-15T17:19:55.293Z,1629047995.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:19:55.293Z,1629047995.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:19:55.295Z,1629047995.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:19:55.705Z,1629047995.705 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:19:56.109Z,1629047996.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08A,000,005D7,186,80,80,78,FF
2021-08-15T17:19:56.109Z,1629047996.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:19:56.550Z,1629047996.550 [Micromodem](INFO): Nmea in: $SNTTA,,,,,171956.36*56

2021-08-15T17:19:56.577Z,1629047996.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.200001 m, bearing: 219.879308 deg, deltaT: 4.444380 s, approachRate: -0.553508 m/s, LOS rate: 0.126461 deg/s, posRepo size: 4
2021-08-15T17:19:56.579Z,1629047996.579 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.200001 m,
      bearing: 219.879308 deg,
      approachRate: -0.553508 m/s,
      LOS rate: 0.126461 deg/s,
      cmd update: 0.505846 deg/s,
      cmd heading: 228.933714 deg,
      new cmd heading: 229.164708 deg.

2021-08-15T17:19:58.947Z,1629047998.947 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:19:59.337Z,1629047999.337 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:19:59.337Z,1629047999.337 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:19:59.337Z,1629047999.337 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:19:59.338Z,1629047999.338 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:19:59.745Z,1629047999.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08A,000,005D7,186,80,80,78,FF
2021-08-15T17:19:59.746Z,1629047999.746 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:19:59.746Z,1629047999.746 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:19:59.747Z,1629047999.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:20:00.144Z,1629048000.144 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:20:00.545Z,1629048000.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FF,000,005AB,186,80,80,81,FF
2021-08-15T17:20:00.545Z,1629048000.545 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:20:01.069Z,1629048001.069 [Micromodem](INFO): Nmea in: $SNTTA,0.084173,,,,172000.81*44

2021-08-15T17:20:01.113Z,1629048001.113 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range.
2021-08-15T17:20:01.143Z,1629048001.143 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.560001 m, bearing: 217.436941 deg, deltaT: 4.449241 s, approachRate: -0.593359 m/s, LOS rate: -0.548940 deg/s, posRepo size: 4
2021-08-15T17:20:01.149Z,1629048001.149 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 49.560001 m,
      bearing: 217.436941 deg,
      approachRate: -0.593359 m/s,
      LOS rate: -0.548940 deg/s,
      cmd update: -2.195760 deg/s,
      cmd heading: 231.192917 deg,
      new cmd heading: 231.471270 deg.

2021-08-15T17:20:03.471Z,1629048003.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:20:03.801Z,1629048003.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:20:03.801Z,1629048003.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:20:03.801Z,1629048003.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:20:03.802Z,1629048003.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:20:04.221Z,1629048004.221 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FF,000,005AB,186,80,80,81,FF
2021-08-15T17:20:04.221Z,1629048004.221 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:20:04.221Z,1629048004.221 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:20:04.223Z,1629048004.223 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:20:04.617Z,1629048004.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:20:05.021Z,1629048005.021 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F6,000,0057F,186,80,80,6D,FF
2021-08-15T17:20:05.023Z,1629048005.023 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:20:05.454Z,1629048005.454 [Micromodem](INFO): Nmea in: $SNTTA,0.066666,,,,172005.28*4D

2021-08-15T17:20:05.479Z,1629048005.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.919994 m, bearing: 216.984182 deg, deltaT: 4.547256 s, approachRate: -0.580571 m/s, LOS rate: -0.099568 deg/s, posRepo size: 4
2021-08-15T17:20:05.482Z,1629048005.482 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 46.919994 m,
      bearing: 216.984182 deg,
      approachRate: -0.580571 m/s,
      LOS rate: -0.099568 deg/s,
      cmd update: -0.398271 deg/s,
      cmd heading: 221.199536 deg,
      new cmd heading: 220.462565 deg.

2021-08-15T17:20:07.863Z,1629048007.863 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:20:08.265Z,1629048008.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:20:08.265Z,1629048008.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:20:08.265Z,1629048008.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:20:08.266Z,1629048008.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:20:08.649Z,1629048008.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F6,000,0057F,186,80,80,6D,FF
2021-08-15T17:20:08.649Z,1629048008.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:20:08.649Z,1629048008.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:20:08.651Z,1629048008.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:20:09.100Z,1629048009.100 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:20:09.471Z,1629048009.471 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04D,000,00558,184,80,80,73,FF
2021-08-15T17:20:09.471Z,1629048009.471 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:20:09.897Z,1629048009.897 [Micromodem](INFO): Nmea in: $SNTTA,,,,,172009.71*55

2021-08-15T17:20:09.920Z,1629048009.920 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.579998 m, bearing: 221.082036 deg, deltaT: 4.350912 s, approachRate: -0.537817 m/s, LOS rate: 0.941838 deg/s, posRepo size: 4
2021-08-15T17:20:09.922Z,1629048009.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.579998 m,
      bearing: 221.082036 deg,
      approachRate: -0.537817 m/s,
      LOS rate: 0.941838 deg/s,
      cmd update: 3.767352 deg/s,
      cmd heading: 219.465062 deg,
      new cmd heading: 219.297470 deg.

2021-08-15T17:20:12.325Z,1629048012.325 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:20:12.693Z,1629048012.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:20:12.693Z,1629048012.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:20:12.693Z,1629048012.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:20:12.694Z,1629048012.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:20:13.101Z,1629048013.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04D,000,00558,184,80,80,73,FF
2021-08-15T17:20:13.101Z,1629048013.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:20:13.101Z,1629048013.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:20:13.103Z,1629048013.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:20:13.501Z,1629048013.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:20:13.909Z,1629048013.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04C,000,00525,184,80,80,7C,FF
2021-08-15T17:20:13.909Z,1629048013.909 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:20:14.345Z,1629048014.345 [Micromodem](INFO): Nmea in: $SNTTA,0.050118,,,,172014.16*4B

2021-08-15T17:20:14.397Z,1629048014.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.520000 m, bearing: 219.299028 deg, deltaT: 4.427661 s, approachRate: -0.691109 m/s, LOS rate: -0.402697 deg/s, posRepo size: 4
2021-08-15T17:20:14.405Z,1629048014.405 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 41.520000 m,
      bearing: 219.299028 deg,
      approachRate: -0.691109 m/s,
      LOS rate: -0.402697 deg/s,
      cmd update: -1.610789 deg/s,
      cmd heading: 236.145905 deg,
      new cmd heading: 237.899611 deg.

2021-08-15T17:20:16.771Z,1629048016.771 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:20:17.137Z,1629048017.137 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:20:17.137Z,1629048017.137 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:20:17.137Z,1629048017.137 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:20:17.138Z,1629048017.138 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:20:17.545Z,1629048017.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04C,000,00525,184,80,80,7C,FF
2021-08-15T17:20:17.545Z,1629048017.545 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:20:17.545Z,1629048017.545 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:20:17.547Z,1629048017.547 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:20:17.944Z,1629048017.944 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:20:18.345Z,1629048018.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,168,000,004F8,186,80,80,A8,FF
2021-08-15T17:20:18.346Z,1629048018.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:20:18.798Z,1629048018.798 [Micromodem](INFO): Nmea in: $SNTTA,0.025783,,,,172018.61*41

2021-08-15T17:20:18.824Z,1629048018.824 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.820000 m, bearing: 215.183962 deg, deltaT: 4.472782 s, approachRate: -0.603651 m/s, LOS rate: -0.920024 deg/s, posRepo size: 4
2021-08-15T17:20:18.825Z,1629048018.825 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.82 m.
2021-08-15T17:20:18.827Z,1629048018.827 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.820000 m,
      bearing: 215.183962 deg,
      approachRate: -0.603651 m/s,
      LOS rate: -0.920024 deg/s,
      cmd update: -3.680095 deg/s,
      cmd heading: 228.983558 deg,
      new cmd heading: 228.256770 deg.

2021-08-15T17:20:19.266Z,1629048019.266 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T17:20:19.267Z,1629048019.267 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T17:20:19.267Z,1629048019.267 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T17:20:19.268Z,1629048019.268 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T17:20:19.270Z,1629048019.270 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T17:20:19.270Z,1629048019.270 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T17:20:19.613Z,1629048019.613 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T17:20:19.613Z,1629048019.613 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T17:20:19.613Z,1629048019.613 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T17:20:19.613Z,1629048019.613 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T17:20:21.237Z,1629048021.237 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-15T17:20:21.299Z,1629048021.299 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:20:21.577Z,1629048021.577 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:20:21.577Z,1629048021.577 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:20:21.577Z,1629048021.577 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:20:21.578Z,1629048021.578 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:20:21.981Z,1629048021.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
168,000,004F8,186,80,80,A8,FF
2021-08-15T17:20:21.981Z,1629048021.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:20:21.981Z,1629048021.981 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:20:21.983Z,1629048021.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:20:22.393Z,1629048022.393 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:20:22.793Z,1629048022.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FC,000,004CF,186,80,80,7C,FF
2021-08-15T17:20:22.793Z,1629048022.793 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:20:22.813Z,1629048022.813 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:20:23.242Z,1629048023.242 [Micromodem](INFO): Nmea in: $SNTTA,,,,,172023.05*5E

2021-08-15T17:20:23.306Z,1629048023.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.360001 m, bearing: 218.774880 deg, deltaT: 4.411418 s, approachRate: -0.557644 m/s, LOS rate: 0.814005 deg/s, posRepo size: 4
2021-08-15T17:20:23.306Z,1629048023.306 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.36 m.
2021-08-15T17:20:23.313Z,1629048023.313 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.360001 m,
      bearing: 218.774880 deg,
      approachRate: -0.557644 m/s,
      LOS rate: 0.814005 deg/s,
      cmd update: 3.256021 deg/s,
      cmd heading: 212.654302 deg,
      new cmd heading: 210.848770 deg.

2021-08-15T17:20:25.315Z,1629048025.315 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:20:25.621Z,1629048025.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:20:25.621Z,1629048025.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:20:25.621Z,1629048025.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:20:25.622Z,1629048025.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:20:26.052Z,1629048026.052 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FC,000,004CF,186,80,80,7C,FF
2021-08-15T17:20:26.054Z,1629048026.054 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:20:26.059Z,1629048026.059 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:20:26.091Z,1629048026.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:20:26.442Z,1629048026.442 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:20:26.829Z,1629048026.829 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF9,000,004B2,183,80,80,81,FF
2021-08-15T17:20:26.829Z,1629048026.829 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:20:26.854Z,1629048026.854 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:20:27.275Z,1629048027.275 [Micromodem](INFO): Nmea in: $SNTTA,,,,,172027.15*5B

2021-08-15T17:20:27.355Z,1629048027.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.620003 m, bearing: 219.176536 deg, deltaT: 4.040878 s, approachRate: -0.430599 m/s, LOS rate: 0.099398 deg/s, posRepo size: 4
2021-08-15T17:20:27.355Z,1629048027.355 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 34.62 m.
2021-08-15T17:20:27.361Z,1629048027.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.620003 m,
      bearing: 219.176536 deg,
      approachRate: -0.430599 m/s,
      LOS rate: 0.099398 deg/s,
      cmd update: 0.397593 deg/s,
      cmd heading: 225.811723 deg,
      new cmd heading: 227.443110 deg.

2021-08-15T17:20:29.678Z,1629048029.678 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:20:30.065Z,1629048030.065 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:20:30.066Z,1629048030.066 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:20:30.066Z,1629048030.066 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:20:30.067Z,1629048030.067 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:20:30.477Z,1629048030.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF9,000,004B2,183,80,80,81,FF
2021-08-15T17:20:30.477Z,1629048030.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:20:30.478Z,1629048030.478 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:20:30.479Z,1629048030.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:20:30.918Z,1629048030.918 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:20:31.277Z,1629048031.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07C,000,0048F,187,80,80,3C,FF
2021-08-15T17:20:31.277Z,1629048031.277 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:20:31.387Z,1629048031.387 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:20:31.725Z,1629048031.725 [Micromodem](INFO): Nmea in: $SNTTA,,,,,172031.54*59

2021-08-15T17:20:31.741Z,1629048031.741 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.520000 m, bearing: 215.094118 deg, deltaT: 4.532496 s, approachRate: -0.463321 m/s, LOS rate: -0.900700 deg/s, posRepo size: 4
2021-08-15T17:20:31.742Z,1629048031.742 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 32.52 m.
2021-08-15T17:20:31.744Z,1629048031.744 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.520000 m,
      bearing: 215.094118 deg,
      approachRate: -0.463321 m/s,
      LOS rate: -0.900700 deg/s,
      cmd update: -3.602799 deg/s,
      cmd heading: 227.609005 deg,
      new cmd heading: 227.755873 deg.

2021-08-15T17:20:34.123Z,1629048034.123 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:20:34.505Z,1629048034.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:20:34.505Z,1629048034.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:20:34.505Z,1629048034.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:20:34.506Z,1629048034.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:20:34.913Z,1629048034.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07C,000,0048F,187,80,80,3C,FF
2021-08-15T17:20:34.913Z,1629048034.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:20:34.913Z,1629048034.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:20:34.915Z,1629048034.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:20:35.317Z,1629048035.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:20:35.717Z,1629048035.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C2,000,00460,185,80,80,5E,FF
2021-08-15T17:20:35.717Z,1629048035.717 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:20:35.737Z,1629048035.737 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:20:36.186Z,1629048036.186 [Micromodem](INFO): Nmea in: $SNTTA,0.031046,,,,172035.98*43

2021-08-15T17:20:36.251Z,1629048036.251 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.699997 m, bearing: 219.052855 deg, deltaT: 4.350253 s, approachRate: -0.648239 m/s, LOS rate: 0.910001 deg/s, posRepo size: 4
2021-08-15T17:20:36.252Z,1629048036.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 29.70 m.
2021-08-15T17:20:36.252Z,1629048036.252 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 29.70 m.
2021-08-15T17:20:36.253Z,1629048036.253 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-15T17:20:36.255Z,1629048036.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.699997 m,
      bearing: 219.052855 deg,
      approachRate: -0.648239 m/s,
      LOS rate: 0.910001 deg/s,
      cmd update: 3.640006 deg/s,
      cmd heading: 211.891863 deg,
      new cmd heading: 210.028982 deg.

2021-08-15T17:20:38.608Z,1629048038.608 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:20:38.949Z,1629048038.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:20:38.949Z,1629048038.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:20:38.949Z,1629048038.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:20:38.950Z,1629048038.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:20:39.361Z,1629048039.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C2,000,00460,185,80,80,5E,FF
2021-08-15T17:20:39.361Z,1629048039.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:20:39.361Z,1629048039.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:20:39.363Z,1629048039.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:20:39.836Z,1629048039.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:20:40.169Z,1629048040.169 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDA,000,0043E,185,80,80,4B,FF
2021-08-15T17:20:40.169Z,1629048040.169 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:20:40.235Z,1629048040.235 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:20:40.597Z,1629048040.597 [Micromodem](INFO): Nmea in: $SNTTA,,,,,172040.43*59

2021-08-15T17:20:40.639Z,1629048040.639 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.659998 m, bearing: 217.587697 deg, deltaT: 4.497639 s, approachRate: -0.453571 m/s, LOS rate: -0.325761 deg/s, posRepo size: 4
2021-08-15T17:20:40.642Z,1629048040.642 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.659998 m,
      bearing: 217.587697 deg,
      approachRate: -0.453571 m/s,
      LOS rate: -0.325761 deg/s,
      cmd update: -1.303046 deg/s,
      cmd heading: 228.248433 deg,
      new cmd heading: 229.747373 deg.

2021-08-15T17:20:43.075Z,1629048043.075 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:20:43.413Z,1629048043.413 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:20:43.414Z,1629048043.414 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:20:43.414Z,1629048043.414 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:20:43.415Z,1629048043.415 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:20:43.802Z,1629048043.802 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDA,000,0043E,185,80,80,4B,FF
2021-08-15T17:20:43.802Z,1629048043.802 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:20:43.802Z,1629048043.802 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:20:43.803Z,1629048043.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:20:44.237Z,1629048044.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:20:44.613Z,1629048044.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F81,000,00416,186,80,80,8F,FF
2021-08-15T17:20:44.614Z,1629048044.614 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:20:44.634Z,1629048044.634 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:20:45.081Z,1629048045.081 [Micromodem](INFO): Nmea in: $SNTTA,,,,,172044.87*55

2021-08-15T17:20:45.135Z,1629048045.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.259996 m, bearing: 221.131472 deg, deltaT: 4.399229 s, approachRate: -0.545550 m/s, LOS rate: 0.805545 deg/s, posRepo size: 4
2021-08-15T17:20:45.141Z,1629048045.141 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.259996 m,
      bearing: 221.131472 deg,
      approachRate: -0.545550 m/s,
      LOS rate: 0.805545 deg/s,
      cmd update: 3.222179 deg/s,
      cmd heading: 222.510738 deg,
      new cmd heading: 221.853299 deg.

2021-08-15T17:20:47.490Z,1629048047.490 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:20:47.841Z,1629048047.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:20:47.841Z,1629048047.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:20:47.841Z,1629048047.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:20:47.842Z,1629048047.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:20:48.265Z,1629048048.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F81,000,00416,186,80,80,8F,FF
2021-08-15T17:20:48.266Z,1629048048.266 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:20:48.266Z,1629048048.266 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:20:48.269Z,1629048048.269 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:20:48.683Z,1629048048.683 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:20:49.090Z,1629048049.090 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D4,000,003F7,186,80,80,92,FF
2021-08-15T17:20:49.091Z,1629048049.091 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:20:49.220Z,1629048049.220 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:20:49.493Z,1629048049.493 [Micromodem](INFO): Nmea in: $SNTTA,,,,,172049.33*57

2021-08-15T17:20:49.551Z,1629048049.551 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.400002 m, bearing: 217.732579 deg, deltaT: 4.585895 s, approachRate: -0.405590 m/s, LOS rate: -0.741163 deg/s, posRepo size: 4
2021-08-15T17:20:49.557Z,1629048049.557 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 23.400002 m,
      bearing: 217.732579 deg,
      approachRate: -0.405590 m/s,
      LOS rate: -0.741163 deg/s,
      cmd update: -2.964650 deg/s,
      cmd heading: 237.148928 deg,
      new cmd heading: 238.363399 deg.

2021-08-15T17:20:51.895Z,1629048051.895 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:20:52.294Z,1629048052.294 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:20:52.294Z,1629048052.294 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:20:52.294Z,1629048052.294 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:20:52.295Z,1629048052.295 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:20:52.697Z,1629048052.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D4,000,003F7,186,80,80,92,FF
2021-08-15T17:20:52.697Z,1629048052.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:20:52.697Z,1629048052.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:20:52.699Z,1629048052.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:20:53.103Z,1629048053.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:20:53.501Z,1629048053.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CD,000,003DC,186,80,80,67,FF
2021-08-15T17:20:53.502Z,1629048053.502 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:20:53.532Z,1629048053.532 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:20:53.951Z,1629048053.951 [Micromodem](INFO): Nmea in: $SNTTA,,,,,172053.76*5D

2021-08-15T17:20:54.083Z,1629048054.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.779999 m, bearing: 215.986127 deg, deltaT: 4.312483 s, approachRate: -0.375654 m/s, LOS rate: -0.404976 deg/s, posRepo size: 4
2021-08-15T17:20:54.086Z,1629048054.086 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 21.779999 m,
      bearing: 215.986127 deg,
      approachRate: -0.375654 m/s,
      LOS rate: -0.404976 deg/s,
      cmd update: -1.619904 deg/s,
      cmd heading: 224.236493 deg,
      new cmd heading: 222.640091 deg.

2021-08-15T17:20:56.363Z,1629048056.363 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:20:56.725Z,1629048056.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:20:56.725Z,1629048056.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:20:56.725Z,1629048056.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:20:56.726Z,1629048056.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:20:57.125Z,1629048057.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CD,000,003DC,186,80,80,67,FF
2021-08-15T17:20:57.125Z,1629048057.125 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:20:57.126Z,1629048057.126 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:20:57.127Z,1629048057.127 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:20:57.557Z,1629048057.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:20:57.937Z,1629048057.937 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03C,000,003B9,185,80,80,4A,FF
2021-08-15T17:20:57.937Z,1629048057.937 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:20:57.988Z,1629048057.988 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:20:58.378Z,1629048058.378 [Micromodem](INFO): Nmea in: $SNTTA,,,,,172058.19*5F

2021-08-15T17:20:58.416Z,1629048058.416 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.680002 m, bearing: 225.474489 deg, deltaT: 4.455698 s, approachRate: -0.471306 m/s, LOS rate: 2.129489 deg/s, posRepo size: 4
2021-08-15T17:20:58.419Z,1629048058.419 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.680002 m,
      bearing: 225.474489 deg,
      approachRate: -0.471306 m/s,
      LOS rate: 2.129489 deg/s,
      cmd update: 8.517958 deg/s,
      cmd heading: 217.028983 deg,
      new cmd heading: 216.322987 deg.

2021-08-15T17:21:00.800Z,1629048060.800 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:21:01.169Z,1629048061.169 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:21:01.169Z,1629048061.169 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:21:01.169Z,1629048061.169 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:21:01.170Z,1629048061.170 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:21:01.577Z,1629048061.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03C,000,003B9,185,80,80,4A,FF
2021-08-15T17:21:01.577Z,1629048061.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:21:01.578Z,1629048061.578 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:21:01.579Z,1629048061.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:21:01.997Z,1629048061.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:21:02.381Z,1629048062.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FB8,000,00381,184,80,80,97,FF
2021-08-15T17:21:02.381Z,1629048062.381 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:21:02.470Z,1629048062.470 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:21:02.822Z,1629048062.822 [Micromodem](INFO): Nmea in: $SNTTA,,,,,172102.64*5B

2021-08-15T17:21:02.839Z,1629048062.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.319998 m, bearing: 216.601773 deg, deltaT: 4.482174 s, approachRate: -0.749637 m/s, LOS rate: -1.979556 deg/s, posRepo size: 4
2021-08-15T17:21:02.841Z,1629048062.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.319998 m,
      bearing: 216.601773 deg,
      approachRate: -0.749637 m/s,
      LOS rate: -1.979556 deg/s,
      cmd update: -7.918225 deg/s,
      cmd heading: 255.261479 deg,
      new cmd heading: 258.426054 deg.

2021-08-15T17:21:05.312Z,1629048065.312 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:21:05.625Z,1629048065.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:21:05.625Z,1629048065.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:21:05.625Z,1629048065.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:21:05.626Z,1629048065.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:21:06.022Z,1629048066.022 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FB8,000,00381,184,80,80,97,FF
2021-08-15T17:21:06.022Z,1629048066.022 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:21:06.022Z,1629048066.022 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:21:06.024Z,1629048066.024 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:21:06.441Z,1629048066.441 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:21:06.833Z,1629048066.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A3,000,00358,186,80,80,68,FF
2021-08-15T17:21:06.833Z,1629048066.833 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:21:06.926Z,1629048066.926 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:21:07.289Z,1629048067.289 [Micromodem](INFO): Nmea in: $SNTTA,0.047424,,,,172107.09*4A

2021-08-15T17:21:07.374Z,1629048067.374 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.860000 m, bearing: 216.391226 deg, deltaT: 4.456224 s, approachRate: -0.552036 m/s, LOS rate: -0.047248 deg/s, posRepo size: 4
2021-08-15T17:21:07.380Z,1629048067.380 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.860000 m,
      bearing: 216.391226 deg,
      approachRate: -0.552036 m/s,
      LOS rate: -0.047248 deg/s,
      cmd update: -0.188992 deg/s,
      cmd heading: 219.975721 deg,
      new cmd heading: 216.410310 deg.

2021-08-15T17:21:09.695Z,1629048069.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:21:10.089Z,1629048070.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:21:10.089Z,1629048070.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:21:10.089Z,1629048070.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:21:10.090Z,1629048070.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:21:10.490Z,1629048070.490 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A3,000,00358,186,80,80,68,FF
2021-08-15T17:21:10.490Z,1629048070.490 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:21:10.490Z,1629048070.490 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:21:10.491Z,1629048070.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:21:10.893Z,1629048070.893 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:21:11.304Z,1629048071.304 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,220,000,00335,188,80,80,80,FF
2021-08-15T17:21:11.304Z,1629048071.304 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:21:11.392Z,1629048071.392 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:21:11.745Z,1629048071.745 [Micromodem](INFO): Nmea in: $SNTTA,0.038571,,,,172111.55*4D

2021-08-15T17:21:11.788Z,1629048071.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.759997 m, bearing: 210.023085 deg, deltaT: 4.465769 s, approachRate: -0.470244 m/s, LOS rate: -1.425990 deg/s, posRepo size: 4
2021-08-15T17:21:11.790Z,1629048071.790 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.759997 m,
      bearing: 210.023085 deg,
      approachRate: -0.470244 m/s,
      LOS rate: -1.425990 deg/s,
      cmd update: -5.703959 deg/s,
      cmd heading: 219.133425 deg,
      new cmd heading: 219.056429 deg.

2021-08-15T17:21:14.161Z,1629048074.161 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:21:14.529Z,1629048074.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:21:14.529Z,1629048074.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:21:14.529Z,1629048074.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:21:14.530Z,1629048074.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:21:14.929Z,1629048074.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
220,000,00335,188,80,80,80,FF
2021-08-15T17:21:14.929Z,1629048074.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:21:14.929Z,1629048074.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:21:14.931Z,1629048074.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:21:15.341Z,1629048075.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:21:15.737Z,1629048075.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,065,000,0030F,186,80,80,AD,FF
2021-08-15T17:21:15.737Z,1629048075.737 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:21:15.790Z,1629048075.790 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:21:16.220Z,1629048076.220 [Micromodem](INFO): Nmea in: $SNTTA,,,,,172115.99*5F

2021-08-15T17:21:16.247Z,1629048076.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.479997 m, bearing: 216.886524 deg, deltaT: 4.397628 s, approachRate: -0.518461 m/s, LOS rate: 1.560714 deg/s, posRepo size: 4
2021-08-15T17:21:16.255Z,1629048076.255 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.479997 m,
      bearing: 216.886524 deg,
      approachRate: -0.518461 m/s,
      LOS rate: 1.560714 deg/s,
      cmd update: 6.242855 deg/s,
      cmd heading: 194.021746 deg,
      new cmd heading: 191.374025 deg.

2021-08-15T17:21:18.618Z,1629048078.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:21:18.981Z,1629048078.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:21:18.981Z,1629048078.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:21:18.981Z,1629048078.981 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:21:18.982Z,1629048078.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:21:19.373Z,1629048079.373 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
065,000,0030F,186,80,80,AD,FF
2021-08-15T17:21:19.373Z,1629048079.373 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:21:19.373Z,1629048079.373 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:21:19.375Z,1629048079.375 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:21:19.780Z,1629048079.780 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:21:20.209Z,1629048080.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED2,000,002EE,186,80,80,B2,FF
2021-08-15T17:21:20.211Z,1629048080.211 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:21:20.266Z,1629048080.266 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:21:20.625Z,1629048080.625 [Micromodem](INFO): Nmea in: $SNTTA,0.004778,,,,172120.44*4B

2021-08-15T17:21:20.647Z,1629048080.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.499999 m, bearing: 217.736472 deg, deltaT: 4.476448 s, approachRate: -0.442315 m/s, LOS rate: 0.189871 deg/s, posRepo size: 4
2021-08-15T17:21:20.650Z,1629048080.650 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.499999 m,
      bearing: 217.736472 deg,
      approachRate: -0.442315 m/s,
      LOS rate: 0.189871 deg/s,
      cmd update: 0.759485 deg/s,
      cmd heading: 221.993296 deg,
      new cmd heading: 224.391838 deg.

2021-08-15T17:21:23.081Z,1629048083.081 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:21:23.410Z,1629048083.410 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:21:23.410Z,1629048083.410 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:21:23.410Z,1629048083.410 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:21:23.412Z,1629048083.412 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:21:23.814Z,1629048083.814 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED2,000,002EE,186,80,80,B2,FF
2021-08-15T17:21:23.814Z,1629048083.814 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:21:23.814Z,1629048083.814 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:21:23.815Z,1629048083.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:21:24.257Z,1629048084.257 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:21:24.625Z,1629048084.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E63,000,002D7,186,80,80,A3,FF
2021-08-15T17:21:24.625Z,1629048084.625 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:21:24.681Z,1629048084.681 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:21:25.085Z,1629048085.085 [Micromodem](INFO): Nmea in: $SNTTA,0.032863,,,,172124.88*4F

2021-08-15T17:21:25.133Z,1629048085.133 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.119999 m, bearing: 221.951669 deg, deltaT: 4.414675 s, approachRate: -0.312594 m/s, LOS rate: 0.954815 deg/s, posRepo size: 4
2021-08-15T17:21:25.135Z,1629048085.135 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.119999 m,
      bearing: 221.951669 deg,
      approachRate: -0.312594 m/s,
      LOS rate: 0.954815 deg/s,
      cmd update: 3.819259 deg/s,
      cmd heading: 225.341282 deg,
      new cmd heading: 225.691625 deg.

2021-08-15T17:21:27.501Z,1629048087.501 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:21:27.865Z,1629048087.865 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:21:27.865Z,1629048087.865 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:21:27.865Z,1629048087.865 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:21:27.866Z,1629048087.866 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:21:28.277Z,1629048088.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E63,000,002D7,186,80,80,A3,FF
2021-08-15T17:21:28.277Z,1629048088.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:21:28.277Z,1629048088.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:21:28.279Z,1629048088.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:21:28.669Z,1629048088.669 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:21:29.093Z,1629048089.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E20,000,002C8,187,80,80,82,FF
2021-08-15T17:21:29.094Z,1629048089.094 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:21:29.208Z,1629048089.208 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:21:29.501Z,1629048089.501 [Micromodem](INFO): Nmea in: $SNTTA,0.042911,,,,172129.34*46

2021-08-15T17:21:29.546Z,1629048089.546 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.220001 m, bearing: 242.568895 deg, deltaT: 4.527931 s, approachRate: -0.198766 m/s, LOS rate: 4.553344 deg/s, posRepo size: 4
2021-08-15T17:21:29.548Z,1629048089.548 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.220001 m,
      bearing: 242.568895 deg,
      approachRate: -0.198766 m/s,
      LOS rate: 4.553344 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 242.524195 deg,
      new cmd heading: 243.958747 deg.

2021-08-15T17:21:31.916Z,1629048091.916 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:21:32.305Z,1629048092.305 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:21:32.306Z,1629048092.306 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:21:32.306Z,1629048092.306 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:21:32.307Z,1629048092.307 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:21:32.717Z,1629048092.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E20,000,002C8,187,80,80,82,FF
2021-08-15T17:21:32.717Z,1629048092.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:21:32.717Z,1629048092.717 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:21:32.719Z,1629048092.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:21:33.117Z,1629048093.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:21:33.513Z,1629048093.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,208,000,002BF,186,80,80,B0,FF
2021-08-15T17:21:33.514Z,1629048093.514 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:21:33.544Z,1629048093.544 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:21:33.950Z,1629048093.950 [Micromodem](INFO): Nmea in: $SNTTA,0.039561,,,,172133.78*42

2021-08-15T17:21:33.973Z,1629048093.973 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-15T17:21:33.974Z,1629048093.974 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-15T17:21:33.974Z,1629048093.974 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-15T17:21:33.974Z,1629048093.974 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T17:21:33.974Z,1629048093.974 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-15T17:21:33.975Z,1629048093.975 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.679999 m 
2021-08-15T17:21:33.975Z,1629048093.975 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-15T17:21:33.975Z,1629048093.975 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-15T17:21:33.975Z,1629048093.975 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-15T17:21:33.978Z,1629048093.978 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.679999 m, bearing: 211.702424 deg, deltaT: 4.335175 s, approachRate: -0.124563 m/s, LOS rate: -7.120006 deg/s, posRepo size: 4
2021-08-15T17:21:33.980Z,1629048093.980 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.679999 m,
      bearing: 211.702424 deg,
      approachRate: -0.124563 m/s,
      LOS rate: -7.120006 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 294.967845 deg,
      new cmd heading: 300.211737 deg.

2021-08-15T17:21:34.383Z,1629048094.383 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210815T172134: (41.552319, -70.708603)
2021-08-15T17:21:34.383Z,1629048094.383 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-15T17:21:34.383Z,1629048094.383 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-15T17:21:34.383Z,1629048094.383 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T17:21:34.383Z,1629048094.383 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-15T17:21:34.383Z,1629048094.383 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T17:21:34.383Z,1629048094.383 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-15T17:21:34.388Z,1629048094.388 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-15T17:21:34.388Z,1629048094.388 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-15T17:21:34.777Z,1629048094.777 [UniversalFixResidualReporter](INFO): Fix residual: 10.6 %DT, over the last 904.9 m. Residual distance 96.0 m at bearing 51.4 degrees. Fix at (41.5518, -70.7080) with 0.0 m made good.
2021-08-15T17:21:36.391Z,1629048096.391 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:21:36.742Z,1629048096.742 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:21:36.742Z,1629048096.742 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:21:36.743Z,1629048096.743 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:21:36.743Z,1629048096.743 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:21:37.154Z,1629048097.154 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
208,000,002BF,186,80,80,B0,FF
2021-08-15T17:21:37.154Z,1629048097.154 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:21:37.154Z,1629048097.154 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:21:37.156Z,1629048097.156 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:21:37.557Z,1629048097.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:21:37.965Z,1629048097.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03C,000,002C6,184,80,80,8B,FF
2021-08-15T17:21:37.965Z,1629048097.965 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:21:37.986Z,1629048097.986 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:21:38.394Z,1629048098.394 [Micromodem](INFO): Nmea in: $SNTTA,,,,,172138.22*50

2021-08-15T17:21:38.447Z,1629048098.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.100000 m, bearing: 254.054378 deg, deltaT: 4.441554 s, approachRate: 0.094562 m/s, LOS rate: 9.535391 deg/s, posRepo size: 4
2021-08-15T17:21:38.449Z,1629048098.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.100000 m,
      bearing: 254.054378 deg,
      approachRate: 0.094562 m/s,
      LOS rate: 9.535391 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 241.666291 deg,
      new cmd heading: 236.098075 deg.

2021-08-15T17:21:40.814Z,1629048100.814 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:21:41.210Z,1629048101.210 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:21:41.211Z,1629048101.211 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:21:41.211Z,1629048101.211 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:21:41.216Z,1629048101.216 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:21:41.606Z,1629048101.606 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03C,000,002C6,184,80,80,8B,FF
2021-08-15T17:21:41.606Z,1629048101.606 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:21:41.606Z,1629048101.606 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:21:41.608Z,1629048101.608 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:21:42.009Z,1629048102.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:21:42.414Z,1629048102.414 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E78,000,002D4,187,80,80,A7,FF
2021-08-15T17:21:42.415Z,1629048102.415 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:21:42.478Z,1629048102.478 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:21:42.865Z,1629048102.865 [Micromodem](INFO): Nmea in: $SNTTA,0.028038,,,,172142.67*43

2021-08-15T17:21:42.887Z,1629048102.887 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.940001 m, bearing: 292.658197 deg, deltaT: 4.492655 s, approachRate: 0.186972 m/s, LOS rate: 8.592652 deg/s, posRepo size: 4
2021-08-15T17:21:42.888Z,1629048102.888 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 5.94 m.
2021-08-15T17:21:42.889Z,1629048102.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](IMPORTANT): Docking sequence complete at range 5.94 m. Cable present.
2021-08-15T17:21:42.889Z,1629048102.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-08-15T17:21:42.889Z,1629048102.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-15T17:21:42.889Z,1629048102.889 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Running Loop=1
2021-08-15T17:21:43.266Z,1629048103.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G](INFO): Docked. Homing sequence complete.
2021-08-15T17:21:43.266Z,1629048103.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:G] Stopped
2021-08-15T17:21:43.266Z,1629048103.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1
2021-08-15T17:21:43.653Z,1629048103.653 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped
2021-08-15T17:21:43.654Z,1629048103.654 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-15T17:21:43.655Z,1629048103.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-15T17:21:43.655Z,1629048103.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-15T17:21:43.655Z,1629048103.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-15T17:21:43.655Z,1629048103.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-15T17:21:43.655Z,1629048103.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-15T17:21:43.655Z,1629048103.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-15T17:21:44.022Z,1629048104.022 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-15T17:21:44.022Z,1629048104.022 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-15T17:21:44.022Z,1629048104.022 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-08-15T17:21:44.022Z,1629048104.022 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-15T17:21:44.023Z,1629048104.023 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Running Loop=1
2021-08-15T17:21:44.023Z,1629048104.023 [lineCaptureDepth:UpdateNumPings_NotTerminal] Running Loop=1
2021-08-15T17:21:44.023Z,1629048104.023 [lineCaptureDepth:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with 1.000000 count pings.
2021-08-15T17:21:44.023Z,1629048104.023 [lineCaptureDepth:UpdateNumPings_NotTerminal:A] Stopped
2021-08-15T17:21:44.023Z,1629048104.023 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Running Loop=1
2021-08-15T17:21:44.024Z,1629048104.024 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-08-15T17:21:44.024Z,1629048104.024 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-15T17:21:44.024Z,1629048104.024 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-08-15T17:21:44.024Z,1629048104.024 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-15T17:21:44.025Z,1629048104.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-15T17:21:44.025Z,1629048104.025 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-15T17:21:44.025Z,1629048104.025 [lineCaptureDepth:LineCapture:K.Wait] Running Loop=1
2021-08-15T17:21:44.025Z,1629048104.025 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Initialize Wait Component.
2021-08-15T17:21:44.455Z,1629048104.455 [lineCaptureDepth:UpdateNumPings_NotTerminal:B] Stopped
2021-08-15T17:21:44.455Z,1629048104.455 [lineCaptureDepth:UpdateNumPings_NotTerminal](INFO): Completed lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-15T17:21:45.298Z,1629048105.298 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:21:45.601Z,1629048105.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:21:45.601Z,1629048105.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:21:45.601Z,1629048105.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:21:45.602Z,1629048105.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:21:46.009Z,1629048106.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E78,000,002D4,187,80,80,A7,FF
2021-08-15T17:21:46.009Z,1629048106.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:21:46.009Z,1629048106.009 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:21:46.011Z,1629048106.011 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:21:46.430Z,1629048106.430 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:21:46.813Z,1629048106.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2B,000,002E2,186,80,80,AD,FF
2021-08-15T17:21:46.813Z,1629048106.813 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:21:47.252Z,1629048107.252 [Micromodem](INFO): Nmea in: $SNTTA,0.007730,,,,172147.07*42

2021-08-15T17:21:47.662Z,1629048107.662 [lineCaptureDepth:LineCapture:K.Wait](INFO): Done Waiting.
2021-08-15T17:21:47.662Z,1629048107.662 [lineCaptureDepth:LineCapture:K.Wait] Stopped
2021-08-15T17:21:47.662Z,1629048107.662 [lineCaptureDepth:LineCapture:K.Wait](DEBUG): Uninitialize Wait Component.
2021-08-15T17:21:47.663Z,1629048107.663 [lineCaptureDepth:LineCapture:L] Running Loop=1
2021-08-15T17:21:48.053Z,1629048108.053 [lineCaptureDepth:LineCapture:L](INFO): GuidanceMode 0.000000 count 
2021-08-15T17:21:48.053Z,1629048108.053 [lineCaptureDepth:LineCapture:L] Stopped
2021-08-15T17:21:48.056Z,1629048108.056 [lineCaptureDepth:LineCapture](INFO): Completed lineCaptureDepth:LineCapture
2021-08-15T17:21:48.056Z,1629048108.056 [lineCaptureDepth:LineCapture] Stopped
2021-08-15T17:21:48.056Z,1629048108.056 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-08-15T17:21:48.056Z,1629048108.056 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-08-15T17:21:48.056Z,1629048108.056 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-15T17:21:48.056Z,1629048108.056 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-15T17:21:48.056Z,1629048108.056 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-15T17:21:48.057Z,1629048108.057 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-15T17:21:48.057Z,1629048108.057 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-15T17:21:48.057Z,1629048108.057 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-15T17:21:48.057Z,1629048108.057 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-15T17:21:48.057Z,1629048108.057 [lineCaptureDepth:LineCapture:G] Stopped
2021-08-15T17:21:48.057Z,1629048108.057 [lineCaptureDepth:LineCapture:H] Stopped
2021-08-15T17:21:48.057Z,1629048108.057 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-15T17:21:48.057Z,1629048108.057 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-15T17:21:48.057Z,1629048108.057 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-15T17:21:48.057Z,1629048108.057 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-15T17:21:48.057Z,1629048108.057 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-15T17:21:48.057Z,1629048108.057 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-15T17:21:48.058Z,1629048108.058 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-15T17:21:48.492Z,1629048108.492 [lineCaptureDepth:Lap:B](INFO): Completed lineCaptureDepth:Lap:B
2021-08-15T17:21:48.492Z,1629048108.492 [lineCaptureDepth:Lap:B] Stopped
2021-08-15T17:21:48.492Z,1629048108.492 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-08-15T17:21:48.493Z,1629048108.493 [lineCaptureDepth:Lap:C] Running Loop=1
2021-08-15T17:21:48.877Z,1629048108.877 [lineCaptureDepth:Lap:C] Stopped
2021-08-15T17:21:48.877Z,1629048108.877 [lineCaptureDepth:Lap:D] Running Loop=1
2021-08-15T17:21:49.253Z,1629048109.253 [PowerOnly](INFO): Powering down loadControl
2021-08-15T17:21:49.331Z,1629048109.331 [lineCaptureDepth:Lap:D](INFO): Mode 0.000000 count 
2021-08-15T17:21:49.348Z,1629048109.348 [lineCaptureDepth:Lap:D] Stopped
2021-08-15T17:21:49.348Z,1629048109.348 [lineCaptureDepth:Lap:Docked] Running Loop=1
2021-08-15T17:21:49.348Z,1629048109.348 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked
2021-08-15T17:21:49.348Z,1629048109.348 [lineCaptureDepth:Lap:Docked:A] Running Loop=1
2021-08-15T17:21:49.666Z,1629048109.666 [lineCaptureDepth:Lap:Docked:A](INFO): Waiting on dock for 5.000000 min 
2021-08-15T17:21:49.666Z,1629048109.666 [lineCaptureDepth:Lap:Docked:A] Stopped
2021-08-15T17:21:49.666Z,1629048109.666 [lineCaptureDepth:Lap:Docked:Docked.Docked] Running Loop=1
2021-08-15T17:21:49.666Z,1629048109.666 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initialize.
2021-08-15T17:21:49.667Z,1629048109.667 [lineCaptureDepth:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values.
2021-08-15T17:21:49.667Z,1629048109.667 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining depth of 6.000000 m.
2021-08-15T17:21:49.667Z,1629048109.667 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Maintaining pitch angle of 20.000000 degree.
2021-08-15T17:21:49.672Z,1629048109.672 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:21:50.045Z,1629048110.045 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:21:50.045Z,1629048110.045 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:21:50.045Z,1629048110.045 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:21:50.046Z,1629048110.046 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:21:50.453Z,1629048110.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2B,000,002E2,186,80,80,AD,FF
2021-08-15T17:21:50.453Z,1629048110.453 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:21:50.453Z,1629048110.453 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:21:50.455Z,1629048110.455 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:21:50.553Z,1629048110.553 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 20.00 deg, mass-position 2.95 mm (3 active estimators).
2021-08-15T17:21:50.963Z,1629048110.963 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:21:51.297Z,1629048111.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F66,000,002F9,186,80,80,98,FF
2021-08-15T17:21:51.297Z,1629048111.297 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:21:51.719Z,1629048111.719 [Micromodem](INFO): Nmea in: $SNTTA,0.035559,,,,172151.52*49

2021-08-15T17:21:51.772Z,1629048111.772 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Detected possible state switch to DETACHED.
2021-08-15T17:21:54.134Z,1629048114.134 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:21:54.529Z,1629048114.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:21:54.529Z,1629048114.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:21:54.530Z,1629048114.530 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:21:54.531Z,1629048114.531 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:21:54.925Z,1629048114.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F66,000,002F9,186,80,80,98,FF
2021-08-15T17:21:54.925Z,1629048114.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:21:54.925Z,1629048114.925 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:21:54.927Z,1629048114.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:21:55.341Z,1629048115.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:21:55.737Z,1629048115.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05D,000,00304,187,80,80,AF,FF
2021-08-15T17:21:55.737Z,1629048115.737 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:21:56.213Z,1629048116.213 [Micromodem](INFO): Nmea in: $SNTTA,0.029128,,,,172155.99*45

2021-08-15T17:21:58.592Z,1629048118.592 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:21:58.961Z,1629048118.961 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:21:58.962Z,1629048118.962 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:21:58.962Z,1629048118.962 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:21:58.963Z,1629048118.963 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:21:59.374Z,1629048119.374 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05D,000,00304,187,80,80,AF,FF
2021-08-15T17:21:59.374Z,1629048119.374 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:21:59.374Z,1629048119.374 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:21:59.376Z,1629048119.376 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:21:59.777Z,1629048119.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:22:00.180Z,1629048120.180 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F8,000,0030A,186,80,80,89,FF
2021-08-15T17:22:00.182Z,1629048120.182 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:22:00.617Z,1629048120.617 [Micromodem](INFO): Nmea in: $SNTTA,0.039613,,,,172200.44*48

2021-08-15T17:22:03.058Z,1629048123.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:22:03.485Z,1629048123.485 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:22:03.485Z,1629048123.485 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:22:03.485Z,1629048123.485 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:22:03.486Z,1629048123.486 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:22:03.813Z,1629048123.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F8,000,0030A,186,80,80,89,FF
2021-08-15T17:22:03.813Z,1629048123.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:22:03.813Z,1629048123.813 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:22:03.815Z,1629048123.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:22:04.263Z,1629048124.263 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:22:04.626Z,1629048124.626 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18D,000,0031C,186,80,80,54,FF
2021-08-15T17:22:04.626Z,1629048124.626 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:22:07.484Z,1629048127.484 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:22:07.853Z,1629048127.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:22:07.853Z,1629048127.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:22:07.853Z,1629048127.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:22:07.854Z,1629048127.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:22:08.261Z,1629048128.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18D,000,0031C,186,80,80,54,FF
2021-08-15T17:22:08.261Z,1629048128.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:22:08.261Z,1629048128.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:22:08.263Z,1629048128.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:22:08.673Z,1629048128.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:22:09.089Z,1629048129.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E10,000,00308,187,80,80,3A,FF
2021-08-15T17:22:09.090Z,1629048129.090 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:22:09.493Z,1629048129.493 [Micromodem](INFO): Nmea in: $SNTTA,0.025431,,,,172209.33*4E

2021-08-15T17:22:11.880Z,1629048131.880 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:22:12.297Z,1629048132.297 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:22:12.297Z,1629048132.297 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:22:12.297Z,1629048132.297 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:22:12.298Z,1629048132.298 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:22:12.673Z,1629048132.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E10,000,00308,187,80,80,3A,FF
2021-08-15T17:22:12.673Z,1629048132.673 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:22:12.673Z,1629048132.673 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:22:12.675Z,1629048132.675 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:22:13.099Z,1629048133.099 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:22:13.113Z,1629048133.113 [Micromodem](INFO): Nmea in: 4000*29

2021-08-15T17:22:13.114Z,1629048133.114 [Micromodem](ERROR): Response from modem failed NMEA checksum: 4000*29
 expected 0
2021-08-15T17:22:13.582Z,1629048133.582 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEF,000,0030B,188,80,80,9B,FF
2021-08-15T17:22:13.582Z,1629048133.582 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:22:16.389Z,1629048136.389 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:22:16.753Z,1629048136.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:22:16.753Z,1629048136.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:22:16.753Z,1629048136.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:22:16.754Z,1629048136.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:22:17.145Z,1629048137.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEF,000,0030B,188,80,80,9B,FF
2021-08-15T17:22:17.145Z,1629048137.145 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:22:17.146Z,1629048137.146 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:22:17.147Z,1629048137.147 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:22:17.564Z,1629048137.564 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:22:17.953Z,1629048137.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E5D,000,0030F,186,80,80,88,FF
2021-08-15T17:22:17.953Z,1629048137.953 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:22:18.398Z,1629048138.398 [Micromodem](INFO): Nmea in: $SNTTA,0.020720,,,,172218.21*4B

2021-08-15T17:22:20.806Z,1629048140.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:22:21.245Z,1629048141.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:22:21.245Z,1629048141.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:22:21.245Z,1629048141.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:22:21.246Z,1629048141.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:22:21.593Z,1629048141.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E5D,000,0030F,186,80,80,88,FF
2021-08-15T17:22:21.593Z,1629048141.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:22:21.593Z,1629048141.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:22:21.595Z,1629048141.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:22:21.969Z,1629048141.969 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:22:22.398Z,1629048142.398 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E68,000,00308,186,80,80,5B,FF
2021-08-15T17:22:22.398Z,1629048142.398 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:22:22.801Z,1629048142.801 [Micromodem](INFO): Nmea in: $SNTTA,0.042324,,,,172222.66*45

2021-08-15T17:22:25.303Z,1629048145.303 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:22:25.638Z,1629048145.638 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:22:25.638Z,1629048145.638 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:22:25.638Z,1629048145.638 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:22:25.639Z,1629048145.639 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:22:26.033Z,1629048146.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E68,000,00308,186,80,80,5B,FF
2021-08-15T17:22:26.033Z,1629048146.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:22:26.033Z,1629048146.033 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:22:26.035Z,1629048146.035 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:22:26.448Z,1629048146.448 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:22:26.466Z,1629048146.466 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T17:22:26.846Z,1629048146.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECD,000,0031B,186,80,80,6C,FF
2021-08-15T17:22:26.846Z,1629048146.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:22:27.289Z,1629048147.289 [Micromodem](INFO): Nmea in: $SNTTA,,0.430660,,,172227.10*45

2021-08-15T17:22:29.687Z,1629048149.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:22:30.077Z,1629048150.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:22:30.077Z,1629048150.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:22:30.077Z,1629048150.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:22:30.078Z,1629048150.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:22:30.481Z,1629048150.481 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECD,000,0031B,186,80,80,6C,FF
2021-08-15T17:22:30.481Z,1629048150.481 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:22:30.481Z,1629048150.481 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:22:30.483Z,1629048150.483 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:22:30.885Z,1629048150.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:22:31.284Z,1629048151.284 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5C,000,00307,187,80,80,4B,FF
2021-08-15T17:22:31.285Z,1629048151.285 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:22:31.288Z,1629048151.288 [Micromodem](INFO): Nmea in: $SNTTA,0.055421,0.167722,,,172231.55*5A

2021-08-15T17:22:31.313Z,1629048151.313 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T17:22:34.134Z,1629048154.134 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:22:34.521Z,1629048154.521 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:22:34.521Z,1629048154.521 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:22:34.521Z,1629048154.521 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:22:34.522Z,1629048154.522 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:22:34.925Z,1629048154.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5C,000,00307,187,80,80,4B,FF
2021-08-15T17:22:34.925Z,1629048154.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:22:34.926Z,1629048154.926 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:22:34.927Z,1629048154.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:22:35.329Z,1629048155.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:22:35.738Z,1629048155.738 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FCE,000,00315,184,80,80,51,FF
2021-08-15T17:22:35.738Z,1629048155.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:22:36.185Z,1629048156.185 [Micromodem](INFO): Nmea in: $SNTTA,,,,,172235.99*5E

2021-08-15T17:22:38.570Z,1629048158.570 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:22:38.981Z,1629048158.981 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:22:38.981Z,1629048158.981 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:22:38.982Z,1629048158.982 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:22:38.982Z,1629048158.982 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:22:39.365Z,1629048159.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FCE,000,00315,184,80,80,51,FF
2021-08-15T17:22:39.365Z,1629048159.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:22:39.365Z,1629048159.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:22:39.367Z,1629048159.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:22:39.785Z,1629048159.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:22:40.185Z,1629048160.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,034,000,00301,185,80,80,31,FF
2021-08-15T17:22:40.186Z,1629048160.186 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:22:40.613Z,1629048160.613 [Micromodem](INFO): Nmea in: $SNTTA,0.028947,,,,172240.43*45

2021-08-15T17:22:41.447Z,1629048161.447 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T17:22:43.063Z,1629048163.063 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:22:43.381Z,1629048163.381 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:22:43.381Z,1629048163.381 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:22:43.381Z,1629048163.381 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:22:43.382Z,1629048163.382 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:22:43.889Z,1629048163.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
034,000,00301,185,80,80,31,FF
2021-08-15T17:22:43.889Z,1629048163.889 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:22:43.890Z,1629048163.890 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:22:43.891Z,1629048163.891 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:22:44.252Z,1629048164.252 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:22:44.618Z,1629048164.618 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,060,000,00313,186,80,80,45,FF
2021-08-15T17:22:44.619Z,1629048164.619 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:22:45.073Z,1629048165.073 [Micromodem](INFO): Nmea in: $SNTTA,0.031691,,,,172244.95*46

2021-08-15T17:22:46.281Z,1629048166.281 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T17:22:47.483Z,1629048167.483 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:22:47.850Z,1629048167.850 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:22:47.850Z,1629048167.850 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:22:47.851Z,1629048167.851 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:22:47.852Z,1629048167.852 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:22:48.257Z,1629048168.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
060,000,00313,186,80,80,45,FF
2021-08-15T17:22:48.257Z,1629048168.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:22:48.257Z,1629048168.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:22:48.259Z,1629048168.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:22:48.678Z,1629048168.678 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:22:49.105Z,1629048169.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08E,000,0030C,187,80,80,7B,FF
2021-08-15T17:22:49.105Z,1629048169.105 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:22:49.109Z,1629048169.109 [Micromodem](INFO): Nmea in: $SNTTA,0.277234,0.277109,,,172249.32*59

2021-08-15T17:22:51.902Z,1629048171.902 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:22:52.267Z,1629048172.267 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:22:52.268Z,1629048172.268 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:22:52.268Z,1629048172.268 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:22:52.269Z,1629048172.269 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:22:52.703Z,1629048172.703 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08E,000,0030C,187,80,80,7B,FF
2021-08-15T17:22:52.703Z,1629048172.703 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:22:52.703Z,1629048172.703 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:22:52.705Z,1629048172.705 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:22:53.089Z,1629048173.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:22:53.477Z,1629048173.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,084,000,002F2,186,80,80,AE,FF
2021-08-15T17:22:53.477Z,1629048173.477 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:22:54.017Z,1629048174.017 [Micromodem](INFO): Nmea in: $SNTTA,,,,,172253.77*5E

2021-08-15T17:22:56.340Z,1629048176.340 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T17:22:56.353Z,1629048176.353 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:22:56.745Z,1629048176.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:22:56.745Z,1629048176.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:22:56.746Z,1629048176.746 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:22:56.747Z,1629048176.747 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:22:57.141Z,1629048177.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
084,000,002F2,186,80,80,AE,FF
2021-08-15T17:22:57.141Z,1629048177.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:22:57.141Z,1629048177.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:22:57.143Z,1629048177.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:22:57.550Z,1629048177.550 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:22:57.954Z,1629048177.954 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,082,000,002EF,187,80,80,79,FF
2021-08-15T17:22:57.954Z,1629048177.954 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:22:58.381Z,1629048178.381 [Micromodem](INFO): Nmea in: $SNTTA,0.007957,,,,172258.21*44

2021-08-15T17:23:00.798Z,1629048180.798 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:23:01.211Z,1629048181.211 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:23:01.222Z,1629048181.222 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:23:01.223Z,1629048181.223 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:23:01.224Z,1629048181.224 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:23:01.585Z,1629048181.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
082,000,002EF,187,80,80,79,FF
2021-08-15T17:23:01.585Z,1629048181.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:23:01.585Z,1629048181.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:23:01.587Z,1629048181.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:23:02.027Z,1629048182.027 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:23:02.369Z,1629048182.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09B,000,002EB,186,80,80,A6,FF
2021-08-15T17:23:02.369Z,1629048182.369 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:23:05.302Z,1629048185.302 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:23:05.625Z,1629048185.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:23:05.625Z,1629048185.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:23:05.625Z,1629048185.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:23:05.626Z,1629048185.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:23:06.029Z,1629048186.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09B,000,002EB,186,80,80,A6,FF
2021-08-15T17:23:06.029Z,1629048186.029 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:23:06.029Z,1629048186.029 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:23:06.031Z,1629048186.031 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:23:06.445Z,1629048186.445 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:23:06.837Z,1629048186.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,072,000,002F7,186,80,80,75,FF
2021-08-15T17:23:06.837Z,1629048186.837 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:23:07.315Z,1629048187.315 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Detected possible state switch to DETACHED.
2021-08-15T17:23:09.687Z,1629048189.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:23:10.069Z,1629048190.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:23:10.069Z,1629048190.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:23:10.069Z,1629048190.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:23:10.070Z,1629048190.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:23:10.473Z,1629048190.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
072,000,002F7,186,80,80,75,FF
2021-08-15T17:23:10.473Z,1629048190.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:23:10.473Z,1629048190.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:23:10.475Z,1629048190.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:23:10.891Z,1629048190.891 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:23:11.281Z,1629048191.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,068,000,002DA,187,80,80,85,FF
2021-08-15T17:23:11.281Z,1629048191.281 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:23:11.285Z,1629048191.285 [Micromodem](INFO): Nmea in: $SNTTA,0.007631,0.208804,,,172311.54*5D

2021-08-15T17:23:14.257Z,1629048194.257 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:23:14.517Z,1629048194.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:23:14.517Z,1629048194.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:23:14.517Z,1629048194.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:23:14.518Z,1629048194.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:23:14.922Z,1629048194.922 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
068,000,002DA,187,80,80,85,FF
2021-08-15T17:23:14.922Z,1629048194.922 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:23:14.922Z,1629048194.922 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:23:14.924Z,1629048194.924 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:23:15.333Z,1629048195.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:23:15.385Z,1629048195.385 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-15T17:23:15.725Z,1629048195.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E9,000,002EC,186,80,80,9F,FF
2021-08-15T17:23:15.726Z,1629048195.726 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:23:16.157Z,1629048196.157 [Micromodem](INFO): Nmea in: $SNTTA,0.030670,,,,172315.99*41

2021-08-15T17:23:18.597Z,1629048198.597 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:23:18.962Z,1629048198.962 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:23:18.962Z,1629048198.962 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:23:18.962Z,1629048198.962 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:23:18.963Z,1629048198.963 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:23:19.361Z,1629048199.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E9,000,002EC,186,80,80,9F,FF
2021-08-15T17:23:19.361Z,1629048199.361 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:23:19.361Z,1629048199.361 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:23:19.363Z,1629048199.363 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:23:19.778Z,1629048199.778 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:23:20.590Z,1629048200.590 [Micromodem](INFO): Nmea in: $SNTTA,,,,,172320.43*5C

2021-08-15T17:23:21.456Z,1629048201.456 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:23:23.016Z,1629048203.016 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,9F,FF
2021-08-15T17:23:23.017Z,1629048203.017 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,9F,FF
2021-08-15T17:23:23.017Z,1629048203.017 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T17:23:24.329Z,1629048204.329 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:23:24.613Z,1629048204.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:23:24.613Z,1629048204.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:23:24.613Z,1629048204.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:23:24.614Z,1629048204.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:23:25.057Z,1629048205.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,9F,FF
2021-08-15T17:23:25.057Z,1629048205.057 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:23:25.057Z,1629048205.057 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:23:25.059Z,1629048205.059 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:23:25.436Z,1629048205.436 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:23:25.838Z,1629048205.838 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,102,000,002C6,185,80,80,BF,FF
2021-08-15T17:23:25.838Z,1629048205.838 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:23:26.322Z,1629048206.322 [Micromodem](INFO): Nmea in: $SNTTA,0.006559,,,,172326.13*4E

2021-08-15T17:23:28.682Z,1629048208.682 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:23:29.089Z,1629048209.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:23:29.089Z,1629048209.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:23:29.089Z,1629048209.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:23:29.090Z,1629048209.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:23:29.469Z,1629048209.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
102,000,002C6,185,80,80,BF,FF
2021-08-15T17:23:29.469Z,1629048209.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:23:29.469Z,1629048209.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:23:29.471Z,1629048209.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:23:29.869Z,1629048209.869 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:23:30.273Z,1629048210.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E3,000,002BF,186,80,80,A3,FF
2021-08-15T17:23:30.273Z,1629048210.273 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:23:30.705Z,1629048210.705 [Micromodem](INFO): Nmea in: $SNTTA,0.030434,,,,172330.54*45

2021-08-15T17:23:31.511Z,1629048211.511 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T17:23:33.138Z,1629048213.138 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:23:33.478Z,1629048213.478 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:23:33.478Z,1629048213.478 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:23:33.478Z,1629048213.478 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:23:33.479Z,1629048213.479 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:23:33.877Z,1629048213.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E3,000,002BF,186,80,80,A3,FF
2021-08-15T17:23:33.877Z,1629048213.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:23:33.877Z,1629048213.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:23:33.879Z,1629048213.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:23:34.389Z,1629048214.389 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:23:34.713Z,1629048214.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C2,000,002BC,187,80,80,84,FF
2021-08-15T17:23:34.714Z,1629048214.714 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:23:35.150Z,1629048215.150 [Micromodem](INFO): Nmea in: $SNTTA,,,,,172334.96*51

2021-08-15T17:23:37.574Z,1629048217.574 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:23:37.945Z,1629048217.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:23:37.945Z,1629048217.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:23:37.945Z,1629048217.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:23:37.946Z,1629048217.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:23:38.366Z,1629048218.366 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C2,000,002BC,187,80,80,84,FF
2021-08-15T17:23:38.366Z,1629048218.366 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:23:38.366Z,1629048218.366 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:23:38.369Z,1629048218.369 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:23:38.763Z,1629048218.763 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:23:39.180Z,1629048219.180 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,099,000,002B9,186,80,80,AE,FF
2021-08-15T17:23:39.182Z,1629048219.182 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:23:39.590Z,1629048219.590 [Micromodem](INFO): Nmea in: $SNTTA,0.035058,,,,172339.43*41

2021-08-15T17:23:41.999Z,1629048221.999 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:23:42.403Z,1629048222.403 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:23:42.403Z,1629048222.403 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:23:42.403Z,1629048222.403 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:23:42.405Z,1629048222.405 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:23:42.763Z,1629048222.763 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
099,000,002B9,186,80,80,AE,FF
2021-08-15T17:23:42.763Z,1629048222.763 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:23:42.763Z,1629048222.763 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:23:42.765Z,1629048222.765 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:23:43.219Z,1629048223.219 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:23:43.569Z,1629048223.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7E,000,002B6,186,80,80,7B,FF
2021-08-15T17:23:43.570Z,1629048223.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:23:43.993Z,1629048223.993 [Micromodem](INFO): Nmea in: $SNTTA,,,,,172343.83*55

2021-08-15T17:23:46.483Z,1629048226.483 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:23:46.833Z,1629048226.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:23:46.833Z,1629048226.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:23:46.833Z,1629048226.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:23:46.834Z,1629048226.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:23:47.257Z,1629048227.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7E,000,002B6,186,80,80,7B,FF
2021-08-15T17:23:47.257Z,1629048227.257 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:23:47.257Z,1629048227.257 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:23:47.259Z,1629048227.259 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:23:47.645Z,1629048227.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:23:48.045Z,1629048228.045 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08E,000,002B1,187,80,80,81,FF
2021-08-15T17:23:48.045Z,1629048228.045 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:23:48.477Z,1629048228.477 [Micromodem](INFO): Nmea in: $SNTTA,0.027412,,,,172348.33*49

2021-08-15T17:23:50.903Z,1629048230.903 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:23:51.316Z,1629048231.316 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:23:51.316Z,1629048231.316 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:23:51.316Z,1629048231.316 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:23:51.317Z,1629048231.317 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:23:51.681Z,1629048231.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08E,000,002B1,187,80,80,81,FF
2021-08-15T17:23:51.681Z,1629048231.681 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:23:51.681Z,1629048231.681 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:23:51.683Z,1629048231.683 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:23:52.103Z,1629048232.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:23:52.497Z,1629048232.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C4,000,002B1,186,80,80,84,FF
2021-08-15T17:23:52.497Z,1629048232.497 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:23:52.890Z,1629048232.890 [Micromodem](INFO): Nmea in: $SNTTA,0.038295,,,,172352.75*47

2021-08-15T17:23:55.394Z,1629048235.394 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:23:55.725Z,1629048235.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:23:55.725Z,1629048235.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:23:55.725Z,1629048235.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:23:55.726Z,1629048235.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:23:56.130Z,1629048236.130 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C4,000,002B1,186,80,80,84,FF
2021-08-15T17:23:56.130Z,1629048236.130 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:23:56.130Z,1629048236.130 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:23:56.131Z,1629048236.131 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:23:56.550Z,1629048236.550 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:23:56.945Z,1629048236.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15E,000,002B4,185,80,80,85,FF
2021-08-15T17:23:56.946Z,1629048236.946 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:23:57.390Z,1629048237.390 [Micromodem](INFO): Nmea in: $SNTTA,0.032608,,,,172357.20*48

2021-08-15T17:23:59.786Z,1629048239.786 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:24:00.165Z,1629048240.165 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:24:00.165Z,1629048240.165 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:24:00.165Z,1629048240.165 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:24:00.166Z,1629048240.166 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:24:00.580Z,1629048240.580 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15E,000,002B4,185,80,80,85,FF
2021-08-15T17:24:00.580Z,1629048240.580 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:24:00.580Z,1629048240.580 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:24:00.582Z,1629048240.582 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:24:01.010Z,1629048241.010 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:24:01.385Z,1629048241.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E0,000,002B9,187,80,80,B6,FF
2021-08-15T17:24:01.386Z,1629048241.386 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:24:01.825Z,1629048241.825 [Micromodem](INFO): Nmea in: $SNTTA,0.044306,,,,172401.65*47

2021-08-15T17:24:04.243Z,1629048244.243 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:24:04.685Z,1629048244.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:24:04.685Z,1629048244.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:24:04.685Z,1629048244.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:24:04.686Z,1629048244.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:24:05.053Z,1629048245.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E0,000,002B9,187,80,80,B6,FF
2021-08-15T17:24:05.053Z,1629048245.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:24:05.054Z,1629048245.054 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:24:05.055Z,1629048245.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:24:05.444Z,1629048245.444 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:24:05.821Z,1629048245.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A2,000,002C0,186,80,80,9C,FF
2021-08-15T17:24:05.821Z,1629048245.821 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:24:06.289Z,1629048246.289 [Micromodem](INFO): Nmea in: $SNTTA,0.023984,,,,172406.12*41

2021-08-15T17:24:08.677Z,1629048248.677 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:24:09.089Z,1629048249.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:24:09.089Z,1629048249.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:24:09.089Z,1629048249.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:24:09.090Z,1629048249.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:24:09.469Z,1629048249.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A2,000,002C0,186,80,80,9C,FF
2021-08-15T17:24:09.469Z,1629048249.469 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:24:09.469Z,1629048249.469 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:24:09.471Z,1629048249.471 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:24:09.865Z,1629048249.865 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:24:10.273Z,1629048250.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A5,000,002CA,186,80,80,C5,FF
2021-08-15T17:24:10.274Z,1629048250.274 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:24:10.701Z,1629048250.701 [Micromodem](INFO): Nmea in: $SNTTA,0.057245,,,,172410.54*41

2021-08-15T17:24:13.100Z,1629048253.100 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:24:13.501Z,1629048253.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:24:13.501Z,1629048253.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:24:13.501Z,1629048253.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:24:13.502Z,1629048253.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:24:13.869Z,1629048253.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A5,000,002CA,186,80,80,C5,FF
2021-08-15T17:24:13.869Z,1629048253.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:24:13.869Z,1629048253.869 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:24:13.871Z,1629048253.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:24:14.279Z,1629048254.279 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:24:14.781Z,1629048254.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B2,000,002CE,186,80,80,90,FF
2021-08-15T17:24:14.782Z,1629048254.782 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:24:15.129Z,1629048255.129 [Micromodem](INFO): Nmea in: $SNTTA,0.015451,,,,172414.94*4C

2021-08-15T17:24:17.608Z,1629048257.608 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:24:17.941Z,1629048257.941 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:24:17.941Z,1629048257.941 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:24:17.941Z,1629048257.941 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:24:17.942Z,1629048257.942 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:24:18.354Z,1629048258.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B2,000,002CE,186,80,80,90,FF
2021-08-15T17:24:18.354Z,1629048258.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:24:18.354Z,1629048258.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:24:18.355Z,1629048258.355 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:24:18.753Z,1629048258.753 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:24:19.161Z,1629048259.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,072,000,002F3,187,80,80,86,FF
2021-08-15T17:24:19.161Z,1629048259.161 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:24:19.597Z,1629048259.597 [Micromodem](INFO): Nmea in: $SNTTA,0.019266,,,,172419.42*44

2021-08-15T17:24:21.995Z,1629048261.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:24:22.385Z,1629048262.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:24:22.385Z,1629048262.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:24:22.385Z,1629048262.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:24:22.386Z,1629048262.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:24:22.785Z,1629048262.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
072,000,002F3,187,80,80,86,FF
2021-08-15T17:24:22.785Z,1629048262.785 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:24:22.786Z,1629048262.786 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:24:22.787Z,1629048262.787 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:24:23.171Z,1629048263.171 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:24:23.590Z,1629048263.590 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05F,000,002E8,186,80,80,A8,FF
2021-08-15T17:24:23.590Z,1629048263.590 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:24:24.009Z,1629048264.009 [Micromodem](INFO): Nmea in: $SNTTA,0.030771,,,,172423.85*4E

2021-08-15T17:24:26.478Z,1629048266.478 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:24:26.833Z,1629048266.833 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:24:26.833Z,1629048266.833 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:24:26.833Z,1629048266.833 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:24:26.834Z,1629048266.834 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:24:27.261Z,1629048267.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05F,000,002E8,186,80,80,A8,FF
2021-08-15T17:24:27.261Z,1629048267.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:24:27.261Z,1629048267.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:24:27.263Z,1629048267.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:24:27.651Z,1629048267.651 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:24:28.049Z,1629048268.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,051,000,002ED,183,80,80,94,FF
2021-08-15T17:24:28.049Z,1629048268.049 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:24:28.482Z,1629048268.482 [Micromodem](INFO): Nmea in: $SNTTA,0.128613,,,,172428.33*45

2021-08-15T17:24:30.894Z,1629048270.894 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:24:31.286Z,1629048271.286 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:24:31.286Z,1629048271.286 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:24:31.286Z,1629048271.286 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:24:31.287Z,1629048271.287 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:24:31.308Z,1629048271.308 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
051,000,002ED,183,80,80,94,FF
2021-08-15T17:24:31.309Z,1629048271.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:24:31.309Z,1629048271.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:24:31.310Z,1629048271.310 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:24:31.684Z,1629048271.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:24:32.099Z,1629048272.099 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03D,000,002FB,185,80,80,96,FF
2021-08-15T17:24:32.099Z,1629048272.099 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:24:32.521Z,1629048272.521 [Micromodem](INFO): Nmea in: $SNTTA,0.067938,,,,172432.38*49

2021-08-15T17:24:32.569Z,1629048272.569 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Detected possible state switch to DETACHED.
2021-08-15T17:24:35.060Z,1629048275.060 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:24:35.324Z,1629048275.324 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:24:35.324Z,1629048275.324 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:24:35.324Z,1629048275.324 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:24:35.325Z,1629048275.325 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:24:35.717Z,1629048275.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03D,000,002FB,185,80,80,96,FF
2021-08-15T17:24:35.717Z,1629048275.717 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:24:35.718Z,1629048275.718 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:24:35.719Z,1629048275.719 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:24:36.142Z,1629048276.142 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:24:36.537Z,1629048276.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02A,000,002FE,184,80,80,6E,FF
2021-08-15T17:24:36.537Z,1629048276.537 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:24:36.969Z,1629048276.969 [Micromodem](INFO): Nmea in: $SNTTA,0.053928,,,,172436.79*4E

2021-08-15T17:24:39.435Z,1629048279.435 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:24:39.761Z,1629048279.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:24:39.761Z,1629048279.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:24:39.762Z,1629048279.762 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:24:39.763Z,1629048279.763 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:24:40.190Z,1629048280.190 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02A,000,002FE,184,80,80,6E,FF
2021-08-15T17:24:40.191Z,1629048280.191 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:24:40.192Z,1629048280.192 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:24:40.198Z,1629048280.198 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:24:40.581Z,1629048280.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:24:41.072Z,1629048281.072 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,050,000,0030B,184,80,80,B0,FF
2021-08-15T17:24:41.073Z,1629048281.073 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:24:41.076Z,1629048281.076 [Micromodem](INFO): Nmea in: $SNTTA,0.032673,0.308854,,,172441.26*5E

2021-08-15T17:24:43.818Z,1629048283.818 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:24:44.203Z,1629048284.203 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:24:44.204Z,1629048284.204 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:24:44.205Z,1629048284.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:24:44.206Z,1629048284.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:24:44.577Z,1629048284.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
050,000,0030B,184,80,80,B0,FF
2021-08-15T17:24:44.577Z,1629048284.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:24:44.577Z,1629048284.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:24:44.579Z,1629048284.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:24:45.099Z,1629048285.099 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:24:45.414Z,1629048285.414 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,044,000,00315,184,80,80,73,FF
2021-08-15T17:24:45.415Z,1629048285.415 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:24:45.841Z,1629048285.841 [Micromodem](INFO): Nmea in: $SNTTA,0.059938,,,,172445.64*4D

2021-08-15T17:24:48.310Z,1629048288.310 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:24:48.649Z,1629048288.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:24:48.649Z,1629048288.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:24:48.649Z,1629048288.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:24:48.650Z,1629048288.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:24:49.088Z,1629048289.088 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
044,000,00315,184,80,80,73,FF
2021-08-15T17:24:49.089Z,1629048289.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:24:49.089Z,1629048289.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:24:49.090Z,1629048289.090 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:24:49.482Z,1629048289.482 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:24:49.869Z,1629048289.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,055,000,00323,184,80,80,99,FF
2021-08-15T17:24:49.870Z,1629048289.870 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:24:50.287Z,1629048290.287 [Micromodem](INFO): Nmea in: $SNTTA,0.021463,,,,172450.16*40

2021-08-15T17:24:52.703Z,1629048292.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:24:53.105Z,1629048293.105 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:24:53.105Z,1629048293.105 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:24:53.105Z,1629048293.105 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:24:53.106Z,1629048293.106 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:24:53.473Z,1629048293.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
055,000,00323,184,80,80,99,FF
2021-08-15T17:24:53.473Z,1629048293.473 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:24:53.473Z,1629048293.473 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:24:53.475Z,1629048293.475 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:24:53.905Z,1629048293.905 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:24:54.277Z,1629048294.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04C,000,0032D,184,80,80,95,FF
2021-08-15T17:24:54.278Z,1629048294.278 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:24:54.705Z,1629048294.705 [Micromodem](INFO): Nmea in: $SNTTA,,,,,172454.54*5E

2021-08-15T17:24:57.227Z,1629048297.227 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:24:57.545Z,1629048297.545 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:24:57.545Z,1629048297.545 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:24:57.545Z,1629048297.545 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:24:57.546Z,1629048297.546 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:24:57.946Z,1629048297.946 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04C,000,0032D,184,80,80,95,FF
2021-08-15T17:24:57.946Z,1629048297.946 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:24:57.946Z,1629048297.946 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:24:57.947Z,1629048297.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:24:58.349Z,1629048298.349 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:24:58.754Z,1629048298.754 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,04E,000,00339,184,80,80,9F,FF
2021-08-15T17:24:58.754Z,1629048298.754 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:24:59.170Z,1629048299.170 [Micromodem](INFO): Nmea in: $SNTTA,0.433246,0.433121,,,172459.01*51

2021-08-15T17:25:01.609Z,1629048301.609 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:25:01.992Z,1629048301.992 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:25:01.992Z,1629048301.992 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:25:01.992Z,1629048301.992 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:25:01.993Z,1629048301.993 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:25:02.385Z,1629048302.385 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
04E,000,00339,184,80,80,9F,FF
2021-08-15T17:25:02.385Z,1629048302.385 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:25:02.385Z,1629048302.385 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:25:02.387Z,1629048302.387 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:25:02.802Z,1629048302.802 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:25:03.201Z,1629048303.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,050,000,00343,184,80,80,81,FF
2021-08-15T17:25:03.202Z,1629048303.202 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:25:03.613Z,1629048303.613 [Micromodem](INFO): Nmea in: $SNTTA,0.036761,,,,172503.45*46

2021-08-15T17:25:06.043Z,1629048306.043 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:25:06.429Z,1629048306.429 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:25:06.429Z,1629048306.429 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:25:06.429Z,1629048306.429 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:25:06.430Z,1629048306.430 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:25:06.833Z,1629048306.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
050,000,00343,184,80,80,81,FF
2021-08-15T17:25:06.833Z,1629048306.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:25:06.833Z,1629048306.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:25:06.835Z,1629048306.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:25:07.256Z,1629048307.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:25:07.649Z,1629048307.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06D,000,0034C,186,80,80,67,FF
2021-08-15T17:25:07.650Z,1629048307.650 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:25:08.077Z,1629048308.077 [Micromodem](INFO): Nmea in: $SNTTA,0.040065,,,,172507.90*48

2021-08-15T17:25:10.497Z,1629048310.497 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:25:10.877Z,1629048310.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:25:10.877Z,1629048310.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:25:10.878Z,1629048310.878 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:25:10.879Z,1629048310.879 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:25:11.273Z,1629048311.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06D,000,0034C,186,80,80,67,FF
2021-08-15T17:25:11.273Z,1629048311.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:25:11.273Z,1629048311.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:25:11.275Z,1629048311.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:25:11.697Z,1629048311.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:25:12.081Z,1629048312.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06D,000,00356,186,80,80,6D,FF
2021-08-15T17:25:12.081Z,1629048312.081 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:25:12.526Z,1629048312.526 [Micromodem](INFO): Nmea in: $SNTTA,0.093998,,,,172512.35*46

2021-08-15T17:25:14.911Z,1629048314.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:25:15.385Z,1629048315.385 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:25:15.385Z,1629048315.385 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:25:15.385Z,1629048315.385 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:25:15.386Z,1629048315.386 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:25:15.722Z,1629048315.722 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06D,000,00356,186,80,80,6D,FF
2021-08-15T17:25:15.722Z,1629048315.722 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:25:15.722Z,1629048315.722 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:25:15.723Z,1629048315.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:25:16.141Z,1629048316.141 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:25:16.533Z,1629048316.533 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,065,000,0035E,187,80,80,52,FF
2021-08-15T17:25:16.534Z,1629048316.533 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:25:16.974Z,1629048316.974 [Micromodem](INFO): Nmea in: $SNTTA,,,,,172516.79*56

2021-08-15T17:25:19.434Z,1629048319.434 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:25:19.753Z,1629048319.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:25:19.753Z,1629048319.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:25:19.753Z,1629048319.753 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:25:19.754Z,1629048319.754 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:25:20.167Z,1629048320.167 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
065,000,0035E,187,80,80,52,FF
2021-08-15T17:25:20.168Z,1629048320.168 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:25:20.168Z,1629048320.168 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:25:20.171Z,1629048320.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:25:20.569Z,1629048320.569 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:25:20.985Z,1629048320.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,051,000,0036B,184,80,80,7D,FF
2021-08-15T17:25:20.986Z,1629048320.986 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:25:21.035Z,1629048321.035 [Micromodem](INFO): Nmea in: $SNTTA,0.032885,0.321874,,,172521.24*55

2021-08-15T17:25:23.789Z,1629048323.789 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:25:24.239Z,1629048324.239 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:25:24.239Z,1629048324.239 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:25:24.239Z,1629048324.239 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:25:24.241Z,1629048324.241 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:25:24.581Z,1629048324.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
051,000,0036B,184,80,80,7D,FF
2021-08-15T17:25:24.581Z,1629048324.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:25:24.581Z,1629048324.581 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:25:24.583Z,1629048324.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:25:25.028Z,1629048325.028 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:25:25.490Z,1629048325.490 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,07C,000,00373,186,80,80,78,FF
2021-08-15T17:25:25.490Z,1629048325.490 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:25:25.845Z,1629048325.845 [Micromodem](INFO): Nmea in: $SNTTA,0.033488,,,,172525.65*41

2021-08-15T17:25:28.295Z,1629048328.295 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:25:28.645Z,1629048328.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:25:28.645Z,1629048328.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:25:28.645Z,1629048328.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:25:28.646Z,1629048328.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:25:29.089Z,1629048329.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
07C,000,00373,186,80,80,78,FF
2021-08-15T17:25:29.089Z,1629048329.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:25:29.090Z,1629048329.090 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:25:29.091Z,1629048329.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:25:29.461Z,1629048329.461 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:25:29.858Z,1629048329.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,071,000,0037C,186,80,80,A7,FF
2021-08-15T17:25:29.859Z,1629048329.859 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:25:30.283Z,1629048330.283 [Micromodem](INFO): Nmea in: $SNTTA,0.042052,,,,172530.16*44

2021-08-15T17:25:32.733Z,1629048332.733 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:25:33.102Z,1629048333.102 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:25:33.102Z,1629048333.102 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:25:33.102Z,1629048333.102 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:25:33.103Z,1629048333.103 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:25:33.497Z,1629048333.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
071,000,0037C,186,80,80,A7,FF
2021-08-15T17:25:33.498Z,1629048333.498 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:25:33.498Z,1629048333.498 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:25:33.499Z,1629048333.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:25:33.879Z,1629048333.879 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:25:34.297Z,1629048334.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,08C,000,00389,186,80,80,A5,FF
2021-08-15T17:25:34.298Z,1629048334.298 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:25:34.715Z,1629048334.715 [Micromodem](INFO): Nmea in: $SNTTA,0.023875,,,,172534.57*4F

2021-08-15T17:25:37.223Z,1629048337.223 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:25:37.533Z,1629048337.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:25:37.533Z,1629048337.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:25:37.533Z,1629048337.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:25:37.534Z,1629048337.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:25:37.945Z,1629048337.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
08C,000,00389,186,80,80,A5,FF
2021-08-15T17:25:37.946Z,1629048337.946 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:25:37.946Z,1629048337.946 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:25:37.947Z,1629048337.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:25:38.345Z,1629048338.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:25:38.749Z,1629048338.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,091,000,00392,186,80,80,99,FF
2021-08-15T17:25:38.749Z,1629048338.749 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:25:39.181Z,1629048339.181 [Micromodem](INFO): Nmea in: $SNTTA,,0.473656,,,172539.01*4F

2021-08-15T17:25:41.295Z,1629048341.295 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:25:41.573Z,1629048341.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:25:41.573Z,1629048341.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:25:41.573Z,1629048341.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:25:41.574Z,1629048341.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:25:41.977Z,1629048341.977 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
091,000,00392,186,80,80,99,FF
2021-08-15T17:25:41.977Z,1629048341.977 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:25:41.977Z,1629048341.977 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:25:41.979Z,1629048341.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:25:42.395Z,1629048342.395 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:25:42.789Z,1629048342.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09D,000,0039C,186,80,80,8A,FF
2021-08-15T17:25:42.790Z,1629048342.790 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:25:43.210Z,1629048343.210 [Micromodem](INFO): Nmea in: $SNTTA,0.457639,0.457770,,,172543.05*51

2021-08-15T17:25:45.703Z,1629048345.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:25:46.025Z,1629048346.025 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:25:46.025Z,1629048346.025 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:25:46.025Z,1629048346.025 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:25:46.026Z,1629048346.026 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:25:46.429Z,1629048346.429 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09D,000,0039C,186,80,80,8A,FF
2021-08-15T17:25:46.429Z,1629048346.429 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:25:46.430Z,1629048346.430 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:25:46.431Z,1629048346.431 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:25:46.828Z,1629048346.828 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:25:47.253Z,1629048347.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AF,000,003A8,186,80,80,57,FF
2021-08-15T17:25:47.253Z,1629048347.253 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:25:47.670Z,1629048347.670 [Micromodem](INFO): Nmea in: $SNTTA,0.032122,,,,172547.50*47

2021-08-15T17:25:50.082Z,1629048350.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:25:50.465Z,1629048350.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:25:50.465Z,1629048350.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:25:50.465Z,1629048350.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:25:50.466Z,1629048350.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:25:50.863Z,1629048350.863 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AF,000,003A8,186,80,80,57,FF
2021-08-15T17:25:50.863Z,1629048350.863 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:25:50.863Z,1629048350.863 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:25:50.864Z,1629048350.864 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:25:51.273Z,1629048351.273 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:25:51.681Z,1629048351.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D2,000,003B4,186,80,80,66,FF
2021-08-15T17:25:51.682Z,1629048351.682 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:25:52.126Z,1629048352.126 [Micromodem](INFO): Nmea in: $SNTTA,0.063201,,,,172551.93*49

2021-08-15T17:25:54.540Z,1629048354.540 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:25:54.877Z,1629048354.877 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:25:54.877Z,1629048354.877 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:25:54.877Z,1629048354.877 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:25:54.878Z,1629048354.878 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:25:55.281Z,1629048355.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D2,000,003B4,186,80,80,66,FF
2021-08-15T17:25:55.281Z,1629048355.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:25:55.281Z,1629048355.281 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:25:55.283Z,1629048355.283 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:25:55.821Z,1629048355.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:25:56.184Z,1629048356.184 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09D,000,003C9,186,80,80,8A,FF
2021-08-15T17:25:56.185Z,1629048356.185 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:25:56.557Z,1629048356.557 [Micromodem](INFO): Nmea in: $SNTTA,0.075015,,,,172556.35*42

2021-08-15T17:25:59.041Z,1629048359.041 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:25:59.369Z,1629048359.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:25:59.369Z,1629048359.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:25:59.369Z,1629048359.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:25:59.370Z,1629048359.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:25:59.773Z,1629048359.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09D,000,003C9,186,80,80,8A,FF
2021-08-15T17:25:59.773Z,1629048359.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:25:59.773Z,1629048359.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:25:59.775Z,1629048359.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:26:00.191Z,1629048360.191 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:26:00.577Z,1629048360.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09E,000,003D1,186,80,80,78,FF
2021-08-15T17:26:00.578Z,1629048360.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:26:01.047Z,1629048361.047 [Micromodem](INFO): Nmea in: $SNTTA,0.079585,,,,172600.84*48

2021-08-15T17:26:03.450Z,1629048363.450 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:26:03.817Z,1629048363.817 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:26:03.817Z,1629048363.817 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:26:03.817Z,1629048363.817 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:26:03.818Z,1629048363.818 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:26:04.215Z,1629048364.215 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09E,000,003D1,186,80,80,78,FF
2021-08-15T17:26:04.216Z,1629048364.216 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:26:04.216Z,1629048364.216 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:26:04.217Z,1629048364.217 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:26:04.633Z,1629048364.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:26:05.029Z,1629048365.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A3,000,003D6,186,80,80,A0,FF
2021-08-15T17:26:05.030Z,1629048365.030 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:26:05.418Z,1629048365.418 [Micromodem](INFO): Nmea in: $SNTTA,0.336640,0.337065,,,172605.28*53

2021-08-15T17:26:07.860Z,1629048367.860 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:26:08.265Z,1629048368.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:26:08.265Z,1629048368.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:26:08.265Z,1629048368.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:26:08.266Z,1629048368.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:26:08.665Z,1629048368.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A3,000,003D6,186,80,80,A0,FF
2021-08-15T17:26:08.666Z,1629048368.666 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:26:08.666Z,1629048368.666 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:26:08.667Z,1629048368.667 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:26:09.103Z,1629048369.103 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:26:09.473Z,1629048369.473 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03F,000,003EF,184,80,80,62,FF
2021-08-15T17:26:09.474Z,1629048369.474 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:26:09.476Z,1629048369.476 [Micromodem](INFO): Nmea in: 10,COPROC,0.20.0.39330*78

2021-08-15T17:26:09.477Z,1629048369.477 [Micromodem](ERROR): Response from modem failed NMEA checksum: 10,COPROC,0.20.0.39330*78
 expected 0
2021-08-15T17:26:12.334Z,1629048372.334 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:26:12.705Z,1629048372.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:26:12.705Z,1629048372.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:26:12.705Z,1629048372.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:26:12.706Z,1629048372.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:26:13.109Z,1629048373.109 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03F,000,003EF,184,80,80,62,FF
2021-08-15T17:26:13.109Z,1629048373.109 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:26:13.110Z,1629048373.110 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:26:13.111Z,1629048373.111 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:26:13.524Z,1629048373.524 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:26:13.921Z,1629048373.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05B,000,003EC,186,80,80,77,FF
2021-08-15T17:26:13.922Z,1629048373.922 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:26:14.325Z,1629048374.325 [Micromodem](INFO): Nmea in: $SNTTA,,,,,172614.18*50

2021-08-15T17:26:16.770Z,1629048376.770 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:26:17.149Z,1629048377.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:26:17.149Z,1629048377.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:26:17.149Z,1629048377.149 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:26:17.150Z,1629048377.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:26:17.553Z,1629048377.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05B,000,003EC,186,80,80,77,FF
2021-08-15T17:26:17.553Z,1629048377.553 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:26:17.553Z,1629048377.553 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:26:17.555Z,1629048377.555 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:26:17.978Z,1629048377.978 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:26:18.361Z,1629048378.361 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,058,000,003F9,184,80,80,99,FF
2021-08-15T17:26:18.362Z,1629048378.362 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:26:18.814Z,1629048378.814 [Micromodem](INFO): Nmea in: $SNTTA,0.035161,,,,172618.62*4F

2021-08-15T17:26:21.284Z,1629048381.284 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:26:21.601Z,1629048381.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:26:21.601Z,1629048381.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:26:21.601Z,1629048381.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:26:21.602Z,1629048381.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:26:22.013Z,1629048382.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
058,000,003F9,184,80,80,99,FF
2021-08-15T17:26:22.013Z,1629048382.013 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:26:22.014Z,1629048382.014 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:26:22.015Z,1629048382.015 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:26:22.414Z,1629048382.414 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:26:22.817Z,1629048382.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFB,000,00416,183,80,80,7E,FF
2021-08-15T17:26:22.817Z,1629048382.817 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:26:23.258Z,1629048383.258 [Micromodem](INFO): Nmea in: $SNTTA,,,,,172623.08*55

2021-08-15T17:26:25.635Z,1629048385.635 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:26:26.184Z,1629048386.184 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:26:26.185Z,1629048386.185 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:26:26.185Z,1629048386.185 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:26:26.186Z,1629048386.186 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:26:26.457Z,1629048386.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFB,000,00416,183,80,80,7E,FF
2021-08-15T17:26:26.457Z,1629048386.457 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:26:26.458Z,1629048386.458 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:26:26.459Z,1629048386.459 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:26:26.870Z,1629048386.870 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:26:27.257Z,1629048387.257 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01C,000,00412,184,80,80,58,FF
2021-08-15T17:26:27.257Z,1629048387.257 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:26:27.261Z,1629048387.261 [Micromodem](INFO): Nmea in: $SNTTA,0.129901,0.217075,,,172627.53*5B

2021-08-15T17:26:30.121Z,1629048390.121 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:26:30.489Z,1629048390.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:26:30.489Z,1629048390.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:26:30.489Z,1629048390.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:26:30.490Z,1629048390.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:26:30.903Z,1629048390.903 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01C,000,00412,184,80,80,58,FF
2021-08-15T17:26:30.903Z,1629048390.903 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:26:30.903Z,1629048390.903 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:26:30.906Z,1629048390.906 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:26:31.297Z,1629048391.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:26:31.702Z,1629048391.702 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE8,000,00427,183,80,80,61,FF
2021-08-15T17:26:31.703Z,1629048391.703 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:26:32.125Z,1629048392.125 [Micromodem](INFO): Nmea in: $SNTTA,0.092691,,,,172631.98*44

2021-08-15T17:26:34.527Z,1629048394.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:26:34.927Z,1629048394.927 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:26:34.927Z,1629048394.927 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:26:34.927Z,1629048394.927 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:26:34.928Z,1629048394.928 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:26:35.307Z,1629048395.307 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE8,000,00427,183,80,80,61,FF
2021-08-15T17:26:35.307Z,1629048395.307 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:26:35.307Z,1629048395.307 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:26:35.309Z,1629048395.309 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:26:35.720Z,1629048395.720 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:26:36.558Z,1629048396.558 [Micromodem](INFO): Nmea in: $SNTTA,,,,,172636.38*52

2021-08-15T17:26:37.059Z,1629048397.059 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:26:38.969Z,1629048398.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
7,183,80,80,61,FF
2021-08-15T17:26:38.970Z,1629048398.970 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
7,183,80,80,61,FF
2021-08-15T17:26:38.970Z,1629048398.970 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T17:26:39.802Z,1629048399.802 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:26:40.180Z,1629048400.180 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:26:40.181Z,1629048400.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:26:40.181Z,1629048400.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:26:40.182Z,1629048400.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:26:40.585Z,1629048400.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
7,183,80,80,61,FF
2021-08-15T17:26:40.585Z,1629048400.585 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:26:40.585Z,1629048400.585 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:26:40.587Z,1629048400.587 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:26:41.034Z,1629048401.034 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:26:41.416Z,1629048401.416 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,00C,000,0043A,183,80,80,A4,FF
2021-08-15T17:26:41.417Z,1629048401.417 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:26:41.422Z,1629048401.422 [Micromodem](INFO): Nmea in: $SNTTA,0.153288,0.153401,,,172641.65*5D

2021-08-15T17:26:44.278Z,1629048404.278 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:26:44.599Z,1629048404.599 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:26:44.599Z,1629048404.599 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:26:44.599Z,1629048404.599 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:26:44.600Z,1629048404.600 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:26:45.081Z,1629048405.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
00C,000,0043A,183,80,80,A4,FF
2021-08-15T17:26:45.081Z,1629048405.081 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:26:45.082Z,1629048405.082 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:26:45.083Z,1629048405.083 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:26:45.429Z,1629048405.429 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:26:45.809Z,1629048405.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FE5,000,00443,183,80,80,9F,FF
2021-08-15T17:26:45.810Z,1629048405.810 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:26:46.346Z,1629048406.346 [Micromodem](INFO): Nmea in: $SNTTA,0.059287,,,,172646.15*45

2021-08-15T17:26:48.696Z,1629048408.696 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:26:49.085Z,1629048409.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:26:49.085Z,1629048409.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:26:49.085Z,1629048409.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:26:49.086Z,1629048409.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:26:49.477Z,1629048409.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FE5,000,00443,183,80,80,9F,FF
2021-08-15T17:26:49.477Z,1629048409.477 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:26:49.477Z,1629048409.477 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:26:49.479Z,1629048409.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:26:49.889Z,1629048409.889 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:26:49.918Z,1629048409.918 [lineCaptureDepth:Lap:Docked:Docked.Docked](INFO): Timed out from 2021-08-15T17:21:49.7Z
2021-08-15T17:26:49.918Z,1629048409.918 [lineCaptureDepth:Lap:Docked:Docked.Docked] Stopped
2021-08-15T17:26:49.918Z,1629048409.918 [lineCaptureDepth:Lap:Docked:Detach] Running Loop=1
2021-08-15T17:26:49.918Z,1629048409.918 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:Docked:Detach
2021-08-15T17:26:49.918Z,1629048409.918 [lineCaptureDepth:Lap:Docked:Detach:A] Running Loop=1
2021-08-15T17:26:50.251Z,1629048410.251 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC1,000,0045A,184,80,80,65,FF
2021-08-15T17:26:50.251Z,1629048410.251 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:26:50.276Z,1629048410.276 [lineCaptureDepth:Lap:Docked:Detach:A](IMPORTANT): Breaking off. Range: 27.959997 m .
2021-08-15T17:26:50.276Z,1629048410.276 [lineCaptureDepth:Lap:Docked:Detach:A] Stopped
2021-08-15T17:26:50.276Z,1629048410.276 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Running Loop=1
2021-08-15T17:26:50.277Z,1629048410.277 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initialize.
2021-08-15T17:26:50.277Z,1629048410.277 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](DEBUG): Initializing internal variables to default values.
2021-08-15T17:26:50.721Z,1629048410.721 [Micromodem](INFO): Nmea in: $SNTTA,,,,,172650.55*59

2021-08-15T17:26:51.086Z,1629048411.086 [PowerOnly](INFO): Powering up loadControl
2021-08-15T17:26:53.150Z,1629048413.150 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:26:53.532Z,1629048413.532 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:26:53.532Z,1629048413.532 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:26:53.532Z,1629048413.532 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:26:53.533Z,1629048413.533 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:26:53.921Z,1629048413.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC1,000,0045A,184,80,80,65,FF
2021-08-15T17:26:53.921Z,1629048413.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:26:53.921Z,1629048413.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:26:53.923Z,1629048413.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:26:54.352Z,1629048414.352 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:26:54.415Z,1629048414.415 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detaching from dock.
2021-08-15T17:26:54.729Z,1629048414.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FBB,000,00458,185,80,80,9E,FF
2021-08-15T17:26:54.730Z,1629048414.730 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:26:54.745Z,1629048414.745 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-15T17:26:55.161Z,1629048415.161 [Micromodem](INFO): Nmea in: $SNTTA,,,,,172654.99*5D

2021-08-15T17:26:55.260Z,1629048415.260 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Thruster off.
2021-08-15T17:26:55.570Z,1629048415.570 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -26.00 mm.
2021-08-15T17:26:55.575Z,1629048415.575 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-15T17:26:57.251Z,1629048417.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:26:57.557Z,1629048417.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:26:57.557Z,1629048417.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:26:57.557Z,1629048417.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:26:57.558Z,1629048417.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:26:57.953Z,1629048417.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FBB,000,00458,185,80,80,9E,FF
2021-08-15T17:26:57.953Z,1629048417.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:26:57.954Z,1629048417.954 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:26:57.955Z,1629048417.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:26:58.369Z,1629048418.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:26:58.769Z,1629048418.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F8D,000,00463,186,80,80,7F,FF
2021-08-15T17:26:58.770Z,1629048418.770 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:26:59.225Z,1629048419.225 [Micromodem](INFO): Nmea in: $SNTTA,,,,,172659.02*52

2021-08-15T17:27:01.615Z,1629048421.615 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:27:02.001Z,1629048422.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:27:02.001Z,1629048422.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:27:02.001Z,1629048422.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:27:02.002Z,1629048422.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:27:02.415Z,1629048422.415 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F8D,000,00463,186,80,80,7F,FF
2021-08-15T17:27:02.415Z,1629048422.415 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:27:02.415Z,1629048422.415 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:27:02.418Z,1629048422.418 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:27:02.813Z,1629048422.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:27:03.225Z,1629048423.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F34,000,0046E,186,80,80,63,FF
2021-08-15T17:27:03.225Z,1629048423.225 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:27:03.645Z,1629048423.645 [Micromodem](INFO): Nmea in: $SNTTA,,,,,172703.49*53

2021-08-15T17:27:06.055Z,1629048426.055 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:27:06.477Z,1629048426.477 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:27:06.477Z,1629048426.477 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:27:06.477Z,1629048426.477 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:27:06.478Z,1629048426.478 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:27:06.853Z,1629048426.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F34,000,0046E,186,80,80,63,FF
2021-08-15T17:27:06.854Z,1629048426.854 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:27:06.854Z,1629048426.854 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:27:06.855Z,1629048426.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:27:07.261Z,1629048427.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:27:07.653Z,1629048427.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED7,000,00479,187,80,80,8E,FF
2021-08-15T17:27:07.654Z,1629048427.654 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:27:08.093Z,1629048428.093 [Micromodem](INFO): Nmea in: $SNTTA,,,,,172707.92*51

2021-08-15T17:27:10.521Z,1629048430.521 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:27:10.885Z,1629048430.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:27:10.885Z,1629048430.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:27:10.885Z,1629048430.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:27:10.886Z,1629048430.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:27:11.297Z,1629048431.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED7,000,00479,187,80,80,8E,FF
2021-08-15T17:27:11.297Z,1629048431.297 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:27:11.297Z,1629048431.297 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:27:11.299Z,1629048431.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:27:11.697Z,1629048431.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:27:12.101Z,1629048432.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EAB,000,00483,186,80,80,89,FF
2021-08-15T17:27:12.101Z,1629048432.101 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:27:12.537Z,1629048432.537 [Micromodem](INFO): Nmea in: $SNTTA,0.035552,,,,172712.37*40

2021-08-15T17:27:14.957Z,1629048434.957 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:27:15.333Z,1629048435.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:27:15.333Z,1629048435.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:27:15.333Z,1629048435.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:27:15.334Z,1629048435.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:27:15.737Z,1629048435.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EAB,000,00483,186,80,80,89,FF
2021-08-15T17:27:15.737Z,1629048435.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:27:15.737Z,1629048435.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:27:15.739Z,1629048435.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:27:15.822Z,1629048435.822 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): Detached at range: 31.80 m. Transitioning DDM to standby.
2021-08-15T17:27:16.148Z,1629048436.148 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:27:16.545Z,1629048436.545 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ECF,000,00491,186,80,80,62,FF
2021-08-15T17:27:16.546Z,1629048436.546 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:27:16.977Z,1629048436.977 [Micromodem](INFO): Nmea in: $SNTTA,0.043212,,,,172716.81*4B

2021-08-15T17:27:18.247Z,1629048438.247 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](INFO): DDM at standby.
2021-08-15T17:27:18.601Z,1629048438.601 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock](IMPORTANT): Undocking sequence complete.
2021-08-15T17:27:18.601Z,1629048438.601 [lineCaptureDepth:Lap:Docked:Detach:Undock.Undock] Stopped
2021-08-15T17:27:18.601Z,1629048438.601 [lineCaptureDepth:Lap:Docked:Detach](INFO): Completed lineCaptureDepth:Lap:Docked:Detach
2021-08-15T17:27:18.602Z,1629048438.602 [lineCaptureDepth:Lap:Docked:Detach] Stopped
2021-08-15T17:27:18.602Z,1629048438.602 [lineCaptureDepth:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked:Detach
2021-08-15T17:27:18.602Z,1629048438.602 [lineCaptureDepth:Lap:Docked](INFO): Completed lineCaptureDepth:Lap:Docked
2021-08-15T17:27:18.602Z,1629048438.602 [lineCaptureDepth:Lap:Docked] Stopped
2021-08-15T17:27:18.602Z,1629048438.602 [lineCaptureDepth:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:Docked
2021-08-15T17:27:18.602Z,1629048438.602 [lineCaptureDepth:Lap](INFO): Completed lineCaptureDepth:Lap
2021-08-15T17:27:18.603Z,1629048438.603 [lineCaptureDepth:Lap] Stopped
2021-08-15T17:27:18.603Z,1629048438.603 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-08-15T17:27:18.603Z,1629048438.603 [lineCaptureDepth:Lap](INFO): Running loop #2
2021-08-15T17:27:18.603Z,1629048438.603 [lineCaptureDepth:Lap] Running Loop=2
2021-08-15T17:27:18.603Z,1629048438.603 [lineCaptureDepth:Lap](DEBUG): Aggregate::initialize lineCaptureDepth:Lap
2021-08-15T17:27:18.603Z,1629048438.603 [lineCaptureDepth:Lap:A] Running Loop=1
2021-08-15T17:27:19.020Z,1629048439.020 [lineCaptureDepth:Lap:A] Stopped
2021-08-15T17:27:19.020Z,1629048439.020 [lineCaptureDepth:Lap:B] Running Loop=1
2021-08-15T17:27:19.021Z,1629048439.021 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::initialize lineCaptureDepth:Lap:B
2021-08-15T17:27:19.441Z,1629048439.441 [lineCaptureDepth:LineCapture] Running Loop=1
2021-08-15T17:27:19.441Z,1629048439.441 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture
2021-08-15T17:27:19.441Z,1629048439.441 [lineCaptureDepth:LineCapture:StandardEnvelopes] Running Loop=1
2021-08-15T17:27:19.441Z,1629048439.441 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-15T17:27:19.441Z,1629048439.441 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1
2021-08-15T17:27:19.442Z,1629048439.442 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent.
2021-08-15T17:27:19.442Z,1629048439.442 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1
2021-08-15T17:27:19.442Z,1629048439.442 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent.
2021-08-15T17:27:19.442Z,1629048439.442 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1
2021-08-15T17:27:19.442Z,1629048439.442 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent.
2021-08-15T17:27:19.442Z,1629048439.442 [lineCaptureDepth:LineCapture:G] Running Loop=1
2021-08-15T17:27:19.442Z,1629048439.442 [lineCaptureDepth:LineCapture:H] Running Loop=1
2021-08-15T17:27:19.442Z,1629048439.442 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-15T17:27:19.442Z,1629048439.442 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-15T17:27:19.443Z,1629048439.443 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-15T17:27:19.443Z,1629048439.443 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-15T17:27:19.443Z,1629048439.443 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-15T17:27:19.443Z,1629048439.443 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-15T17:27:19.443Z,1629048439.443 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-15T17:27:19.443Z,1629048439.443 [lineCaptureDepth:LineCapture:A] Running Loop=1
2021-08-15T17:27:19.443Z,1629048439.443 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-15T17:27:19.444Z,1629048439.444 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-15T17:27:19.444Z,1629048439.444 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-15T17:27:19.444Z,1629048439.444 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-15T17:27:19.444Z,1629048439.444 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-15T17:27:19.444Z,1629048439.444 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-15T17:27:19.444Z,1629048439.444 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-15T17:27:19.446Z,1629048439.446 [lineCaptureDepth:LineCapture:A] Stopped
2021-08-15T17:27:19.446Z,1629048439.446 [lineCaptureDepth:LineCapture:B] Running Loop=1
2021-08-15T17:27:19.446Z,1629048439.446 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:27:19.753Z,1629048439.753 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:27:19.753Z,1629048439.753 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:27:19.754Z,1629048439.754 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:27:19.755Z,1629048439.755 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:27:19.803Z,1629048439.803 [lineCaptureDepth:LineCapture:B] Stopped
2021-08-15T17:27:19.804Z,1629048439.804 [lineCaptureDepth:LineCapture:D] Running Loop=1
2021-08-15T17:27:20.167Z,1629048440.167 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ECF,000,00491,186,80,80,62,FF
2021-08-15T17:27:20.167Z,1629048440.167 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:27:20.167Z,1629048440.167 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:27:20.170Z,1629048440.170 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:27:20.270Z,1629048440.270 [lineCaptureDepth:LineCapture:D] Stopped
2021-08-15T17:27:20.270Z,1629048440.270 [lineCaptureDepth:LineCapture:E] Running Loop=1
2021-08-15T17:27:20.571Z,1629048440.571 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:27:20.623Z,1629048440.623 [lineCaptureDepth:LineCapture:E] Stopped
2021-08-15T17:27:20.623Z,1629048440.623 [lineCaptureDepth:LineCapture:F] Running Loop=1
2021-08-15T17:27:20.957Z,1629048440.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0A,000,004A3,187,80,80,73,FF
2021-08-15T17:27:20.958Z,1629048440.958 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:27:21.021Z,1629048441.021 [lineCaptureDepth:LineCapture:F] Stopped
2021-08-15T17:27:21.021Z,1629048441.021 [lineCaptureDepth:LineCapture:HomingSequence] Running Loop=1
2021-08-15T17:27:21.022Z,1629048441.022 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-15T17:27:21.022Z,1629048441.022 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Running Loop=1
2021-08-15T17:27:21.023Z,1629048441.023 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-15T17:27:21.023Z,1629048441.023 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1
2021-08-15T17:27:21.028Z,1629048441.028 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-15T17:27:21.029Z,1629048441.029 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1
2021-08-15T17:27:21.029Z,1629048441.029 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize.
2021-08-15T17:27:21.029Z,1629048441.029 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values.
2021-08-15T17:27:21.030Z,1629048441.030 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-15T17:27:21.031Z,1629048441.031 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-15T17:27:21.031Z,1629048441.031 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-15T17:27:21.037Z,1629048441.037 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-15T17:27:21.037Z,1629048441.037 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-15T17:27:21.037Z,1629048441.037 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-15T17:27:21.038Z,1629048441.038 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-15T17:27:21.038Z,1629048441.038 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-15T17:27:21.039Z,1629048441.039 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-15T17:27:21.048Z,1629048441.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-15T17:27:21.048Z,1629048441.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-15T17:27:21.048Z,1629048441.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-15T17:27:21.048Z,1629048441.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-15T17:27:21.048Z,1629048441.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-15T17:27:21.048Z,1629048441.048 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-15T17:27:21.049Z,1629048441.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-15T17:27:21.049Z,1629048441.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-15T17:27:21.049Z,1629048441.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-15T17:27:21.402Z,1629048441.402 [Micromodem](INFO): Nmea in: $SNTTA,0.036337,,,,172721.24*44

2021-08-15T17:27:21.497Z,1629048441.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-15T17:27:21.497Z,1629048441.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-15T17:27:21.497Z,1629048441.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-15T17:27:21.497Z,1629048441.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-15T17:27:21.497Z,1629048441.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-15T17:27:21.497Z,1629048441.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-15T17:27:21.497Z,1629048441.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-15T17:27:21.497Z,1629048441.497 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-15T17:27:21.497Z,1629048441.497 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-15T17:27:21.498Z,1629048441.498 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-15T17:27:21.498Z,1629048441.498 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-15T17:27:21.498Z,1629048441.498 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-15T17:27:21.498Z,1629048441.498 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-15T17:27:21.498Z,1629048441.498 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-15T17:27:21.498Z,1629048441.498 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-15T17:27:21.498Z,1629048441.498 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-15T17:27:23.852Z,1629048443.852 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:27:24.273Z,1629048444.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:27:24.273Z,1629048444.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:27:24.273Z,1629048444.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:27:24.274Z,1629048444.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:27:24.348Z,1629048444.348 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detaching from dock.
2021-08-15T17:27:24.645Z,1629048444.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0A,000,004A3,187,80,80,73,FF
2021-08-15T17:27:24.646Z,1629048444.646 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:27:24.646Z,1629048444.646 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:27:24.648Z,1629048444.648 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:27:24.719Z,1629048444.719 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-15T17:27:25.076Z,1629048445.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:27:25.142Z,1629048445.142 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Thruster off.
2021-08-15T17:27:25.449Z,1629048445.449 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F28,000,004A9,186,80,80,96,FF
2021-08-15T17:27:25.449Z,1629048445.449 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:27:25.503Z,1629048445.503 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-15T17:27:25.865Z,1629048445.865 [Micromodem](INFO): Nmea in: $SNTTA,,,,,172725.72*5F

2021-08-15T17:27:28.307Z,1629048448.307 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:27:28.673Z,1629048448.673 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:27:28.673Z,1629048448.673 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:27:28.673Z,1629048448.673 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:27:28.674Z,1629048448.674 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:27:29.093Z,1629048449.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F28,000,004A9,186,80,80,96,FF
2021-08-15T17:27:29.093Z,1629048449.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:27:29.093Z,1629048449.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:27:29.095Z,1629048449.095 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:27:29.483Z,1629048449.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:27:29.877Z,1629048449.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFA,000,004B7,186,80,80,81,FF
2021-08-15T17:27:29.878Z,1629048449.878 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:27:30.330Z,1629048450.330 [Micromodem](INFO): Nmea in: $SNTTA,0.039103,,,,172730.16*4F

2021-08-15T17:27:32.755Z,1629048452.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:27:33.109Z,1629048453.109 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:27:33.109Z,1629048453.109 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:27:33.109Z,1629048453.109 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:27:33.110Z,1629048453.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:27:33.530Z,1629048453.530 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFA,000,004B7,186,80,80,81,FF
2021-08-15T17:27:33.530Z,1629048453.530 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:27:33.530Z,1629048453.530 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:27:33.532Z,1629048453.532 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:27:33.929Z,1629048453.929 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:27:34.322Z,1629048454.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF8,000,004BE,187,80,80,72,FF
2021-08-15T17:27:34.322Z,1629048454.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:27:34.753Z,1629048454.753 [Micromodem](INFO): Nmea in: $SNTTA,,,,,172734.60*5C

2021-08-15T17:27:37.220Z,1629048457.220 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:27:37.557Z,1629048457.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:27:37.557Z,1629048457.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:27:37.557Z,1629048457.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:27:37.558Z,1629048457.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:27:37.969Z,1629048457.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF8,000,004BE,187,80,80,72,FF
2021-08-15T17:27:37.970Z,1629048457.970 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:27:37.970Z,1629048457.970 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:27:37.971Z,1629048457.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:27:38.369Z,1629048458.369 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:27:38.769Z,1629048458.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDA,000,004C7,186,80,80,8A,FF
2021-08-15T17:27:38.770Z,1629048458.770 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:27:39.197Z,1629048459.197 [Micromodem](INFO): Nmea in: $SNTTA,0.041505,,,,172739.04*48

2021-08-15T17:27:41.623Z,1629048461.623 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:27:41.997Z,1629048461.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:27:41.997Z,1629048461.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:27:41.997Z,1629048461.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:27:41.998Z,1629048461.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:27:42.406Z,1629048462.406 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDA,000,004C7,186,80,80,8A,FF
2021-08-15T17:27:42.406Z,1629048462.406 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:27:42.406Z,1629048462.406 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:27:42.409Z,1629048462.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:27:42.824Z,1629048462.824 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:27:43.213Z,1629048463.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE3,000,004D6,187,80,80,AD,FF
2021-08-15T17:27:43.213Z,1629048463.213 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:27:43.650Z,1629048463.650 [Micromodem](INFO): Nmea in: $SNTTA,0.072732,,,,172743.48*4B

2021-08-15T17:27:45.662Z,1629048465.662 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 36.78 m. Transitioning DDM to standby.
2021-08-15T17:27:46.103Z,1629048466.103 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:27:46.469Z,1629048466.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:27:46.470Z,1629048466.470 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:27:46.470Z,1629048466.470 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:27:46.471Z,1629048466.471 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:27:46.849Z,1629048466.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE3,000,004D6,187,80,80,AD,FF
2021-08-15T17:27:46.849Z,1629048466.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:27:46.849Z,1629048466.849 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:27:46.851Z,1629048466.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:27:47.278Z,1629048467.278 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:27:47.653Z,1629048467.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F15,000,004E0,186,80,80,7C,FF
2021-08-15T17:27:47.654Z,1629048467.654 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:27:48.109Z,1629048468.109 [Micromodem](INFO): Nmea in: $SNTTA,,,,,172747.92*55

2021-08-15T17:27:48.130Z,1629048468.130 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): DDM at standby.
2021-08-15T17:27:48.516Z,1629048468.516 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete.
2021-08-15T17:27:48.516Z,1629048468.516 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped
2021-08-15T17:27:48.516Z,1629048468.516 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1
2021-08-15T17:27:48.885Z,1629048468.885 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance.
2021-08-15T17:27:48.886Z,1629048468.886 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped
2021-08-15T17:27:48.886Z,1629048468.886 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1
2021-08-15T17:27:49.323Z,1629048469.323 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped
2021-08-15T17:27:49.324Z,1629048469.324 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-15T17:27:49.324Z,1629048469.324 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide] Stopped
2021-08-15T17:27:49.324Z,1629048469.324 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock:guide
2021-08-15T17:27:49.324Z,1629048469.324 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-15T17:27:49.687Z,1629048469.687 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1
2021-08-15T17:27:49.688Z,1629048469.688 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-15T17:27:49.688Z,1629048469.688 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1
2021-08-15T17:27:49.688Z,1629048469.688 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-15T17:27:49.688Z,1629048469.688 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1
2021-08-15T17:27:49.688Z,1629048469.688 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize.
2021-08-15T17:27:49.688Z,1629048469.688 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1
2021-08-15T17:27:49.689Z,1629048469.689 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize.
2021-08-15T17:27:49.689Z,1629048469.689 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1
2021-08-15T17:27:49.690Z,1629048469.690 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1
2021-08-15T17:27:49.690Z,1629048469.690 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-15T17:27:49.690Z,1629048469.690 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1
2021-08-15T17:27:49.691Z,1629048469.691 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 37.380001 m 
2021-08-15T17:27:49.691Z,1629048469.691 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped
2021-08-15T17:27:49.691Z,1629048469.691 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1
2021-08-15T17:27:49.692Z,1629048469.692 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 41.552317 arcdeg , -70.708600 arcdeg )
2021-08-15T17:27:49.692Z,1629048469.692 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped
2021-08-15T17:27:49.692Z,1629048469.692 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1
2021-08-15T17:27:49.692Z,1629048469.692 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent.
2021-08-15T17:27:50.087Z,1629048470.087 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped
2021-08-15T17:27:50.087Z,1629048470.087 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-15T17:27:50.092Z,1629048470.092 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped
2021-08-15T17:27:50.092Z,1629048470.092 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange
2021-08-15T17:27:50.092Z,1629048470.092 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Running Loop=1
2021-08-15T17:27:50.092Z,1629048470.092 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-15T17:27:50.092Z,1629048470.092 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Running Loop=1
2021-08-15T17:27:50.092Z,1629048470.092 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Running Loop=1
2021-08-15T17:27:50.092Z,1629048470.092 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Initialize.
2021-08-15T17:27:50.093Z,1629048470.093 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Running Loop=1
2021-08-15T17:27:50.093Z,1629048470.093 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Initialize Buoyancy Component.
2021-08-15T17:27:50.509Z,1629048470.509 [lineCaptureDepth:UpdateNumPings_Terminal] Running Loop=1
2021-08-15T17:27:50.510Z,1629048470.510 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-15T17:27:50.510Z,1629048470.510 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T17:27:50.510Z,1629048470.510 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T17:27:50.510Z,1629048470.510 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T17:27:50.511Z,1629048470.511 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T17:27:50.511Z,1629048470.511 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T17:27:50.511Z,1629048470.511 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T17:27:50.512Z,1629048470.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1
2021-08-15T17:27:50.512Z,1629048470.512 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-15T17:27:50.513Z,1629048470.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1
2021-08-15T17:27:50.513Z,1629048470.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-15T17:27:50.513Z,1629048470.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Running Loop=1
2021-08-15T17:27:50.513Z,1629048470.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch](DEBUG): Initialize.
2021-08-15T17:27:50.513Z,1629048470.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Running Loop=1
2021-08-15T17:27:50.513Z,1629048470.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1
2021-08-15T17:27:50.513Z,1629048470.513 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1
2021-08-15T17:27:50.515Z,1629048470.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance.
2021-08-15T17:27:50.515Z,1629048470.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped
2021-08-15T17:27:50.515Z,1629048470.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Running Loop=1
2021-08-15T17:27:50.515Z,1629048470.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initialize.
2021-08-15T17:27:50.515Z,1629048470.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](DEBUG): Initializing internal variables to default values.
2021-08-15T17:27:50.515Z,1629048470.515 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-15T17:27:50.516Z,1629048470.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Rollout timeout set to 600.00 sec.
2021-08-15T17:27:50.516Z,1629048470.516 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-15T17:27:50.517Z,1629048470.517 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance] Stopped
2021-08-15T17:27:50.517Z,1629048470.517 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance
2021-08-15T17:27:50.517Z,1629048470.517 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped
2021-08-15T17:27:50.517Z,1629048470.517 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide
2021-08-15T17:27:50.517Z,1629048470.517 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped
2021-08-15T17:27:50.517Z,1629048470.517 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize.
2021-08-15T17:27:50.517Z,1629048470.517 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped
2021-08-15T17:27:50.517Z,1629048470.517 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped
2021-08-15T17:27:50.517Z,1629048470.517 [lineCaptureDepth:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent.
2021-08-15T17:27:50.520Z,1629048470.520 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:27:50.920Z,1629048470.920 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:27:50.920Z,1629048470.920 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:27:50.921Z,1629048470.921 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:27:50.921Z,1629048470.921 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:27:50.949Z,1629048470.949 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T17:27:50.950Z,1629048470.950 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T17:27:50.950Z,1629048470.950 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T17:27:50.950Z,1629048470.950 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T17:27:50.953Z,1629048470.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.380001 m, bearing: 254.378293 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-15T17:27:50.953Z,1629048470.953 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.38 m.
2021-08-15T17:27:50.954Z,1629048470.954 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 254.378293deg and heading rate command to 0 deg/s.
2021-08-15T17:27:51.261Z,1629048471.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F15,000,004E0,186,80,80,7C,FF
2021-08-15T17:27:51.261Z,1629048471.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:27:51.262Z,1629048471.262 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:27:51.263Z,1629048471.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:27:51.861Z,1629048471.861 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:27:52.230Z,1629048472.230 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EEB,000,004EB,187,80,80,4B,FF
2021-08-15T17:27:52.230Z,1629048472.230 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:27:52.311Z,1629048472.311 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:27:52.745Z,1629048472.745 [Micromodem](INFO): Nmea in: $SNTTA,0.050784,,,,172752.33*4A

2021-08-15T17:27:52.771Z,1629048472.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.040001 m, bearing: 256.958875 deg, deltaT: 4.603147 s, approachRate: 0.143380 m/s, LOS rate: 0.560613 deg/s, posRepo size: 2
2021-08-15T17:27:52.772Z,1629048472.772 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.04 m.
2021-08-15T17:27:52.774Z,1629048472.774 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.040001 m,
      bearing: 256.958875 deg,
      approachRate: 0.143380 m/s,
      LOS rate: 0.560613 deg/s,
      cmd update: 2.242450 deg/s,
      cmd heading: 254.378293 deg,
      new cmd heading: 254.378293 deg.

2021-08-15T17:27:55.184Z,1629048475.184 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:27:55.527Z,1629048475.527 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:27:55.527Z,1629048475.527 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:27:55.527Z,1629048475.527 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:27:55.527Z,1629048475.527 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:27:55.946Z,1629048475.946 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EEB,000,004EB,187,80,80,4B,FF
2021-08-15T17:27:55.946Z,1629048475.946 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:27:55.946Z,1629048475.946 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:27:55.947Z,1629048475.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:27:56.367Z,1629048476.367 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:27:56.745Z,1629048476.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFD,000,004EF,187,80,80,4C,FF
2021-08-15T17:27:56.745Z,1629048476.745 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:27:56.765Z,1629048476.765 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:27:57.178Z,1629048477.178 [Micromodem](INFO): Nmea in: $SNTTA,,,,,172757.02*5D

2021-08-15T17:27:57.238Z,1629048477.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.279999 m, bearing: 256.885628 deg, deltaT: 4.454418 s, approachRate: 0.053879 m/s, LOS rate: -0.016444 deg/s, posRepo size: 3
2021-08-15T17:27:57.239Z,1629048477.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 38.28 m.
2021-08-15T17:27:57.241Z,1629048477.241 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 38.279999 m,
      bearing: 256.885628 deg,
      approachRate: 0.053879 m/s,
      LOS rate: -0.016444 deg/s,
      cmd update: -0.065775 deg/s,
      cmd heading: 264.457266 deg,
      new cmd heading: 265.524778 deg.

2021-08-15T17:27:59.639Z,1629048479.639 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:27:59.971Z,1629048479.971 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:27:59.972Z,1629048479.972 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:27:59.972Z,1629048479.972 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:27:59.973Z,1629048479.973 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:28:00.378Z,1629048480.378 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFD,000,004EF,187,80,80,4C,FF
2021-08-15T17:28:00.378Z,1629048480.378 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:28:00.378Z,1629048480.378 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:28:00.380Z,1629048480.380 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:28:00.785Z,1629048480.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:28:01.185Z,1629048481.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F7E,000,004E0,186,80,80,67,FF
2021-08-15T17:28:01.185Z,1629048481.185 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:28:01.297Z,1629048481.297 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:28:01.629Z,1629048481.629 [Micromodem](INFO): Nmea in: $SNTTA,,,,,172801.45*52

2021-08-15T17:28:01.674Z,1629048481.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.380001 m, bearing: 255.834571 deg, deltaT: 4.531181 s, approachRate: -0.198623 m/s, LOS rate: -0.231961 deg/s, posRepo size: 4
2021-08-15T17:28:01.675Z,1629048481.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 37.38 m.
2021-08-15T17:28:01.677Z,1629048481.677 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 37.380001 m,
      bearing: 255.834571 deg,
      approachRate: -0.198623 m/s,
      LOS rate: -0.231961 deg/s,
      cmd update: -0.927844 deg/s,
      cmd heading: 264.160309 deg,
      new cmd heading: 264.134178 deg.

2021-08-15T17:28:04.058Z,1629048484.058 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:28:04.421Z,1629048484.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:28:04.422Z,1629048484.422 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:28:04.422Z,1629048484.422 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:28:04.423Z,1629048484.423 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:28:04.849Z,1629048484.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F7E,000,004E0,186,80,80,67,FF
2021-08-15T17:28:04.849Z,1629048484.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:28:04.849Z,1629048484.849 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:28:04.851Z,1629048484.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:28:05.230Z,1629048485.230 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:28:05.632Z,1629048485.632 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03F,000,004C9,184,80,80,A8,FF
2021-08-15T17:28:05.632Z,1629048485.632 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:28:05.658Z,1629048485.658 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:28:06.057Z,1629048486.057 [Micromodem](INFO): Nmea in: $SNTTA,,,,,172805.92*5C

2021-08-15T17:28:06.105Z,1629048486.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.999996 m, bearing: 253.257868 deg, deltaT: 4.361915 s, approachRate: -0.316376 m/s, LOS rate: -0.590727 deg/s, posRepo size: 4
2021-08-15T17:28:06.105Z,1629048486.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.00 m.
2021-08-15T17:28:06.106Z,1629048486.106 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 36.00 m.
2021-08-15T17:28:06.107Z,1629048486.107 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-15T17:28:06.114Z,1629048486.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 35.999996 m,
      bearing: 253.257868 deg,
      approachRate: -0.316376 m/s,
      LOS rate: -0.590727 deg/s,
      cmd update: -2.362909 deg/s,
      cmd heading: 260.097790 deg,
      new cmd heading: 259.685516 deg.

2021-08-15T17:28:08.501Z,1629048488.501 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:28:08.853Z,1629048488.853 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:28:08.853Z,1629048488.853 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:28:08.853Z,1629048488.853 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:28:08.854Z,1629048488.854 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:28:09.261Z,1629048489.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03F,000,004C9,184,80,80,A8,FF
2021-08-15T17:28:09.261Z,1629048489.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:28:09.261Z,1629048489.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:28:09.263Z,1629048489.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:28:09.708Z,1629048489.708 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:28:10.075Z,1629048490.075 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,031,000,004AB,185,80,80,8F,FF
2021-08-15T17:28:10.076Z,1629048490.076 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:28:10.098Z,1629048490.098 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:28:10.517Z,1629048490.517 [Micromodem](INFO): Nmea in: $SNTTA,,,,,172810.33*53

2021-08-15T17:28:10.553Z,1629048490.553 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.200001 m, bearing: 251.123462 deg, deltaT: 4.439806 s, approachRate: -0.405422 m/s, LOS rate: -0.480743 deg/s, posRepo size: 4
2021-08-15T17:28:10.555Z,1629048490.555 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 34.200001 m,
      bearing: 251.123462 deg,
      approachRate: -0.405422 m/s,
      LOS rate: -0.480743 deg/s,
      cmd update: -1.922973 deg/s,
      cmd heading: 249.606871 deg,
      new cmd heading: 248.526755 deg.

2021-08-15T17:28:13.016Z,1629048493.016 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:28:13.307Z,1629048493.307 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:28:13.307Z,1629048493.307 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:28:13.307Z,1629048493.307 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:28:13.308Z,1629048493.308 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:28:13.713Z,1629048493.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
031,000,004AB,185,80,80,8F,FF
2021-08-15T17:28:13.713Z,1629048493.713 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:28:13.713Z,1629048493.713 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:28:13.715Z,1629048493.715 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:28:14.117Z,1629048494.117 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:28:14.513Z,1629048494.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F3A,000,00494,186,80,80,8C,FF
2021-08-15T17:28:14.514Z,1629048494.514 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:28:14.554Z,1629048494.554 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:28:14.953Z,1629048494.953 [Micromodem](INFO): Nmea in: $SNTTA,,,,,172814.78*58

2021-08-15T17:28:15.055Z,1629048495.055 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.820000 m, bearing: 252.702328 deg, deltaT: 4.455623 s, approachRate: -0.309721 m/s, LOS rate: 0.354354 deg/s, posRepo size: 4
2021-08-15T17:28:15.063Z,1629048495.063 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 32.820000 m,
      bearing: 252.702328 deg,
      approachRate: -0.309721 m/s,
      LOS rate: 0.354354 deg/s,
      cmd update: 1.417415 deg/s,
      cmd heading: 241.046809 deg,
      new cmd heading: 240.070914 deg.

2021-08-15T17:28:17.417Z,1629048497.417 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:28:17.745Z,1629048497.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:28:17.745Z,1629048497.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:28:17.745Z,1629048497.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:28:17.746Z,1629048497.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:28:18.157Z,1629048498.157 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F3A,000,00494,186,80,80,8C,FF
2021-08-15T17:28:18.157Z,1629048498.157 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:28:18.157Z,1629048498.157 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:28:18.159Z,1629048498.159 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:28:18.565Z,1629048498.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:28:18.957Z,1629048498.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9B,000,00460,186,80,80,9F,FF
2021-08-15T17:28:18.957Z,1629048498.957 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:28:19.090Z,1629048499.090 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:28:19.402Z,1629048499.402 [Micromodem](INFO): Nmea in: $SNTTA,0.069732,,,,172819.23*4C

2021-08-15T17:28:19.481Z,1629048499.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.699997 m, bearing: 254.748571 deg, deltaT: 4.536271 s, approachRate: -0.687790 m/s, LOS rate: 0.451085 deg/s, posRepo size: 4
2021-08-15T17:28:19.483Z,1629048499.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 29.699997 m,
      bearing: 254.748571 deg,
      approachRate: -0.687790 m/s,
      LOS rate: 0.451085 deg/s,
      cmd update: 1.804339 deg/s,
      cmd heading: 247.476685 deg,
      new cmd heading: 248.017396 deg.

2021-08-15T17:28:21.813Z,1629048501.813 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:28:22.189Z,1629048502.189 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:28:22.189Z,1629048502.189 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:28:22.189Z,1629048502.189 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:28:22.190Z,1629048502.190 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:28:22.593Z,1629048502.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9B,000,00460,186,80,80,9F,FF
2021-08-15T17:28:22.593Z,1629048502.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:28:22.593Z,1629048502.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:28:22.595Z,1629048502.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:28:22.599Z,1629048502.599 [PowerOnly](INFO): Powering down loadControl
2021-08-15T17:28:23.049Z,1629048503.049 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:28:23.414Z,1629048503.414 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F55,000,00441,187,80,80,9C,FF
2021-08-15T17:28:23.414Z,1629048503.414 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:28:23.419Z,1629048503.419 [Micromodem](INFO): Nmea in: $SNTTA,0.145804,0.145923,,,172823.66*57

2021-08-15T17:28:23.471Z,1629048503.471 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:28:23.853Z,1629048503.853 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.839996 m, bearing: 254.619398 deg, deltaT: 4.385438 s, approachRate: -0.424131 m/s, LOS rate: -0.029455 deg/s, posRepo size: 4
2021-08-15T17:28:23.854Z,1629048503.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 27.839996 m,
      bearing: 254.619398 deg,
      approachRate: -0.424131 m/s,
      LOS rate: -0.029455 deg/s,
      cmd update: -0.117820 deg/s,
      cmd heading: 255.389039 deg,
      new cmd heading: 256.082021 deg.

2021-08-15T17:28:26.246Z,1629048506.246 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:28:26.636Z,1629048506.636 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:28:26.636Z,1629048506.636 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:28:26.637Z,1629048506.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:28:26.637Z,1629048506.637 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:28:27.077Z,1629048507.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F55,000,00441,187,80,80,9C,FF
2021-08-15T17:28:27.077Z,1629048507.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:28:27.078Z,1629048507.078 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:28:27.079Z,1629048507.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:28:27.463Z,1629048507.463 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:28:27.851Z,1629048507.851 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FDA,000,00417,184,80,80,A3,FF
2021-08-15T17:28:27.851Z,1629048507.851 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:28:27.889Z,1629048507.889 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:28:28.290Z,1629048508.290 [Micromodem](INFO): Nmea in: $SNTTA,0.039433,,,,172828.15*4C

2021-08-15T17:28:28.311Z,1629048508.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.320000 m, bearing: 253.958810 deg, deltaT: 4.413235 s, approachRate: -0.571009 m/s, LOS rate: -0.149684 deg/s, posRepo size: 4
2021-08-15T17:28:28.314Z,1629048508.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 25.320000 m,
      bearing: 253.958810 deg,
      approachRate: -0.571009 m/s,
      LOS rate: -0.149684 deg/s,
      cmd update: -0.598734 deg/s,
      cmd heading: 254.868678 deg,
      new cmd heading: 254.818427 deg.

2021-08-15T17:28:30.716Z,1629048510.716 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:28:31.093Z,1629048511.093 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:28:31.093Z,1629048511.093 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:28:31.094Z,1629048511.094 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:28:31.094Z,1629048511.094 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:28:31.495Z,1629048511.495 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FDA,000,00417,184,80,80,A3,FF
2021-08-15T17:28:31.495Z,1629048511.495 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:28:31.495Z,1629048511.495 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:28:31.497Z,1629048511.497 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:28:31.909Z,1629048511.909 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:28:32.297Z,1629048512.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC3,000,003ED,184,80,80,88,FF
2021-08-15T17:28:32.298Z,1629048512.298 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:28:32.343Z,1629048512.343 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:28:32.729Z,1629048512.729 [Micromodem](INFO): Nmea in: $SNTTA,,,,,172832.57*51

2021-08-15T17:28:32.761Z,1629048512.761 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.799997 m, bearing: 254.421678 deg, deltaT: 4.459366 s, approachRate: -0.565103 m/s, LOS rate: 0.103797 deg/s, posRepo size: 4
2021-08-15T17:28:32.763Z,1629048512.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.799997 m,
      bearing: 254.421678 deg,
      approachRate: -0.565103 m/s,
      LOS rate: 0.103797 deg/s,
      cmd update: 0.415188 deg/s,
      cmd heading: 252.203455 deg,
      new cmd heading: 251.949464 deg.

2021-08-15T17:28:35.221Z,1629048515.221 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:28:35.533Z,1629048515.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:28:35.533Z,1629048515.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:28:35.533Z,1629048515.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:28:35.534Z,1629048515.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:28:35.931Z,1629048515.931 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC3,000,003ED,184,80,80,88,FF
2021-08-15T17:28:35.931Z,1629048515.931 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:28:35.931Z,1629048515.931 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:28:35.933Z,1629048515.933 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:28:36.347Z,1629048516.347 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:28:36.741Z,1629048516.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F42,000,003C6,187,80,80,89,FF
2021-08-15T17:28:36.742Z,1629048516.742 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:28:36.806Z,1629048516.806 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:28:37.189Z,1629048517.189 [Micromodem](INFO): Nmea in: $SNTTA,0.052995,,,,172837.00*4A

2021-08-15T17:28:37.257Z,1629048517.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.459999 m, bearing: 257.739538 deg, deltaT: 4.458089 s, approachRate: -0.524888 m/s, LOS rate: 0.744234 deg/s, posRepo size: 4
2021-08-15T17:28:37.259Z,1629048517.259 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 20.459999 m,
      bearing: 257.739538 deg,
      approachRate: -0.524888 m/s,
      LOS rate: 0.744234 deg/s,
      cmd update: 2.976935 deg/s,
      cmd heading: 254.058045 deg,
      new cmd heading: 254.246515 deg.

2021-08-15T17:28:39.602Z,1629048519.602 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:28:39.965Z,1629048519.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:28:39.965Z,1629048519.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:28:39.965Z,1629048519.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:28:39.966Z,1629048519.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:28:40.377Z,1629048520.377 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F42,000,003C6,187,80,80,89,FF
2021-08-15T17:28:40.377Z,1629048520.377 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:28:40.377Z,1629048520.377 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:28:40.379Z,1629048520.379 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:28:40.777Z,1629048520.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:28:41.217Z,1629048521.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F59,000,0039D,186,80,80,7B,FF
2021-08-15T17:28:41.217Z,1629048521.217 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:28:41.297Z,1629048521.297 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:28:41.613Z,1629048521.613 [Micromodem](INFO): Nmea in: $SNTTA,,,,,172841.45*56

2021-08-15T17:28:41.646Z,1629048521.646 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.000000 m, bearing: 260.764683 deg, deltaT: 4.491004 s, approachRate: -0.547761 m/s, LOS rate: 0.673601 deg/s, posRepo size: 4
2021-08-15T17:28:41.648Z,1629048521.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.000000 m,
      bearing: 260.764683 deg,
      approachRate: -0.547761 m/s,
      LOS rate: 0.673601 deg/s,
      cmd update: 2.694405 deg/s,
      cmd heading: 267.415858 deg,
      new cmd heading: 268.474334 deg.

2021-08-15T17:28:44.023Z,1629048524.023 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:28:44.420Z,1629048524.420 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:28:44.420Z,1629048524.420 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:28:44.421Z,1629048524.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:28:44.421Z,1629048524.421 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:28:44.817Z,1629048524.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F59,000,0039D,186,80,80,7B,FF
2021-08-15T17:28:44.817Z,1629048524.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:28:44.817Z,1629048524.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:28:44.819Z,1629048524.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:28:45.248Z,1629048525.248 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:28:45.625Z,1629048525.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,087,000,00376,186,80,80,AE,FF
2021-08-15T17:28:45.626Z,1629048525.626 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:28:45.645Z,1629048525.645 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:28:46.080Z,1629048526.080 [Micromodem](INFO): Nmea in: $SNTTA,,,,,172845.89*52

2021-08-15T17:28:46.104Z,1629048526.104 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.660002 m, bearing: 259.852771 deg, deltaT: 4.347435 s, approachRate: -0.538248 m/s, LOS rate: -0.209759 deg/s, posRepo size: 4
2021-08-15T17:28:46.109Z,1629048526.109 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 15.660002 m,
      bearing: 259.852771 deg,
      approachRate: -0.538248 m/s,
      LOS rate: -0.209759 deg/s,
      cmd update: -0.839035 deg/s,
      cmd heading: 279.140439 deg,
      new cmd heading: 280.384941 deg.

2021-08-15T17:28:48.515Z,1629048528.515 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:28:48.857Z,1629048528.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:28:48.857Z,1629048528.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:28:48.857Z,1629048528.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:28:48.858Z,1629048528.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:28:49.270Z,1629048529.270 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
087,000,00376,186,80,80,AE,FF
2021-08-15T17:28:49.270Z,1629048529.270 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:28:49.270Z,1629048529.270 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:28:49.277Z,1629048529.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:28:49.673Z,1629048529.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:28:50.079Z,1629048530.079 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,204,000,0034F,187,80,80,7A,FF
2021-08-15T17:28:50.079Z,1629048530.079 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:28:50.106Z,1629048530.106 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:28:50.517Z,1629048530.517 [Micromodem](INFO): Nmea in: $SNTTA,0.011963,,,,172850.35*43

2021-08-15T17:28:50.566Z,1629048530.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.319998 m, bearing: 255.063798 deg, deltaT: 4.461507 s, approachRate: -0.524487 m/s, LOS rate: -1.073398 deg/s, posRepo size: 4
2021-08-15T17:28:50.568Z,1629048530.568 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 13.319998 m,
      bearing: 255.063798 deg,
      approachRate: -0.524487 m/s,
      LOS rate: -1.073398 deg/s,
      cmd update: -4.293593 deg/s,
      cmd heading: 275.397135 deg,
      new cmd heading: 275.009155 deg.

2021-08-15T17:28:52.914Z,1629048532.914 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:28:53.306Z,1629048533.306 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:28:53.306Z,1629048533.306 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:28:53.306Z,1629048533.306 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:28:53.307Z,1629048533.307 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:28:53.705Z,1629048533.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
204,000,0034F,187,80,80,7A,FF
2021-08-15T17:28:53.706Z,1629048533.706 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:28:53.706Z,1629048533.706 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:28:53.707Z,1629048533.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:28:54.146Z,1629048534.146 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:28:54.509Z,1629048534.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,117,000,0033B,186,80,80,60,FF
2021-08-15T17:28:54.509Z,1629048534.509 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:28:54.529Z,1629048534.529 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:28:54.954Z,1629048534.954 [Micromodem](INFO): Nmea in: $SNTTA,0.011497,,,,172854.78*48

2021-08-15T17:28:55.049Z,1629048535.049 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.120000 m, bearing: 260.078495 deg, deltaT: 4.423076 s, approachRate: -0.271304 m/s, LOS rate: 1.133758 deg/s, posRepo size: 4
2021-08-15T17:28:55.051Z,1629048535.051 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 12.120000 m,
      bearing: 260.078495 deg,
      approachRate: -0.271304 m/s,
      LOS rate: 1.133758 deg/s,
      cmd update: 4.535032 deg/s,
      cmd heading: 256.405999 deg,
      new cmd heading: 254.164482 deg.

2021-08-15T17:28:57.445Z,1629048537.445 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:28:57.738Z,1629048537.738 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:28:57.738Z,1629048537.738 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:28:57.739Z,1629048537.739 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:28:57.740Z,1629048537.740 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:28:58.165Z,1629048538.165 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
117,000,0033B,186,80,80,60,FF
2021-08-15T17:28:58.165Z,1629048538.165 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:28:58.166Z,1629048538.166 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:28:58.173Z,1629048538.173 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:28:58.560Z,1629048538.560 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:28:58.958Z,1629048538.958 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,03F,000,00309,184,80,80,BD,FF
2021-08-15T17:28:58.958Z,1629048538.958 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:28:59.023Z,1629048539.023 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:28:59.385Z,1629048539.385 [Micromodem](INFO): Nmea in: $SNTTA,,,,,172859.24*58

2021-08-15T17:28:59.463Z,1629048539.463 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.120000 m, bearing: 254.826899 deg, deltaT: 4.511603 s, approachRate: -0.664952 m/s, LOS rate: -1.164020 deg/s, posRepo size: 4
2021-08-15T17:28:59.465Z,1629048539.465 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.120000 m,
      bearing: 254.826899 deg,
      approachRate: -0.664952 m/s,
      LOS rate: -1.164020 deg/s,
      cmd update: -4.656080 deg/s,
      cmd heading: 276.613357 deg,
      new cmd heading: 278.792861 deg.

2021-08-15T17:29:01.829Z,1629048541.829 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:29:02.224Z,1629048542.224 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:29:02.224Z,1629048542.224 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:29:02.224Z,1629048542.224 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:29:02.225Z,1629048542.225 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:29:02.597Z,1629048542.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
03F,000,00309,184,80,80,BD,FF
2021-08-15T17:29:02.597Z,1629048542.597 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:29:02.597Z,1629048542.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:29:02.599Z,1629048542.599 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:29:03.048Z,1629048543.048 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:29:03.414Z,1629048543.414 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,111,000,002E8,185,80,80,AF,FF
2021-08-15T17:29:03.415Z,1629048543.415 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:29:03.467Z,1629048543.467 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:29:03.845Z,1629048543.845 [Micromodem](INFO): Nmea in: $SNTTA,0.004542,,,,172903.67*48

2021-08-15T17:29:03.861Z,1629048543.861 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.139998 m, bearing: 246.140538 deg, deltaT: 4.425869 s, approachRate: -0.447370 m/s, LOS rate: -1.962634 deg/s, posRepo size: 4
2021-08-15T17:29:03.863Z,1629048543.863 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.139998 m,
      bearing: 246.140538 deg,
      approachRate: -0.447370 m/s,
      LOS rate: -1.962634 deg/s,
      cmd update: -7.850537 deg/s,
      cmd heading: 255.746763 deg,
      new cmd heading: 253.898322 deg.

2021-08-15T17:29:06.253Z,1629048546.253 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:29:06.645Z,1629048546.645 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:29:06.645Z,1629048546.645 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:29:06.645Z,1629048546.645 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:29:06.646Z,1629048546.646 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:29:07.089Z,1629048547.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
111,000,002E8,185,80,80,AF,FF
2021-08-15T17:29:07.089Z,1629048547.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:29:07.089Z,1629048547.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:29:07.091Z,1629048547.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:29:07.465Z,1629048547.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:29:07.850Z,1629048547.850 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B4,000,002CA,186,80,80,99,FF
2021-08-15T17:29:07.850Z,1629048547.850 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:29:07.902Z,1629048547.902 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:29:08.275Z,1629048548.275 [Micromodem](INFO): Nmea in: $SNTTA,,,,,172908.16*5C

2021-08-15T17:29:08.325Z,1629048548.325 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.339999 m, bearing: 248.365622 deg, deltaT: 4.435462 s, approachRate: -0.405820 m/s, LOS rate: 0.501658 deg/s, posRepo size: 4
2021-08-15T17:29:08.327Z,1629048548.327 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.339999 m,
      bearing: 248.365622 deg,
      approachRate: -0.405820 m/s,
      LOS rate: 0.501658 deg/s,
      cmd update: 2.006631 deg/s,
      cmd heading: 220.958114 deg,
      new cmd heading: 217.586018 deg.

2021-08-15T17:29:10.685Z,1629048550.685 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:29:11.085Z,1629048551.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:29:11.085Z,1629048551.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:29:11.085Z,1629048551.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:29:11.086Z,1629048551.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:29:11.493Z,1629048551.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B4,000,002CA,186,80,80,99,FF
2021-08-15T17:29:11.493Z,1629048551.493 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:29:11.493Z,1629048551.493 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:29:11.495Z,1629048551.495 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:29:11.881Z,1629048551.881 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:29:12.289Z,1629048552.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B5,000,002B7,186,80,80,68,FF
2021-08-15T17:29:12.290Z,1629048552.290 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:29:12.319Z,1629048552.319 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:29:12.703Z,1629048552.703 [Micromodem](INFO): Nmea in: $SNTTA,0.051887,,,,172912.57*4F

2021-08-15T17:29:12.737Z,1629048552.737 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-15T17:29:12.737Z,1629048552.737 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-15T17:29:12.738Z,1629048552.738 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-15T17:29:12.738Z,1629048552.738 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T17:29:12.738Z,1629048552.738 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-15T17:29:12.738Z,1629048552.738 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.199998 m 
2021-08-15T17:29:12.739Z,1629048552.739 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-15T17:29:12.739Z,1629048552.739 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-15T17:29:12.739Z,1629048552.739 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-15T17:29:12.746Z,1629048552.746 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.199998 m, bearing: 246.327685 deg, deltaT: 4.416851 s, approachRate: -0.258103 m/s, LOS rate: -0.461400 deg/s, posRepo size: 4
2021-08-15T17:29:12.752Z,1629048552.752 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.199998 m,
      bearing: 246.327685 deg,
      approachRate: -0.258103 m/s,
      LOS rate: -0.461400 deg/s,
      cmd update: -1.845602 deg/s,
      cmd heading: 229.829414 deg,
      new cmd heading: 230.692181 deg.

2021-08-15T17:29:13.199Z,1629048553.199 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210815T172913: (41.552319, -70.708603)
2021-08-15T17:29:13.199Z,1629048553.199 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-15T17:29:13.199Z,1629048553.199 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-15T17:29:13.199Z,1629048553.199 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T17:29:13.199Z,1629048553.199 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-15T17:29:13.199Z,1629048553.199 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T17:29:13.199Z,1629048553.199 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-15T17:29:13.200Z,1629048553.200 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-15T17:29:13.200Z,1629048553.200 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-15T17:29:15.232Z,1629048555.232 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:29:15.522Z,1629048555.522 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:29:15.522Z,1629048555.522 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:29:15.522Z,1629048555.522 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:29:15.523Z,1629048555.523 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:29:15.917Z,1629048555.917 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B5,000,002B7,186,80,80,68,FF
2021-08-15T17:29:15.917Z,1629048555.917 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:29:15.917Z,1629048555.917 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:29:15.919Z,1629048555.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:29:16.324Z,1629048556.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:29:16.729Z,1629048556.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A3,000,002B7,186,80,80,85,FF
2021-08-15T17:29:16.729Z,1629048556.729 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:29:16.749Z,1629048556.749 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:29:17.173Z,1629048557.173 [Micromodem](INFO): Nmea in: $SNTTA,0.042279,,,,172916.99*40

2021-08-15T17:29:17.232Z,1629048557.232 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.199998 m, bearing: 230.354495 deg, deltaT: 4.430145 s, approachRate: 0.000000 m/s, LOS rate: -3.605568 deg/s, posRepo size: 4
2021-08-15T17:29:17.235Z,1629048557.235 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.199998 m,
      bearing: 230.354495 deg,
      approachRate: 0.000000 m/s,
      LOS rate: -3.605568 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 221.653137 deg,
      new cmd heading: 220.757251 deg.

2021-08-15T17:29:19.251Z,1629048559.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:29:19.561Z,1629048559.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:29:19.561Z,1629048559.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:29:19.561Z,1629048559.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:29:19.562Z,1629048559.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:29:19.957Z,1629048559.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A3,000,002B7,186,80,80,85,FF
2021-08-15T17:29:19.957Z,1629048559.957 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:29:19.957Z,1629048559.957 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:29:19.959Z,1629048559.959 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:29:20.368Z,1629048560.368 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:29:20.770Z,1629048560.770 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AA,000,002C3,186,80,80,BF,FF
2021-08-15T17:29:20.770Z,1629048560.770 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:29:20.795Z,1629048560.795 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:29:21.221Z,1629048561.221 [Micromodem](INFO): Nmea in: $SNTTA,0.454593,0.454874,,,172921.05*51

2021-08-15T17:29:21.282Z,1629048561.282 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.919998 m, bearing: 213.450419 deg, deltaT: 4.045445 s, approachRate: 0.177978 m/s, LOS rate: -4.178545 deg/s, posRepo size: 4
2021-08-15T17:29:21.285Z,1629048561.285 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.919998 m,
      bearing: 213.450419 deg,
      approachRate: 0.177978 m/s,
      LOS rate: -4.178545 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 173.108960 deg,
      new cmd heading: 167.226032 deg.

2021-08-15T17:29:23.624Z,1629048563.624 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:29:23.997Z,1629048563.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:29:23.997Z,1629048563.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:29:23.997Z,1629048563.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:29:23.998Z,1629048563.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:29:24.406Z,1629048564.406 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AA,000,002C3,186,80,80,BF,FF
2021-08-15T17:29:24.406Z,1629048564.406 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:29:24.407Z,1629048564.407 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:29:24.409Z,1629048564.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:29:24.819Z,1629048564.819 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:29:25.232Z,1629048565.232 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0FD,000,002DA,186,80,80,8F,FF
2021-08-15T17:29:25.232Z,1629048565.232 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:29:25.235Z,1629048565.235 [Micromodem](INFO): Nmea in: $SNTTA,0.007384,0.201071,,,172925.48*55

2021-08-15T17:29:25.314Z,1629048565.314 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:29:25.659Z,1629048565.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 6.300001 m, bearing: 192.946738 deg, deltaT: 4.519463 s, approachRate: 0.305347 m/s, LOS rate: -4.536752 deg/s, posRepo size: 4
2021-08-15T17:29:25.661Z,1629048565.661 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 6.300001 m,
      bearing: 192.946738 deg,
      approachRate: 0.305347 m/s,
      LOS rate: -4.536752 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 118.996603 deg,
      new cmd heading: 114.703254 deg.

2021-08-15T17:29:28.066Z,1629048568.066 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:29:28.453Z,1629048568.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:29:28.453Z,1629048568.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:29:28.453Z,1629048568.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:29:28.454Z,1629048568.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:29:28.853Z,1629048568.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0FD,000,002DA,186,80,80,8F,FF
2021-08-15T17:29:28.853Z,1629048568.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:29:28.854Z,1629048568.854 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:29:28.855Z,1629048568.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:29:29.261Z,1629048569.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:29:29.653Z,1629048569.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,068,000,002F2,187,80,80,58,FF
2021-08-15T17:29:29.654Z,1629048569.654 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:29:29.710Z,1629048569.710 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:29:30.101Z,1629048570.101 [Micromodem](INFO): Nmea in: $SNTTA,0.041406,,,,172929.92*4A

2021-08-15T17:29:30.126Z,1629048570.126 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.740000 m, bearing: 182.035961 deg, deltaT: 4.395951 s, approachRate: 0.327574 m/s, LOS rate: -2.482006 deg/s, posRepo size: 4
2021-08-15T17:29:30.146Z,1629048570.146 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.740000 m,
      bearing: 182.035961 deg,
      approachRate: 0.327574 m/s,
      LOS rate: -2.482006 deg/s,
      cmd update: -9.928024 deg/s,
      cmd heading: 66.170802 deg,
      new cmd heading: 61.090794 deg.

2021-08-15T17:29:32.527Z,1629048572.527 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:29:32.885Z,1629048572.885 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:29:32.885Z,1629048572.885 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:29:32.885Z,1629048572.885 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:29:32.886Z,1629048572.886 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:29:33.293Z,1629048573.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
068,000,002F2,187,80,80,58,FF
2021-08-15T17:29:33.293Z,1629048573.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:29:33.293Z,1629048573.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:29:33.295Z,1629048573.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:29:33.737Z,1629048573.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:29:34.145Z,1629048574.145 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22D,000,00310,18A,80,80,60,FF
2021-08-15T17:29:34.146Z,1629048574.146 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:29:34.227Z,1629048574.227 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:29:34.554Z,1629048574.554 [Micromodem](INFO): Nmea in: $SNTTA,0.027617,,,,172934.36*4A

2021-08-15T17:29:34.570Z,1629048574.570 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.540000 m, bearing: 143.570098 deg, deltaT: 4.517020 s, approachRate: 0.398493 m/s, LOS rate: -8.515761 deg/s, posRepo size: 4
2021-08-15T17:29:34.577Z,1629048574.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.540000 m,
      bearing: 143.570098 deg,
      approachRate: 0.398493 m/s,
      LOS rate: -8.515761 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 21.325599 deg,
      new cmd heading: 17.848706 deg.

2021-08-15T17:29:37.052Z,1629048577.052 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:29:37.373Z,1629048577.373 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:29:37.374Z,1629048577.374 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:29:37.374Z,1629048577.374 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:29:37.375Z,1629048577.375 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:29:37.774Z,1629048577.774 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22D,000,00310,18A,80,80,60,FF
2021-08-15T17:29:37.774Z,1629048577.774 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:29:37.774Z,1629048577.774 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:29:37.776Z,1629048577.776 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:29:38.212Z,1629048578.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:29:38.581Z,1629048578.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,4B8,000,0032E,189,80,80,50,FF
2021-08-15T17:29:38.582Z,1629048578.582 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:29:38.687Z,1629048578.687 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:29:39.049Z,1629048579.049 [Micromodem](INFO): Nmea in: $SNTTA,,,,,172938.84*54

2021-08-15T17:29:39.095Z,1629048579.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.339997 m, bearing: 95.899824 deg, deltaT: 4.459408 s, approachRate: 0.403640 m/s, LOS rate: -10.689821 deg/s, posRepo size: 4
2021-08-15T17:29:39.095Z,1629048579.095 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 11.34 m. Rolling out.
2021-08-15T17:29:39.096Z,1629048579.096 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-15T17:29:41.457Z,1629048581.457 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:29:41.820Z,1629048581.820 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:29:41.821Z,1629048581.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:29:41.821Z,1629048581.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:29:41.822Z,1629048581.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:29:42.241Z,1629048582.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
4B8,000,0032E,189,80,80,50,FF
2021-08-15T17:29:42.241Z,1629048582.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:29:42.241Z,1629048582.241 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:29:42.243Z,1629048582.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:29:42.633Z,1629048582.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:29:43.073Z,1629048583.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E8,000,0035D,186,80,80,59,FF
2021-08-15T17:29:43.073Z,1629048583.073 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:29:43.118Z,1629048583.118 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:29:43.449Z,1629048583.449 [Micromodem](INFO): Nmea in: $SNTTA,,,,,172943.31*56

2021-08-15T17:29:43.475Z,1629048583.475 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.159999 m, bearing: 133.538313 deg, deltaT: 4.432233 s, approachRate: 0.636249 m/s, LOS rate: 8.491992 deg/s, posRepo size: 4
2021-08-15T17:29:45.863Z,1629048585.863 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:29:46.265Z,1629048586.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:29:46.265Z,1629048586.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:29:46.265Z,1629048586.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:29:46.266Z,1629048586.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:29:46.661Z,1629048586.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E8,000,0035D,186,80,80,59,FF
2021-08-15T17:29:46.662Z,1629048586.662 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:29:46.662Z,1629048586.662 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:29:46.664Z,1629048586.664 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:29:47.101Z,1629048587.101 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:29:47.470Z,1629048587.470 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F94,000,00369,187,80,80,8B,FF
2021-08-15T17:29:47.470Z,1629048587.470 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:29:47.491Z,1629048587.491 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:29:47.905Z,1629048587.905 [Micromodem](INFO): Nmea in: $SNTTA,,,,,172947.74*53

2021-08-15T17:29:47.927Z,1629048587.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.879999 m, bearing: 157.184947 deg, deltaT: 4.372653 s, approachRate: 0.164660 m/s, LOS rate: 5.407846 deg/s, posRepo size: 4
2021-08-15T17:29:50.348Z,1629048590.348 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:29:50.697Z,1629048590.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:29:50.697Z,1629048590.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:29:50.698Z,1629048590.698 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:29:50.699Z,1629048590.699 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:29:51.108Z,1629048591.108 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F94,000,00369,187,80,80,8B,FF
2021-08-15T17:29:51.108Z,1629048591.108 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:29:51.108Z,1629048591.108 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:29:51.110Z,1629048591.110 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:29:51.505Z,1629048591.505 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:29:51.910Z,1629048591.910 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB7,000,00381,186,80,80,54,FF
2021-08-15T17:29:51.910Z,1629048591.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:29:51.963Z,1629048591.963 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:29:52.341Z,1629048592.341 [Micromodem](INFO): Nmea in: $SNTTA,,,,,172952.18*5D

2021-08-15T17:29:52.384Z,1629048592.384 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.319998 m, bearing: 166.890946 deg, deltaT: 4.471235 s, approachRate: 0.322058 m/s, LOS rate: 2.170765 deg/s, posRepo size: 4
2021-08-15T17:29:54.777Z,1629048594.777 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:29:55.145Z,1629048595.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:29:55.146Z,1629048595.146 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:29:55.146Z,1629048595.146 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:29:55.148Z,1629048595.148 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:29:55.541Z,1629048595.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB7,000,00381,186,80,80,54,FF
2021-08-15T17:29:55.541Z,1629048595.541 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:29:55.541Z,1629048595.541 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:29:55.543Z,1629048595.543 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:29:55.949Z,1629048595.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:29:56.354Z,1629048596.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFA,000,0039A,186,80,80,89,FF
2021-08-15T17:29:56.354Z,1629048596.354 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:29:56.408Z,1629048596.408 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:29:56.798Z,1629048596.798 [Micromodem](INFO): Nmea in: $SNTTA,,,,,172956.62*54

2021-08-15T17:29:56.846Z,1629048596.846 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.820002 m, bearing: 162.295718 deg, deltaT: 4.446187 s, approachRate: 0.337369 m/s, LOS rate: -1.033521 deg/s, posRepo size: 4
2021-08-15T17:29:59.311Z,1629048599.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:29:59.581Z,1629048599.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:29:59.581Z,1629048599.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:29:59.581Z,1629048599.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:29:59.582Z,1629048599.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:29:59.985Z,1629048599.985 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFA,000,0039A,186,80,80,89,FF
2021-08-15T17:29:59.986Z,1629048599.986 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:29:59.986Z,1629048599.986 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:29:59.988Z,1629048599.988 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:30:00.407Z,1629048600.407 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:30:01.226Z,1629048601.226 [Micromodem](INFO): Nmea in: $SNTTA,0.451030,,,,173001.06*41

2021-08-15T17:30:02.017Z,1629048602.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,09E,000,03731,186,80,80,A4,FF
2021-08-15T17:30:02.017Z,1629048602.017 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:30:02.037Z,1629048602.037 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:30:02.449Z,1629048602.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 810.239990 m, bearing: 152.102275 deg, deltaT: 5.627693 s, approachRate: 140.807251 m/s, LOS rate: -1.811300 deg/s, posRepo size: 4
2021-08-15T17:30:02.837Z,1629048602.837 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T17:30:02.837Z,1629048602.837 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T17:30:02.838Z,1629048602.838 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T17:30:02.838Z,1629048602.838 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T17:30:02.838Z,1629048602.838 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T17:30:02.838Z,1629048602.838 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T17:30:03.292Z,1629048603.292 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T17:30:03.292Z,1629048603.292 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T17:30:03.292Z,1629048603.292 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T17:30:03.293Z,1629048603.293 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T17:30:04.866Z,1629048604.866 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:30:05.241Z,1629048605.241 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:30:05.241Z,1629048605.241 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:30:05.241Z,1629048605.241 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:30:05.242Z,1629048605.242 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:30:05.641Z,1629048605.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
09E,000,03731,186,80,80,A4,FF
2021-08-15T17:30:05.641Z,1629048605.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:30:05.641Z,1629048605.641 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:30:05.643Z,1629048605.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:30:06.053Z,1629048606.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:30:06.465Z,1629048606.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2B,000,003EC,187,80,80,4F,FF
2021-08-15T17:30:06.466Z,1629048606.466 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:30:06.890Z,1629048606.890 [Micromodem](INFO): Nmea in: $SNTTA,0.043973,,,,173006.71*4F

2021-08-15T17:30:06.912Z,1629048606.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.740000 m, bearing: 177.175367 deg, deltaT: 4.459013 s, approachRate: -176.608597 m/s, LOS rate: 5.623014 deg/s, posRepo size: 4
2021-08-15T17:30:07.313Z,1629048607.313 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T17:30:07.313Z,1629048607.313 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T17:30:07.313Z,1629048607.313 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T17:30:07.314Z,1629048607.314 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T17:30:07.314Z,1629048607.314 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T17:30:07.314Z,1629048607.314 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T17:30:07.685Z,1629048607.685 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T17:30:07.685Z,1629048607.685 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T17:30:07.685Z,1629048607.685 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T17:30:07.686Z,1629048607.686 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T17:30:09.347Z,1629048609.347 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:30:09.683Z,1629048609.683 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:30:09.683Z,1629048609.683 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:30:09.683Z,1629048609.683 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:30:09.684Z,1629048609.684 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:30:10.093Z,1629048610.093 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2B,000,003EC,187,80,80,4F,FF
2021-08-15T17:30:10.093Z,1629048610.093 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:30:10.093Z,1629048610.093 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:30:10.094Z,1629048610.094 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:30:10.497Z,1629048610.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:30:10.897Z,1629048610.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D15,000,003F1,189,80,80,65,FF
2021-08-15T17:30:10.897Z,1629048610.897 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:30:10.917Z,1629048610.917 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:30:11.321Z,1629048611.321 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173011.17*5D

2021-08-15T17:30:11.383Z,1629048611.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.039999 m, bearing: 210.506061 deg, deltaT: 4.421783 s, approachRate: 0.067846 m/s, LOS rate: 7.537840 deg/s, posRepo size: 4
2021-08-15T17:30:13.755Z,1629048613.755 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:30:14.129Z,1629048614.129 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:30:14.129Z,1629048614.129 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:30:14.130Z,1629048614.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:30:14.130Z,1629048614.130 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:30:14.532Z,1629048614.532 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D15,000,003F1,189,80,80,65,FF
2021-08-15T17:30:14.533Z,1629048614.533 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:30:14.533Z,1629048614.533 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:30:14.535Z,1629048614.535 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:30:14.940Z,1629048614.940 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:30:15.337Z,1629048615.337 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E79,000,0041D,186,80,80,4E,FF
2021-08-15T17:30:15.338Z,1629048615.338 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:30:15.446Z,1629048615.446 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:30:15.782Z,1629048615.782 [Micromodem](INFO): Nmea in: $SNTTA,0.031347,,,,173015.61*44

2021-08-15T17:30:15.803Z,1629048615.803 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.679996 m, bearing: 199.074948 deg, deltaT: 4.528483 s, approachRate: 0.582976 m/s, LOS rate: -2.524270 deg/s, posRepo size: 4
2021-08-15T17:30:18.245Z,1629048618.245 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:30:18.569Z,1629048618.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:30:18.569Z,1629048618.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:30:18.569Z,1629048618.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:30:18.570Z,1629048618.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:30:18.982Z,1629048618.982 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E79,000,0041D,186,80,80,4E,FF
2021-08-15T17:30:18.982Z,1629048618.982 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:30:18.983Z,1629048618.983 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:30:18.988Z,1629048618.988 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:30:19.384Z,1629048619.384 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:30:19.782Z,1629048619.782 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E78,000,0042A,186,80,80,B1,FF
2021-08-15T17:30:19.782Z,1629048619.782 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:30:19.806Z,1629048619.806 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:30:20.241Z,1629048620.241 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173020.06*5F

2021-08-15T17:30:20.267Z,1629048620.267 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.460001 m, bearing: 206.637306 deg, deltaT: 4.360607 s, approachRate: 0.178875 m/s, LOS rate: 1.734244 deg/s, posRepo size: 4
2021-08-15T17:30:22.622Z,1629048622.622 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:30:23.029Z,1629048623.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:30:23.029Z,1629048623.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:30:23.030Z,1629048623.030 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:30:23.031Z,1629048623.031 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:30:23.426Z,1629048623.426 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E78,000,0042A,186,80,80,B1,FF
2021-08-15T17:30:23.426Z,1629048623.426 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:30:23.426Z,1629048623.426 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:30:23.428Z,1629048623.428 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:30:23.821Z,1629048623.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:30:24.229Z,1629048624.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E12,000,0043E,187,80,80,2B,FF
2021-08-15T17:30:24.230Z,1629048624.230 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:30:24.288Z,1629048624.288 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:30:24.665Z,1629048624.665 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173024.50*58

2021-08-15T17:30:24.695Z,1629048624.695 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.659998 m, bearing: 220.484367 deg, deltaT: 4.481802 s, approachRate: 0.267749 m/s, LOS rate: 3.089619 deg/s, posRepo size: 4
2021-08-15T17:30:27.175Z,1629048627.175 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:30:27.457Z,1629048627.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:30:27.457Z,1629048627.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:30:27.457Z,1629048627.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:30:27.458Z,1629048627.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:30:27.865Z,1629048627.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E12,000,0043E,187,80,80,2B,FF
2021-08-15T17:30:27.865Z,1629048627.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:30:27.865Z,1629048627.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:30:27.867Z,1629048627.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:30:28.265Z,1629048628.265 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:30:28.673Z,1629048628.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF8,000,00448,184,80,80,7F,FF
2021-08-15T17:30:28.674Z,1629048628.674 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:30:28.713Z,1629048628.713 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:30:29.125Z,1629048629.125 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173028.94*5C

2021-08-15T17:30:29.225Z,1629048629.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.259996 m, bearing: 205.289955 deg, deltaT: 4.425076 s, approachRate: 0.135591 m/s, LOS rate: -3.433706 deg/s, posRepo size: 4
2021-08-15T17:30:31.221Z,1629048631.221 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:30:31.493Z,1629048631.493 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:30:31.493Z,1629048631.493 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:30:31.493Z,1629048631.493 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:30:31.494Z,1629048631.494 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:30:31.913Z,1629048631.913 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF8,000,00448,184,80,80,7F,FF
2021-08-15T17:30:31.913Z,1629048631.913 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:30:31.913Z,1629048631.913 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:30:31.915Z,1629048631.915 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:30:32.304Z,1629048632.304 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:30:32.718Z,1629048632.718 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F81,000,00470,186,80,80,7C,FF
2021-08-15T17:30:32.718Z,1629048632.718 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:30:32.738Z,1629048632.738 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:30:33.152Z,1629048633.152 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173032.99*5A

2021-08-15T17:30:33.225Z,1629048633.225 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.659998 m, bearing: 219.087648 deg, deltaT: 4.024755 s, approachRate: 0.596310 m/s, LOS rate: 3.428207 deg/s, posRepo size: 4
2021-08-15T17:30:35.242Z,1629048635.242 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:30:35.541Z,1629048635.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:30:35.541Z,1629048635.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:30:35.542Z,1629048635.542 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:30:35.543Z,1629048635.543 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:30:35.965Z,1629048635.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F81,000,00470,186,80,80,7C,FF
2021-08-15T17:30:35.965Z,1629048635.965 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:30:35.965Z,1629048635.965 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:30:35.967Z,1629048635.967 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:30:36.350Z,1629048636.350 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:30:36.765Z,1629048636.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D10,000,00466,189,80,80,8D,FF
2021-08-15T17:30:36.766Z,1629048636.766 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:30:36.785Z,1629048636.785 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:30:37.178Z,1629048637.178 [Micromodem](INFO): Nmea in: $SNTTA,0.019672,,,,173037.04*4E

2021-08-15T17:30:37.239Z,1629048637.239 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.059999 m, bearing: 258.150333 deg, deltaT: 4.047275 s, approachRate: -0.148248 m/s, LOS rate: 9.651601 deg/s, posRepo size: 4
2021-08-15T17:30:39.602Z,1629048639.602 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:30:40.001Z,1629048640.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:30:40.001Z,1629048640.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:30:40.001Z,1629048640.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:30:40.002Z,1629048640.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:30:40.390Z,1629048640.390 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D10,000,00466,189,80,80,8D,FF
2021-08-15T17:30:40.390Z,1629048640.390 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:30:40.390Z,1629048640.390 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:30:40.394Z,1629048640.394 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:30:40.801Z,1629048640.801 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:30:41.229Z,1629048641.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,256,000,00467,189,80,80,6F,FF
2021-08-15T17:30:41.230Z,1629048641.230 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:30:41.332Z,1629048641.332 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:30:41.665Z,1629048641.665 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173041.47*5D

2021-08-15T17:30:41.701Z,1629048641.701 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.119997 m, bearing: 198.620289 deg, deltaT: 4.546910 s, approachRate: 0.013195 m/s, LOS rate: -13.092417 deg/s, posRepo size: 4
2021-08-15T17:30:44.059Z,1629048644.059 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:30:44.440Z,1629048644.440 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:30:44.440Z,1629048644.440 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:30:44.441Z,1629048644.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:30:44.441Z,1629048644.441 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:30:44.830Z,1629048644.830 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
256,000,00467,189,80,80,6F,FF
2021-08-15T17:30:44.831Z,1629048644.831 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:30:44.831Z,1629048644.831 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:30:44.834Z,1629048644.834 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:30:45.249Z,1629048645.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:30:45.634Z,1629048645.634 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E06,000,0046C,186,80,80,8C,FF
2021-08-15T17:30:45.635Z,1629048645.635 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:30:45.694Z,1629048645.694 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:30:46.105Z,1629048646.105 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173045.91*52

2021-08-15T17:30:46.145Z,1629048646.145 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.419996 m, bearing: 263.257019 deg, deltaT: 4.361951 s, approachRate: 0.068776 m/s, LOS rate: 14.818307 deg/s, posRepo size: 4
2021-08-15T17:30:48.513Z,1629048648.513 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:30:48.869Z,1629048648.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:30:48.869Z,1629048648.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:30:48.869Z,1629048648.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:30:48.870Z,1629048648.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:30:49.277Z,1629048649.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E06,000,0046C,186,80,80,8C,FF
2021-08-15T17:30:49.277Z,1629048649.277 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:30:49.277Z,1629048649.277 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:30:49.279Z,1629048649.279 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:30:49.711Z,1629048649.711 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:30:50.108Z,1629048650.108 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2D,000,00473,186,80,80,A1,FF
2021-08-15T17:30:50.109Z,1629048650.109 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:30:50.137Z,1629048650.137 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:30:50.549Z,1629048650.549 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173050.35*58

2021-08-15T17:30:50.599Z,1629048650.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.839998 m, bearing: 269.341652 deg, deltaT: 4.443597 s, approachRate: 0.094518 m/s, LOS rate: 1.369304 deg/s, posRepo size: 4
2021-08-15T17:30:52.954Z,1629048652.954 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:30:53.344Z,1629048653.344 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:30:53.345Z,1629048653.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:30:53.345Z,1629048653.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:30:53.346Z,1629048653.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:30:53.741Z,1629048653.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2D,000,00473,186,80,80,A1,FF
2021-08-15T17:30:53.741Z,1629048653.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:30:53.741Z,1629048653.741 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:30:53.743Z,1629048653.743 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:30:54.175Z,1629048654.175 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:30:54.537Z,1629048654.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC7,000,0047C,188,80,80,B0,FF
2021-08-15T17:30:54.538Z,1629048654.538 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:30:54.600Z,1629048654.600 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:30:54.981Z,1629048654.981 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173054.82*50

2021-08-15T17:30:55.058Z,1629048655.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.379999 m, bearing: 285.288669 deg, deltaT: 4.462543 s, approachRate: 0.121007 m/s, LOS rate: 3.573527 deg/s, posRepo size: 4
2021-08-15T17:30:57.454Z,1629048657.454 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:30:57.766Z,1629048657.766 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:30:57.766Z,1629048657.766 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:30:57.766Z,1629048657.766 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:30:57.767Z,1629048657.767 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:30:58.205Z,1629048658.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC7,000,0047C,188,80,80,B0,FF
2021-08-15T17:30:58.205Z,1629048658.205 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:30:58.205Z,1629048658.205 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:30:58.207Z,1629048658.207 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:30:58.584Z,1629048658.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:30:59.393Z,1629048659.393 [Micromodem](INFO): Nmea in: $SNTTA,0.044820,,,,173059.28*49

2021-08-15T17:31:00.265Z,1629048660.265 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:31:01.813Z,1629048661.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,188,80,80,B0,FF
2021-08-15T17:31:01.814Z,1629048661.814 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,188,80,80,B0,FF
2021-08-15T17:31:01.814Z,1629048661.814 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T17:31:03.125Z,1629048663.125 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:31:03.437Z,1629048663.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:31:03.437Z,1629048663.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:31:03.438Z,1629048663.438 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:31:03.438Z,1629048663.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:31:03.837Z,1629048663.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,188,80,80,B0,FF
2021-08-15T17:31:03.837Z,1629048663.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:31:03.837Z,1629048663.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:31:03.839Z,1629048663.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:31:04.236Z,1629048664.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:31:04.637Z,1629048664.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,0046B,18A,80,80,A9,FF
2021-08-15T17:31:04.637Z,1629048664.637 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:31:04.697Z,1629048664.697 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:31:05.101Z,1629048665.101 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173104.91*56

2021-08-15T17:31:05.233Z,1629048665.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.359999 m, bearing: 342.655537 deg, deltaT: 10.097126 s, approachRate: -0.101019 m/s, LOS rate: 5.681505 deg/s, posRepo size: 4
2021-08-15T17:31:07.506Z,1629048667.506 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:31:07.869Z,1629048667.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:31:07.869Z,1629048667.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:31:07.869Z,1629048667.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:31:07.870Z,1629048667.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:31:08.273Z,1629048668.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,0046B,18A,80,80,A9,FF
2021-08-15T17:31:08.273Z,1629048668.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:31:08.273Z,1629048668.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:31:08.275Z,1629048668.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:31:08.692Z,1629048668.692 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:31:09.091Z,1629048669.091 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B3D,000,00463,189,80,80,A8,FF
2021-08-15T17:31:09.093Z,1629048669.093 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:31:09.120Z,1629048669.120 [Micromodem](INFO): Nmea in: $SNTTA,0.304747,0.304829,,,173109.35*52

2021-08-15T17:31:09.289Z,1629048669.289 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:31:09.531Z,1629048669.531 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.880001 m, bearing: 348.876036 deg, deltaT: 4.591659 s, approachRate: -0.104537 m/s, LOS rate: 1.354739 deg/s, posRepo size: 4
2021-08-15T17:31:11.927Z,1629048671.927 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:31:12.321Z,1629048672.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:31:12.322Z,1629048672.322 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:31:12.322Z,1629048672.322 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:31:12.323Z,1629048672.323 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:31:12.725Z,1629048672.725 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B3D,000,00463,189,80,80,A8,FF
2021-08-15T17:31:12.725Z,1629048672.725 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:31:12.725Z,1629048672.725 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:31:12.727Z,1629048672.727 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:31:13.173Z,1629048673.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:31:13.525Z,1629048673.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CA0,000,00456,189,80,80,A2,FF
2021-08-15T17:31:13.526Z,1629048673.526 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:31:13.545Z,1629048673.545 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:31:13.972Z,1629048673.972 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173113.80*50

2021-08-15T17:31:13.991Z,1629048673.991 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.099998 m, bearing: 341.052273 deg, deltaT: 4.255861 s, approachRate: -0.183277 m/s, LOS rate: -1.838350 deg/s, posRepo size: 4
2021-08-15T17:31:16.397Z,1629048676.397 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:31:16.757Z,1629048676.757 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:31:16.757Z,1629048676.757 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:31:16.757Z,1629048676.757 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:31:16.758Z,1629048676.758 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:31:17.178Z,1629048677.178 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CA0,000,00456,189,80,80,A2,FF
2021-08-15T17:31:17.178Z,1629048677.178 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:31:17.178Z,1629048677.178 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:31:17.179Z,1629048677.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:31:17.584Z,1629048677.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:31:17.969Z,1629048677.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CFD,000,00443,189,80,80,6D,FF
2021-08-15T17:31:17.970Z,1629048677.970 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:31:17.990Z,1629048677.990 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:31:18.390Z,1629048678.390 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173118.25*54

2021-08-15T17:31:18.434Z,1629048678.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.959997 m, bearing: 346.631417 deg, deltaT: 4.444679 s, approachRate: -0.256487 m/s, LOS rate: 1.255241 deg/s, posRepo size: 4
2021-08-15T17:31:20.830Z,1629048680.830 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:31:21.213Z,1629048681.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:31:21.213Z,1629048681.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:31:21.213Z,1629048681.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:31:21.214Z,1629048681.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:31:21.606Z,1629048681.606 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CFD,000,00443,189,80,80,6D,FF
2021-08-15T17:31:21.606Z,1629048681.606 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:31:21.606Z,1629048681.606 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:31:21.608Z,1629048681.608 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:31:22.020Z,1629048682.020 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:31:22.414Z,1629048682.414 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E7,000,00432,186,80,80,83,FF
2021-08-15T17:31:22.415Z,1629048682.415 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:31:22.488Z,1629048682.488 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:31:22.855Z,1629048682.855 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173122.69*55

2021-08-15T17:31:22.876Z,1629048682.876 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.939999 m, bearing: 294.206519 deg, deltaT: 4.498543 s, approachRate: -0.226740 m/s, LOS rate: -11.653751 deg/s, posRepo size: 4
2021-08-15T17:31:25.302Z,1629048685.302 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:31:25.649Z,1629048685.649 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:31:25.649Z,1629048685.649 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:31:25.649Z,1629048685.649 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:31:25.650Z,1629048685.650 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:31:26.055Z,1629048686.055 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E7,000,00432,186,80,80,83,FF
2021-08-15T17:31:26.056Z,1629048686.056 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:31:26.056Z,1629048686.056 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:31:26.058Z,1629048686.058 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:31:26.473Z,1629048686.473 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:31:26.859Z,1629048686.859 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E21,000,00423,187,80,80,A6,FF
2021-08-15T17:31:26.859Z,1629048686.859 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:31:26.879Z,1629048686.879 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:31:27.305Z,1629048687.305 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173127.13*5D

2021-08-15T17:31:27.365Z,1629048687.365 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.039999 m, bearing: 352.465984 deg, deltaT: 4.390520 s, approachRate: -0.204987 m/s, LOS rate: 13.269376 deg/s, posRepo size: 4
2021-08-15T17:31:29.719Z,1629048689.719 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:31:30.089Z,1629048690.089 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:31:30.089Z,1629048690.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:31:30.089Z,1629048690.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:31:30.090Z,1629048690.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:31:30.497Z,1629048690.497 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E21,000,00423,187,80,80,A6,FF
2021-08-15T17:31:30.497Z,1629048690.497 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:31:30.498Z,1629048690.498 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:31:30.499Z,1629048690.499 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:31:30.901Z,1629048690.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:31:31.305Z,1629048691.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F02,000,00411,186,80,80,82,FF
2021-08-15T17:31:31.305Z,1629048691.305 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:31:31.430Z,1629048691.430 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:31:31.749Z,1629048691.749 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173131.57*5A

2021-08-15T17:31:31.771Z,1629048691.771 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.959997 m, bearing: 347.242883 deg, deltaT: 4.551231 s, approachRate: -0.237299 m/s, LOS rate: -1.147624 deg/s, posRepo size: 4
2021-08-15T17:31:34.201Z,1629048694.201 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:31:34.537Z,1629048694.537 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:31:34.537Z,1629048694.537 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:31:34.538Z,1629048694.538 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:31:34.539Z,1629048694.539 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:31:34.934Z,1629048694.934 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F02,000,00411,186,80,80,82,FF
2021-08-15T17:31:34.934Z,1629048694.934 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:31:34.935Z,1629048694.935 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:31:34.936Z,1629048694.936 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:31:35.341Z,1629048695.341 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:31:35.742Z,1629048695.742 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F17,000,003F9,186,80,80,9F,FF
2021-08-15T17:31:35.742Z,1629048695.742 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:31:35.763Z,1629048695.763 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:31:36.193Z,1629048696.193 [Micromodem](INFO): Nmea in: $SNTTA,0.048346,,,,173136.01*4D

2021-08-15T17:31:36.244Z,1629048696.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 23.519997 m, bearing: 347.570678 deg, deltaT: 4.332640 s, approachRate: -0.332361 m/s, LOS rate: 0.075657 deg/s, posRepo size: 4
2021-08-15T17:31:38.609Z,1629048698.609 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:31:38.969Z,1629048698.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:31:38.969Z,1629048698.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:31:38.969Z,1629048698.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:31:38.970Z,1629048698.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:31:39.392Z,1629048699.392 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F17,000,003F9,186,80,80,9F,FF
2021-08-15T17:31:39.392Z,1629048699.392 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:31:39.393Z,1629048699.393 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:31:39.397Z,1629048699.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:31:39.785Z,1629048699.785 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:31:40.218Z,1629048700.218 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F2B,000,003E8,187,80,80,8C,FF
2021-08-15T17:31:40.219Z,1629048700.219 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:31:40.287Z,1629048700.287 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:31:40.621Z,1629048700.621 [Micromodem](INFO): Nmea in: $SNTTA,0.031874,,,,173140.47*4A

2021-08-15T17:31:40.663Z,1629048700.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.499998 m, bearing: 345.954108 deg, deltaT: 4.523910 s, approachRate: -0.225468 m/s, LOS rate: -0.357339 deg/s, posRepo size: 4
2021-08-15T17:31:43.081Z,1629048703.081 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:31:43.426Z,1629048703.426 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:31:43.426Z,1629048703.426 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:31:43.427Z,1629048703.427 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:31:43.428Z,1629048703.428 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:31:43.817Z,1629048703.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F2B,000,003E8,187,80,80,8C,FF
2021-08-15T17:31:43.817Z,1629048703.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:31:43.817Z,1629048703.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:31:43.819Z,1629048703.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:31:44.247Z,1629048704.247 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:31:44.633Z,1629048704.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F86,000,003D2,186,80,80,60,FF
2021-08-15T17:31:44.633Z,1629048704.633 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:31:44.718Z,1629048704.718 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:31:45.090Z,1629048705.090 [Micromodem](INFO): Nmea in: $SNTTA,0.053683,,,,173144.89*4E

2021-08-15T17:31:45.197Z,1629048705.197 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.179998 m, bearing: 343.101138 deg, deltaT: 4.431974 s, approachRate: -0.297836 m/s, LOS rate: -0.643724 deg/s, posRepo size: 4
2021-08-15T17:31:47.509Z,1629048707.509 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:31:47.861Z,1629048707.861 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:31:47.861Z,1629048707.861 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:31:47.861Z,1629048707.861 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:31:47.862Z,1629048707.862 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:31:48.265Z,1629048708.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F86,000,003D2,186,80,80,60,FF
2021-08-15T17:31:48.265Z,1629048708.265 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:31:48.265Z,1629048708.265 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:31:48.267Z,1629048708.267 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:31:48.677Z,1629048708.677 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:31:49.085Z,1629048709.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9A,000,003BF,187,80,80,9B,FF
2021-08-15T17:31:49.085Z,1629048709.085 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:31:49.224Z,1629048709.224 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:31:49.505Z,1629048709.505 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173149.34*50

2021-08-15T17:31:49.539Z,1629048709.539 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.039999 m, bearing: 342.692639 deg, deltaT: 4.505677 s, approachRate: -0.253014 m/s, LOS rate: -0.090663 deg/s, posRepo size: 4
2021-08-15T17:31:51.915Z,1629048711.915 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:31:52.313Z,1629048712.313 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:31:52.313Z,1629048712.313 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:31:52.313Z,1629048712.313 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:31:52.314Z,1629048712.314 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:31:52.709Z,1629048712.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9A,000,003BF,187,80,80,9B,FF
2021-08-15T17:31:52.709Z,1629048712.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:31:52.710Z,1629048712.710 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:31:52.711Z,1629048712.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:31:53.116Z,1629048713.116 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:31:53.521Z,1629048713.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC0,000,003AC,184,80,80,A4,FF
2021-08-15T17:31:53.521Z,1629048713.521 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:31:53.541Z,1629048713.541 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:31:53.949Z,1629048713.949 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173153.78*53

2021-08-15T17:31:53.985Z,1629048713.985 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.899998 m, bearing: 340.912828 deg, deltaT: 4.317028 s, approachRate: -0.264071 m/s, LOS rate: -0.412277 deg/s, posRepo size: 4
2021-08-15T17:31:56.094Z,1629048716.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:31:56.345Z,1629048716.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:31:56.345Z,1629048716.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:31:56.345Z,1629048716.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:31:56.346Z,1629048716.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:31:56.753Z,1629048716.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC0,000,003AC,184,80,80,A4,FF
2021-08-15T17:31:56.753Z,1629048716.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:31:56.753Z,1629048716.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:31:56.755Z,1629048716.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:31:57.170Z,1629048717.170 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:31:57.557Z,1629048717.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFD,000,0039A,182,80,80,84,FF
2021-08-15T17:31:57.557Z,1629048717.557 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:31:57.643Z,1629048717.643 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:31:57.998Z,1629048717.998 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173157.83*53

2021-08-15T17:31:58.024Z,1629048718.024 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.820002 m, bearing: 337.270343 deg, deltaT: 4.101697 s, approachRate: -0.263305 m/s, LOS rate: -0.888043 deg/s, posRepo size: 4
2021-08-15T17:32:00.452Z,1629048720.452 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:32:00.789Z,1629048720.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:32:00.789Z,1629048720.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:32:00.789Z,1629048720.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:32:00.790Z,1629048720.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:32:01.209Z,1629048721.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFD,000,0039A,182,80,80,84,FF
2021-08-15T17:32:01.209Z,1629048721.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:32:01.209Z,1629048721.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:32:01.211Z,1629048721.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:32:01.673Z,1629048721.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:32:02.050Z,1629048722.050 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FEA,000,00387,183,80,80,9C,FF
2021-08-15T17:32:02.050Z,1629048722.050 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:32:02.071Z,1629048722.071 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:32:02.501Z,1629048722.501 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.680002 m, bearing: 336.133417 deg, deltaT: 4.427767 s, approachRate: -0.257466 m/s, LOS rate: -0.256772 deg/s, posRepo size: 4
2021-08-15T17:32:04.887Z,1629048724.887 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:32:05.273Z,1629048725.273 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:32:05.273Z,1629048725.273 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:32:05.273Z,1629048725.273 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:32:05.274Z,1629048725.274 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:32:05.689Z,1629048725.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FEA,000,00387,183,80,80,9C,FF
2021-08-15T17:32:05.689Z,1629048725.689 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:32:05.689Z,1629048725.689 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:32:05.691Z,1629048725.691 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:32:06.093Z,1629048726.093 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:32:06.490Z,1629048726.490 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,02C,000,00374,185,80,80,9F,FF
2021-08-15T17:32:06.490Z,1629048726.490 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:32:06.520Z,1629048726.520 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:32:06.925Z,1629048726.925 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173206.76*5E

2021-08-15T17:32:06.947Z,1629048726.947 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.540001 m, bearing: 333.402625 deg, deltaT: 4.449289 s, approachRate: -0.256221 m/s, LOS rate: -0.613759 deg/s, posRepo size: 4
2021-08-15T17:32:09.426Z,1629048729.426 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:32:09.717Z,1629048729.717 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:32:09.717Z,1629048729.717 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:32:09.717Z,1629048729.717 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:32:09.718Z,1629048729.718 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:32:10.121Z,1629048730.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
02C,000,00374,185,80,80,9F,FF
2021-08-15T17:32:10.121Z,1629048730.121 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:32:10.121Z,1629048730.121 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:32:10.123Z,1629048730.123 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:32:10.532Z,1629048730.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:32:10.935Z,1629048730.935 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06C,000,00362,186,80,80,95,FF
2021-08-15T17:32:10.935Z,1629048730.935 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:32:10.956Z,1629048730.956 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:32:11.369Z,1629048731.369 [Micromodem](INFO): Nmea in: $SNTTA,0.341423,,,,173211.20*46

2021-08-15T17:32:11.438Z,1629048731.438 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.459998 m, bearing: 330.879908 deg, deltaT: 4.437379 s, approachRate: -0.243388 m/s, LOS rate: -0.568515 deg/s, posRepo size: 4
2021-08-15T17:32:13.775Z,1629048733.775 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:32:14.181Z,1629048734.181 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:32:14.181Z,1629048734.181 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:32:14.181Z,1629048734.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:32:14.182Z,1629048734.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:32:14.573Z,1629048734.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06C,000,00362,186,80,80,95,FF
2021-08-15T17:32:14.574Z,1629048734.574 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:32:14.574Z,1629048734.574 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:32:14.576Z,1629048734.576 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:32:15.005Z,1629048735.005 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:32:15.375Z,1629048735.375 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D9,000,0034C,186,80,80,73,FF
2021-08-15T17:32:15.375Z,1629048735.375 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:32:15.480Z,1629048735.480 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:32:15.813Z,1629048735.813 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173215.65*5E

2021-08-15T17:32:15.851Z,1629048735.851 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.139999 m, bearing: 325.533591 deg, deltaT: 4.522626 s, approachRate: -0.291866 m/s, LOS rate: -1.182127 deg/s, posRepo size: 4
2021-08-15T17:32:18.251Z,1629048738.251 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:32:18.601Z,1629048738.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:32:18.601Z,1629048738.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:32:18.601Z,1629048738.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:32:18.602Z,1629048738.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:32:19.041Z,1629048739.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D9,000,0034C,186,80,80,73,FF
2021-08-15T17:32:19.041Z,1629048739.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:32:19.041Z,1629048739.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:32:19.043Z,1629048739.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:32:19.488Z,1629048739.488 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:32:19.873Z,1629048739.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,147,000,0033B,185,80,80,73,FF
2021-08-15T17:32:19.873Z,1629048739.873 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:32:19.919Z,1629048739.919 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:32:20.306Z,1629048740.306 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173220.12*58

2021-08-15T17:32:20.332Z,1629048740.332 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.120000 m, bearing: 319.436965 deg, deltaT: 4.439629 s, approachRate: -0.229749 m/s, LOS rate: -1.373229 deg/s, posRepo size: 4
2021-08-15T17:32:22.730Z,1629048742.730 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:32:23.098Z,1629048743.098 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:32:23.098Z,1629048743.098 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:32:23.099Z,1629048743.099 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:32:23.099Z,1629048743.099 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:32:23.513Z,1629048743.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
147,000,0033B,185,80,80,73,FF
2021-08-15T17:32:23.513Z,1629048743.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:32:23.513Z,1629048743.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:32:23.515Z,1629048743.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:32:23.925Z,1629048743.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:32:24.311Z,1629048744.311 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,105,000,0033B,186,80,80,61,FF
2021-08-15T17:32:24.311Z,1629048744.311 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:32:24.375Z,1629048744.375 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:32:24.761Z,1629048744.761 [Micromodem](INFO): Nmea in: $SNTTA,0.036666,,,,173224.59*4E

2021-08-15T17:32:24.783Z,1629048744.783 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.120000 m, bearing: 321.370209 deg, deltaT: 4.466924 s, approachRate: 0.000000 m/s, LOS rate: 0.432791 deg/s, posRepo size: 4
2021-08-15T17:32:27.223Z,1629048747.223 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:32:27.557Z,1629048747.557 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:32:27.557Z,1629048747.557 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:32:27.557Z,1629048747.557 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:32:27.558Z,1629048747.558 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:32:27.953Z,1629048747.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
105,000,0033B,186,80,80,61,FF
2021-08-15T17:32:27.953Z,1629048747.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:32:27.953Z,1629048747.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:32:27.955Z,1629048747.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:32:28.357Z,1629048748.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:32:28.763Z,1629048748.763 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22F,000,0031C,189,80,80,98,FF
2021-08-15T17:32:28.765Z,1629048748.765 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:32:28.826Z,1629048748.826 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:32:29.225Z,1629048749.225 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173229.03*51

2021-08-15T17:32:29.287Z,1629048749.287 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.260000 m, bearing: 306.793847 deg, deltaT: 4.439778 s, approachRate: -0.418940 m/s, LOS rate: -3.283129 deg/s, posRepo size: 4
2021-08-15T17:32:31.615Z,1629048751.615 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:32:32.001Z,1629048752.001 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:32:32.001Z,1629048752.001 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:32:32.001Z,1629048752.001 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:32:32.002Z,1629048752.002 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:32:32.406Z,1629048752.406 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22F,000,0031C,189,80,80,98,FF
2021-08-15T17:32:32.406Z,1629048752.406 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:32:32.406Z,1629048752.406 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:32:32.410Z,1629048752.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:32:32.817Z,1629048752.817 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:32:33.225Z,1629048753.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C6,000,0030F,189,80,80,99,FF
2021-08-15T17:32:33.226Z,1629048753.226 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:32:33.317Z,1629048753.317 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:32:33.649Z,1629048753.649 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173233.48*55

2021-08-15T17:32:33.681Z,1629048753.681 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.479997 m, bearing: 300.730224 deg, deltaT: 4.490248 s, approachRate: -0.173711 m/s, LOS rate: -1.350398 deg/s, posRepo size: 4
2021-08-15T17:32:36.071Z,1629048756.071 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:32:36.438Z,1629048756.438 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:32:36.438Z,1629048756.438 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:32:36.439Z,1629048756.439 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:32:36.440Z,1629048756.440 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:32:36.841Z,1629048756.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C6,000,0030F,189,80,80,99,FF
2021-08-15T17:32:36.841Z,1629048756.841 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:32:36.841Z,1629048756.841 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:32:36.843Z,1629048756.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:32:37.256Z,1629048757.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:32:37.649Z,1629048757.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,302,000,00319,188,80,80,89,FF
2021-08-15T17:32:37.650Z,1629048757.650 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:32:37.720Z,1629048757.720 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:32:38.113Z,1629048758.113 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173237.91*55

2021-08-15T17:32:38.114Z,1629048758.114 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CAREV,173238,AUV,7
 expected 11
2021-08-15T17:32:38.186Z,1629048758.186 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.080001 m, bearing: 297.702210 deg, deltaT: 4.404133 s, approachRate: 0.136237 m/s, LOS rate: -0.687539 deg/s, posRepo size: 4
2021-08-15T17:32:40.545Z,1629048760.545 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:32:40.881Z,1629048760.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:32:40.881Z,1629048760.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:32:40.881Z,1629048760.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:32:40.882Z,1629048760.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:32:41.293Z,1629048761.293 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
302,000,00319,188,80,80,89,FF
2021-08-15T17:32:41.293Z,1629048761.293 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:32:41.293Z,1629048761.293 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:32:41.295Z,1629048761.295 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:32:41.707Z,1629048761.707 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:32:42.101Z,1629048762.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3FB,000,002FD,18A,80,80,A6,FF
2021-08-15T17:32:42.102Z,1629048762.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:32:42.166Z,1629048762.166 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:32:42.546Z,1629048762.546 [Micromodem](INFO): Nmea in: $SNTTA,0.028664,,,,173242.37*4B

2021-08-15T17:32:42.571Z,1629048762.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.400000 m, bearing: 286.187085 deg, deltaT: 4.445585 s, approachRate: -0.377903 m/s, LOS rate: -2.590238 deg/s, posRepo size: 4
2021-08-15T17:32:44.966Z,1629048764.966 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:32:45.341Z,1629048765.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:32:45.341Z,1629048765.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:32:45.341Z,1629048765.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:32:45.342Z,1629048765.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:32:45.734Z,1629048765.734 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3FB,000,002FD,18A,80,80,A6,FF
2021-08-15T17:32:45.734Z,1629048765.734 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:32:45.734Z,1629048765.734 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:32:45.736Z,1629048765.736 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:32:46.173Z,1629048766.173 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:32:46.541Z,1629048766.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,443,000,002F9,189,80,80,B4,FF
2021-08-15T17:32:46.542Z,1629048766.542 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:32:46.561Z,1629048766.561 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:32:47.002Z,1629048767.002 [Micromodem](INFO): Nmea in: $SNTTA,0.008463,,,,173246.81*45

2021-08-15T17:32:47.069Z,1629048767.069 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.160001 m, bearing: 281.793880 deg, deltaT: 4.394736 s, approachRate: -0.054611 m/s, LOS rate: -0.999652 deg/s, posRepo size: 4
2021-08-15T17:32:49.446Z,1629048769.446 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:32:49.774Z,1629048769.774 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:32:49.774Z,1629048769.774 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:32:49.774Z,1629048769.774 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:32:49.775Z,1629048769.775 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:32:50.206Z,1629048770.206 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
443,000,002F9,189,80,80,B4,FF
2021-08-15T17:32:50.206Z,1629048770.206 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:32:50.207Z,1629048770.207 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:32:50.209Z,1629048770.209 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:32:50.581Z,1629048770.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:32:51.002Z,1629048771.002 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,501,000,002F9,189,80,80,B5,FF
2021-08-15T17:32:51.003Z,1629048771.003 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:32:51.122Z,1629048771.122 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:32:51.421Z,1629048771.421 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173251.28*57

2021-08-15T17:32:51.467Z,1629048771.467 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.160001 m, bearing: 270.777140 deg, deltaT: 4.560560 s, approachRate: 0.000000 m/s, LOS rate: -2.415655 deg/s, posRepo size: 4
2021-08-15T17:32:53.830Z,1629048773.830 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:32:54.213Z,1629048774.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:32:54.213Z,1629048774.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:32:54.213Z,1629048774.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:32:54.214Z,1629048774.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:32:54.626Z,1629048774.626 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
501,000,002F9,189,80,80,B5,FF
2021-08-15T17:32:54.626Z,1629048774.626 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:32:54.626Z,1629048774.626 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:32:54.627Z,1629048774.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:32:55.076Z,1629048775.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:32:55.441Z,1629048775.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,502,000,00310,189,80,80,99,FF
2021-08-15T17:32:55.442Z,1629048775.442 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:32:55.495Z,1629048775.495 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:32:55.851Z,1629048775.851 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173255.74*5A

2021-08-15T17:32:55.908Z,1629048775.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.540000 m, bearing: 267.859665 deg, deltaT: 4.378161 s, approachRate: 0.315201 m/s, LOS rate: -0.666370 deg/s, posRepo size: 4
2021-08-15T17:32:58.281Z,1629048778.281 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:32:58.661Z,1629048778.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:32:58.661Z,1629048778.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:32:58.662Z,1629048778.662 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:32:58.662Z,1629048778.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:32:59.085Z,1629048779.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
502,000,00310,189,80,80,99,FF
2021-08-15T17:32:59.085Z,1629048779.085 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:32:59.086Z,1629048779.086 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:32:59.087Z,1629048779.087 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:32:59.480Z,1629048779.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:32:59.869Z,1629048779.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D12,000,00300,189,80,80,90,FF
2021-08-15T17:32:59.870Z,1629048779.870 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:32:59.937Z,1629048779.937 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:33:00.290Z,1629048780.290 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173300.16*5F

2021-08-15T17:33:00.338Z,1629048780.338 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.579998 m, bearing: 8.431229 deg, deltaT: 4.437358 s, approachRate: -0.216345 m/s, LOS rate: 22.664741 deg/s, posRepo size: 4
2021-08-15T17:33:02.721Z,1629048782.721 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:33:03.102Z,1629048783.102 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:33:03.102Z,1629048783.102 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:33:03.103Z,1629048783.103 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:33:03.103Z,1629048783.103 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:33:03.130Z,1629048783.130 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D12,000,00300,189,80,80,90,FF
2021-08-15T17:33:03.130Z,1629048783.130 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:33:03.131Z,1629048783.131 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:33:03.145Z,1629048783.145 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:33:03.545Z,1629048783.545 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:33:03.926Z,1629048783.926 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB1,000,00306,189,80,80,82,FF
2021-08-15T17:33:03.926Z,1629048783.926 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:33:03.974Z,1629048783.974 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:33:04.353Z,1629048784.353 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173304.22*5C

2021-08-15T17:33:04.397Z,1629048784.397 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.939999 m, bearing: 1.894237 deg, deltaT: 4.037360 s, approachRate: 0.089167 m/s, LOS rate: -1.619125 deg/s, posRepo size: 4
2021-08-15T17:33:06.803Z,1629048786.803 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:33:07.193Z,1629048787.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:33:07.193Z,1629048787.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:33:07.194Z,1629048787.194 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:33:07.194Z,1629048787.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:33:07.571Z,1629048787.571 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB1,000,00306,189,80,80,82,FF
2021-08-15T17:33:07.571Z,1629048787.571 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:33:07.571Z,1629048787.571 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:33:07.573Z,1629048787.573 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:33:07.984Z,1629048787.984 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:33:08.381Z,1629048788.381 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,163,000,00312,185,80,80,98,FF
2021-08-15T17:33:08.381Z,1629048788.381 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:33:08.451Z,1629048788.451 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:33:08.817Z,1629048788.817 [Micromodem](INFO): Nmea in: $SNTTA,0.031930,,,,173308.65*45

2021-08-15T17:33:08.854Z,1629048788.854 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.660001 m, bearing: 315.145748 deg, deltaT: 4.481093 s, approachRate: 0.160676 m/s, LOS rate: -10.432384 deg/s, posRepo size: 4
2021-08-15T17:33:11.285Z,1629048791.285 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:33:11.621Z,1629048791.621 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:33:11.621Z,1629048791.621 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:33:11.621Z,1629048791.621 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:33:11.622Z,1629048791.622 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:33:12.017Z,1629048792.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
163,000,00312,185,80,80,98,FF
2021-08-15T17:33:12.017Z,1629048792.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:33:12.018Z,1629048792.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:33:12.019Z,1629048792.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:33:12.422Z,1629048792.422 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:33:12.826Z,1629048792.826 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CA,000,0031E,186,80,80,AD,FF
2021-08-15T17:33:12.826Z,1629048792.826 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:33:12.847Z,1629048792.847 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:33:13.265Z,1629048793.265 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173313.09*53

2021-08-15T17:33:13.330Z,1629048793.330 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.380001 m, bearing: 312.612458 deg, deltaT: 4.391235 s, approachRate: 0.163963 m/s, LOS rate: -0.576897 deg/s, posRepo size: 4
2021-08-15T17:33:15.674Z,1629048795.674 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:33:16.068Z,1629048796.068 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:33:16.068Z,1629048796.068 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:33:16.068Z,1629048796.068 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:33:16.069Z,1629048796.069 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:33:16.461Z,1629048796.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CA,000,0031E,186,80,80,AD,FF
2021-08-15T17:33:16.461Z,1629048796.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:33:16.461Z,1629048796.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:33:16.463Z,1629048796.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:33:16.873Z,1629048796.873 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:33:17.265Z,1629048797.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,29B,000,0033F,18A,80,80,24,FF
2021-08-15T17:33:17.265Z,1629048797.265 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:33:17.366Z,1629048797.366 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:33:17.717Z,1629048797.717 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173317.54*5F

2021-08-15T17:33:17.739Z,1629048797.739 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.360002 m, bearing: 304.663347 deg, deltaT: 4.519234 s, approachRate: 0.438127 m/s, LOS rate: -1.758951 deg/s, posRepo size: 4
2021-08-15T17:33:20.142Z,1629048800.142 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:33:20.497Z,1629048800.497 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:33:20.497Z,1629048800.497 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:33:20.497Z,1629048800.497 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:33:20.498Z,1629048800.498 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:33:20.909Z,1629048800.909 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
29B,000,0033F,18A,80,80,24,FF
2021-08-15T17:33:20.909Z,1629048800.909 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:33:20.909Z,1629048800.909 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:33:20.911Z,1629048800.911 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:33:21.321Z,1629048801.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:33:21.717Z,1629048801.717 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24D,000,00341,188,80,80,95,FF
2021-08-15T17:33:21.721Z,1629048801.721 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:33:21.774Z,1629048801.774 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:33:22.164Z,1629048802.164 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173321.98*5A

2021-08-15T17:33:22.215Z,1629048802.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.479998 m, bearing: 304.996387 deg, deltaT: 4.407614 s, approachRate: 0.027225 m/s, LOS rate: 0.075560 deg/s, posRepo size: 4
2021-08-15T17:33:24.570Z,1629048804.570 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:33:24.945Z,1629048804.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:33:24.945Z,1629048804.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:33:24.945Z,1629048804.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:33:24.946Z,1629048804.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:33:25.345Z,1629048805.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24D,000,00341,188,80,80,95,FF
2021-08-15T17:33:25.345Z,1629048805.345 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:33:25.345Z,1629048805.345 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:33:25.347Z,1629048805.347 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:33:25.756Z,1629048805.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:33:26.173Z,1629048806.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,296,000,00350,189,80,80,74,FF
2021-08-15T17:33:26.173Z,1629048806.173 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:33:26.223Z,1629048806.223 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:33:26.602Z,1629048806.602 [Micromodem](INFO): Nmea in: $SNTTA,0.037963,,,,173326.42*4C

2021-08-15T17:33:26.624Z,1629048806.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 13.380001 m, bearing: 300.416937 deg, deltaT: 4.449398 s, approachRate: 0.202275 m/s, LOS rate: -1.029229 deg/s, posRepo size: 4
2021-08-15T17:33:29.059Z,1629048809.059 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:33:29.389Z,1629048809.389 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:33:29.390Z,1629048809.390 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:33:29.390Z,1629048809.390 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:33:29.391Z,1629048809.391 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:33:29.789Z,1629048809.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
296,000,00350,189,80,80,74,FF
2021-08-15T17:33:29.789Z,1629048809.789 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:33:29.789Z,1629048809.789 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:33:29.791Z,1629048809.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:33:30.209Z,1629048810.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:33:30.601Z,1629048810.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F2,000,00372,186,80,80,2B,FF
2021-08-15T17:33:30.601Z,1629048810.601 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:33:30.622Z,1629048810.622 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:33:31.065Z,1629048811.065 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173330.86*55

2021-08-15T17:33:31.169Z,1629048811.169 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.420000 m, bearing: 309.373118 deg, deltaT: 4.398701 s, approachRate: 0.463773 m/s, LOS rate: 2.036097 deg/s, posRepo size: 4
2021-08-15T17:33:33.174Z,1629048813.174 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:33:33.430Z,1629048813.430 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:33:33.430Z,1629048813.430 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:33:33.430Z,1629048813.430 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:33:33.431Z,1629048813.431 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:33:33.833Z,1629048813.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F2,000,00372,186,80,80,2B,FF
2021-08-15T17:33:33.833Z,1629048813.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:33:33.833Z,1629048813.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:33:33.835Z,1629048813.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:33:34.245Z,1629048814.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:33:34.638Z,1629048814.638 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,295,000,00377,189,80,80,A8,FF
2021-08-15T17:33:34.638Z,1629048814.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:33:34.692Z,1629048814.692 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:33:35.097Z,1629048815.097 [Micromodem](INFO): Nmea in: $SNTTA,0.044496,,,,173334.91*42

2021-08-15T17:33:35.216Z,1629048815.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 15.719999 m, bearing: 299.647448 deg, deltaT: 4.070617 s, approachRate: 0.073699 m/s, LOS rate: -2.389237 deg/s, posRepo size: 4
2021-08-15T17:33:37.506Z,1629048817.506 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:33:37.869Z,1629048817.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:33:37.869Z,1629048817.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:33:37.869Z,1629048817.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:33:37.870Z,1629048817.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:33:38.281Z,1629048818.281 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
295,000,00377,189,80,80,A8,FF
2021-08-15T17:33:38.281Z,1629048818.281 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:33:38.282Z,1629048818.282 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:33:38.328Z,1629048818.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:33:38.683Z,1629048818.683 [CTD_Seabird](ERROR): Failed to parse device response: 21,4873.03
2021-08-15T17:33:38.689Z,1629048818.689 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:33:39.089Z,1629048819.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19C,000,00396,186,80,80,37,FF
2021-08-15T17:33:39.089Z,1629048819.089 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:33:39.214Z,1629048819.214 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:33:39.523Z,1629048819.523 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.580000 m, bearing: 311.509984 deg, deltaT: 4.521482 s, approachRate: 0.411370 m/s, LOS rate: 2.623595 deg/s, posRepo size: 4
2021-08-15T17:33:39.910Z,1629048819.910 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173339.48*5E

2021-08-15T17:33:41.967Z,1629048821.967 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:33:42.333Z,1629048822.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:33:42.333Z,1629048822.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:33:42.333Z,1629048822.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:33:42.334Z,1629048822.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:33:42.729Z,1629048822.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19C,000,00396,186,80,80,37,FF
2021-08-15T17:33:42.729Z,1629048822.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:33:42.729Z,1629048822.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:33:42.731Z,1629048822.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:33:43.165Z,1629048823.165 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:33:43.541Z,1629048823.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A1,000,003A8,186,80,80,36,FF
2021-08-15T17:33:43.542Z,1629048823.542 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:33:43.561Z,1629048823.561 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:33:43.961Z,1629048823.961 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173343.81*56

2021-08-15T17:33:43.983Z,1629048823.983 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.659996 m, bearing: 308.781460 deg, deltaT: 4.347527 s, approachRate: 0.248416 m/s, LOS rate: -0.627604 deg/s, posRepo size: 4
2021-08-15T17:33:46.416Z,1629048826.416 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:33:46.763Z,1629048826.763 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:33:46.763Z,1629048826.763 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:33:46.763Z,1629048826.763 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:33:46.768Z,1629048826.768 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:33:47.201Z,1629048827.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A1,000,003A8,186,80,80,36,FF
2021-08-15T17:33:47.201Z,1629048827.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:33:47.201Z,1629048827.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:33:47.203Z,1629048827.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:33:47.602Z,1629048827.602 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:33:48.001Z,1629048828.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,373,000,003B3,189,80,80,7D,FF
2021-08-15T17:33:48.001Z,1629048828.001 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:33:48.058Z,1629048828.058 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:33:48.418Z,1629048828.418 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173348.28*5E

2021-08-15T17:33:48.455Z,1629048828.455 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.320000 m, bearing: 286.533512 deg, deltaT: 4.496669 s, approachRate: 0.146776 m/s, LOS rate: -4.947651 deg/s, posRepo size: 4
2021-08-15T17:33:50.842Z,1629048830.842 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:33:51.230Z,1629048831.230 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:33:51.230Z,1629048831.230 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:33:51.230Z,1629048831.230 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:33:51.231Z,1629048831.231 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:33:51.629Z,1629048831.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
373,000,003B3,189,80,80,7D,FF
2021-08-15T17:33:51.629Z,1629048831.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:33:51.629Z,1629048831.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:33:51.631Z,1629048831.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:33:52.043Z,1629048832.043 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:33:52.441Z,1629048832.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3A6,000,003CF,189,80,80,6B,FF
2021-08-15T17:33:52.442Z,1629048832.442 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:33:52.504Z,1629048832.504 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:33:52.877Z,1629048832.877 [Micromodem](INFO): Nmea in: $SNTTA,0.045034,,,,173352.70*40

2021-08-15T17:33:52.908Z,1629048832.908 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.000000 m, bearing: 286.577252 deg, deltaT: 4.446091 s, approachRate: 0.377860 m/s, LOS rate: 0.009838 deg/s, posRepo size: 4
2021-08-15T17:33:55.334Z,1629048835.334 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:33:55.665Z,1629048835.665 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:33:55.665Z,1629048835.665 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:33:55.665Z,1629048835.665 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:33:55.666Z,1629048835.666 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:33:56.078Z,1629048836.078 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3A6,000,003CF,189,80,80,6B,FF
2021-08-15T17:33:56.078Z,1629048836.078 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:33:56.079Z,1629048836.079 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:33:56.082Z,1629048836.082 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:33:56.477Z,1629048836.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:33:56.883Z,1629048836.883 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,34F,000,003D5,189,80,80,97,FF
2021-08-15T17:33:56.884Z,1629048836.884 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:33:56.946Z,1629048836.946 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:33:57.313Z,1629048837.313 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173357.16*5D

2021-08-15T17:33:57.373Z,1629048837.373 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 21.359999 m, bearing: 292.266090 deg, deltaT: 4.441475 s, approachRate: 0.081054 m/s, LOS rate: 1.280844 deg/s, posRepo size: 4
2021-08-15T17:33:59.723Z,1629048839.723 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:34:00.111Z,1629048840.111 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:34:00.111Z,1629048840.111 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:34:00.112Z,1629048840.112 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:34:00.114Z,1629048840.114 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:34:00.518Z,1629048840.518 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
34F,000,003D5,189,80,80,97,FF
2021-08-15T17:34:00.518Z,1629048840.518 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:34:00.518Z,1629048840.518 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:34:00.519Z,1629048840.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:34:00.920Z,1629048840.920 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:34:01.325Z,1629048841.325 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,35A,000,003E9,189,80,80,87,FF
2021-08-15T17:34:01.326Z,1629048841.326 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:34:01.439Z,1629048841.439 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:34:01.752Z,1629048841.752 [Micromodem](INFO): Nmea in: $SNTTA,0.041247,,,,173401.64*46

2021-08-15T17:34:01.841Z,1629048841.841 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.560001 m, bearing: 292.467963 deg, deltaT: 4.493286 s, approachRate: 0.267066 m/s, LOS rate: 0.044928 deg/s, posRepo size: 4
2021-08-15T17:34:04.194Z,1629048844.194 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:34:04.553Z,1629048844.553 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:34:04.553Z,1629048844.553 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:34:04.553Z,1629048844.553 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:34:04.554Z,1629048844.554 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:34:04.968Z,1629048844.968 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
35A,000,003E9,189,80,80,87,FF
2021-08-15T17:34:04.968Z,1629048844.968 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:34:04.968Z,1629048844.968 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:34:04.970Z,1629048844.970 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:34:05.361Z,1629048845.361 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:34:05.762Z,1629048845.762 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,36E,000,00403,189,80,80,8E,FF
2021-08-15T17:34:05.762Z,1629048845.762 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:34:05.783Z,1629048845.783 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:34:06.226Z,1629048846.226 [Micromodem](INFO): Nmea in: $SNTTA,0.056639,,,,173406.04*4C

2021-08-15T17:34:06.260Z,1629048846.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.120003 m, bearing: 287.302291 deg, deltaT: 4.343740 s, approachRate: 0.359138 m/s, LOS rate: -1.189222 deg/s, posRepo size: 4
2021-08-15T17:34:08.611Z,1629048848.611 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:34:09.016Z,1629048849.016 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:34:09.016Z,1629048849.016 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:34:09.017Z,1629048849.017 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:34:09.019Z,1629048849.019 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:34:09.406Z,1629048849.406 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
36E,000,00403,189,80,80,8E,FF
2021-08-15T17:34:09.406Z,1629048849.406 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:34:09.406Z,1629048849.406 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:34:09.409Z,1629048849.409 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:34:09.821Z,1629048849.821 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:34:10.213Z,1629048850.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A8,000,00418,189,80,80,2E,FF
2021-08-15T17:34:10.214Z,1629048850.214 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:34:10.248Z,1629048850.248 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:34:10.657Z,1629048850.657 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173410.48*52

2021-08-15T17:34:10.692Z,1629048850.692 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.379997 m, bearing: 298.291983 deg, deltaT: 4.465565 s, approachRate: 0.282158 m/s, LOS rate: 2.460986 deg/s, posRepo size: 4
2021-08-15T17:34:13.195Z,1629048853.195 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:34:13.453Z,1629048853.453 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:34:13.453Z,1629048853.453 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:34:13.453Z,1629048853.453 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:34:13.454Z,1629048853.454 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:34:13.853Z,1629048853.853 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A8,000,00418,189,80,80,2E,FF
2021-08-15T17:34:13.853Z,1629048853.853 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:34:13.853Z,1629048853.853 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:34:13.855Z,1629048853.855 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:34:14.253Z,1629048854.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:34:14.653Z,1629048854.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,31C,000,0042C,189,80,80,93,FF
2021-08-15T17:34:14.654Z,1629048854.654 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:34:14.719Z,1629048854.719 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:34:15.117Z,1629048855.117 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173414.93*50

2021-08-15T17:34:15.223Z,1629048855.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.580002 m, bearing: 293.008394 deg, deltaT: 4.470500 s, approachRate: 0.268427 m/s, LOS rate: -1.181879 deg/s, posRepo size: 4
2021-08-15T17:34:17.503Z,1629048857.503 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:34:17.897Z,1629048857.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:34:17.897Z,1629048857.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:34:17.897Z,1629048857.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:34:17.898Z,1629048857.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:34:18.297Z,1629048858.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
31C,000,0042C,189,80,80,93,FF
2021-08-15T17:34:18.298Z,1629048858.298 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:34:18.298Z,1629048858.298 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:34:18.299Z,1629048858.299 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:34:18.697Z,1629048858.697 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:34:19.097Z,1629048859.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,361,000,00441,189,80,80,88,FF
2021-08-15T17:34:19.098Z,1629048859.098 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:34:19.222Z,1629048859.222 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:34:19.537Z,1629048859.537 [Micromodem](INFO): Nmea in: $SNTTA,,0.251042,,,173419.37*4D

2021-08-15T17:34:19.571Z,1629048859.571 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.839996 m, bearing: 289.195728 deg, deltaT: 4.503394 s, approachRate: 0.279788 m/s, LOS rate: -0.846621 deg/s, posRepo size: 4
2021-08-15T17:34:21.958Z,1629048861.958 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:34:22.329Z,1629048862.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:34:22.329Z,1629048862.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:34:22.329Z,1629048862.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:34:22.330Z,1629048862.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:34:22.737Z,1629048862.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
361,000,00441,189,80,80,88,FF
2021-08-15T17:34:22.737Z,1629048862.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:34:22.737Z,1629048862.737 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:34:22.739Z,1629048862.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:34:23.162Z,1629048863.162 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:34:23.537Z,1629048863.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B7,000,00454,189,80,80,63,FF
2021-08-15T17:34:23.538Z,1629048863.538 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:34:23.589Z,1629048863.589 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:34:23.989Z,1629048863.989 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173423.81*57

2021-08-15T17:34:24.012Z,1629048864.012 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.979998 m, bearing: 299.747442 deg, deltaT: 4.367288 s, approachRate: 0.261032 m/s, LOS rate: 2.416079 deg/s, posRepo size: 4
2021-08-15T17:34:26.407Z,1629048866.407 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:34:26.790Z,1629048866.790 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:34:26.790Z,1629048866.790 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:34:26.790Z,1629048866.790 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:34:26.791Z,1629048866.791 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:34:27.201Z,1629048867.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B7,000,00454,189,80,80,63,FF
2021-08-15T17:34:27.201Z,1629048867.201 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:34:27.201Z,1629048867.201 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:34:27.203Z,1629048867.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:34:27.584Z,1629048867.584 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:34:27.990Z,1629048867.990 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24B,000,0046F,189,80,80,7D,FF
2021-08-15T17:34:27.990Z,1629048867.990 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:34:28.027Z,1629048868.027 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:34:28.417Z,1629048868.417 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173428.28*5F

2021-08-15T17:34:28.444Z,1629048868.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 30.600000 m, bearing: 304.829157 deg, deltaT: 4.438232 s, approachRate: 0.365011 m/s, LOS rate: 1.144986 deg/s, posRepo size: 4
2021-08-15T17:34:30.835Z,1629048870.835 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:34:31.217Z,1629048871.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:34:31.217Z,1629048871.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:34:31.217Z,1629048871.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:34:31.218Z,1629048871.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:34:31.629Z,1629048871.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24B,000,0046F,189,80,80,7D,FF
2021-08-15T17:34:31.629Z,1629048871.629 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:34:31.629Z,1629048871.629 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:34:31.631Z,1629048871.631 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:34:32.033Z,1629048872.033 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:34:32.079Z,1629048872.079 [lineCaptureDepth:MicromodemComms] Running Loop=1
2021-08-15T17:34:32.079Z,1629048872.079 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms
2021-08-15T17:34:32.079Z,1629048872.079 [lineCaptureDepth:MicromodemComms:CheckIn] Running Loop=1
2021-08-15T17:34:32.080Z,1629048872.080 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::initialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T17:34:32.080Z,1629048872.080 [lineCaptureDepth:MicromodemComms:CheckIn:A] Running Loop=1
2021-08-15T17:34:32.494Z,1629048872.494 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,203,000,00484,186,80,80,90,FF
2021-08-15T17:34:32.494Z,1629048872.494 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:34:32.497Z,1629048872.497 [Micromodem](ERROR): Buffer fill timout failure.
2021-08-15T17:34:32.525Z,1629048872.525 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:34:32.919Z,1629048872.919 [Micromodem](INFO): Nmea in: $SNTTA,0.047448,,,,173432.71*4D

2021-08-15T17:34:33.208Z,1629048873.208 [Micromodem](INFO): Outgoing frame #1, 60 bytes: 10181961360000005D00000400260000000000000000151D80030C5669C08C79984361930585A6D2FF6B92836233F4EB62D0578973972B891177A000
2021-08-15T17:34:33.208Z,1629048873.208 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,1*69

2021-08-15T17:34:33.294Z,1629048873.294 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.859997 m, bearing: 308.113768 deg, deltaT: 4.497371 s, approachRate: 0.280163 m/s, LOS rate: 0.730340 deg/s, posRepo size: 4
2021-08-15T17:34:34.314Z,1629048874.314 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,1*6B

2021-08-15T17:34:34.781Z,1629048874.781 [Micromodem](INFO): Nmea in: $CADRQ,173434,1,10,0,64,1*70

2021-08-15T17:34:34.781Z,1629048874.781 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,10181961360000005D00000400260000000000000000151D80030C5669C08C79984361930585A6D2FF6B92836233F4EB62D0578973972B891177A000*47

2021-08-15T17:34:35.198Z,1629048875.198 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,60*4D

2021-08-15T17:34:35.270Z,1629048875.270 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:34:35.565Z,1629048875.565 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:34:35.565Z,1629048875.565 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:34:35.565Z,1629048875.565 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:34:35.566Z,1629048875.566 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:34:35.571Z,1629048875.571 [Micromodem](INFO): Nmea in: $CATXP,60*74

2021-08-15T17:34:35.982Z,1629048875.982 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
203,000,00484,186,80,80,90,FF
2021-08-15T17:34:35.982Z,1629048875.982 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:34:35.982Z,1629048875.982 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:34:35.985Z,1629048875.985 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:34:36.818Z,1629048876.818 [Micromodem](INFO): Nmea in: $CATXF,60*62

2021-08-15T17:34:36.819Z,1629048876.819 [Micromodem](ERROR): Response from modem unexpected: $CATXF,60*62

2021-08-15T17:34:37.211Z,1629048877.211 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,173435.878346,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*54

2021-08-15T17:34:37.211Z,1629048877.211 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210815,173435.878346,3,0,200,4000,14500,1,1,10,1,1,1,3,60,14500*54

2021-08-15T17:34:38.029Z,1629048878.029 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:34:38.814Z,1629048878.814 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-15T17:34:38.815Z,1629048878.815 [Micromodem](INFO): Sent 52 bytes from file Logs/20210815T133512/Courier0054.lzma.parts
2021-08-15T17:34:38.815Z,1629048878.815 [Micromodem](INFO): Packets left to send: 0
2021-08-15T17:34:39.392Z,1629048879.392 [Micromodem](INFO): Nmea in: $CACST,6,0,20210815173438.748686,06,32767,45,0108,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,23.3,6.42,16,-3.42,-01,0.16,44,14500,4000*63

2021-08-15T17:34:39.393Z,1629048879.393 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210815173438.748686,06,32767,45,0108,0150,07,01,01,00,01,1,010,001,0,4,1,0,150,23.3,6.42,16,-3.42,-01,0.16,44,14500,4000*63

2021-08-15T17:34:39.626Z,1629048879.626 [Micromodem](INFO): Outgoing frame #1, 64 bytes: 10181961390000005D00000400320000000000000000151D80030C5669C08C7A973D4D877A386F24C7E7D0B0BE1AA3004E2432903FA151E68FE499FA18770E3D
2021-08-15T17:34:39.627Z,1629048879.627 [Micromodem](INFO): Outgoing frame #2, 7 bytes: ABF6C490FF9200
2021-08-15T17:34:40.678Z,1629048880.678 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:34:41.628Z,1629048881.628 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.061854
2021-08-15T17:34:43.330Z,1629048883.330 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:34:43.625Z,1629048883.625 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:34:43.625Z,1629048883.625 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:34:43.625Z,1629048883.625 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:34:43.626Z,1629048883.626 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:34:44.033Z,1629048884.033 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
203,000,00484,186,80,80,90,FF
2021-08-15T17:34:44.033Z,1629048884.033 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:34:44.034Z,1629048884.034 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:34:46.164Z,1629048886.164 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:34:47.321Z,1629048887.321 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:34:47.938Z,1629048887.938 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:34:47.963Z,1629048887.963 [Micromodem](INFO): Nmea out: $CCCYC,0,1,10,1,0,2*6A

2021-08-15T17:34:48.335Z,1629048888.335 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,452,000,004C8,18A,80,80,3D,FF
2021-08-15T17:34:48.335Z,1629048888.335 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:34:48.338Z,1629048888.338 [Micromodem](INFO): Nmea in: $CACYC,0,1,10,1,0,2*68

2021-08-15T17:34:48.367Z,1629048888.367 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:34:48.745Z,1629048888.745 [Micromodem](INFO): Nmea in: $CADRQ,173448,1,10,0,64,1*7B

2021-08-15T17:34:48.746Z,1629048888.746 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,10181961390000005D00000400320000000000000000151D80030C5669C08C7A973D4D877A386F24C7E7D0B0BE1AA3004E2432903FA151E68FE499FA18770E3D*4D

2021-08-15T17:34:48.864Z,1629048888.864 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.939999 m, bearing: 276.968979 deg, deltaT: 15.841835 s, approachRate: 0.257546 m/s, LOS rate: -1.965984 deg/s, posRepo size: 4
2021-08-15T17:34:49.165Z,1629048889.165 [Micromodem](INFO): Nmea in: $SNTTA,0.151677,,,,173448.40*4A

2021-08-15T17:34:49.166Z,1629048889.166 [Micromodem](ERROR): TXD response from modem unexpected: $SNTTA,0.151677,,,,173448.40*4A

2021-08-15T17:34:50.373Z,1629048890.373 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,64*49

2021-08-15T17:34:50.769Z,1629048890.769 [Micromodem](INFO): Nmea in: $CADRQ,173449,1,10,0,64,2*79

2021-08-15T17:34:50.769Z,1629048890.769 [Micromodem](INFO): Nmea out: $CCTXD,1,10,1,ABF6C490FF9200*4F

2021-08-15T17:34:51.178Z,1629048891.178 [Micromodem](INFO): Nmea in: $CATXD,1,10,1,7*7C

2021-08-15T17:34:51.259Z,1629048891.259 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:34:51.561Z,1629048891.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:34:51.561Z,1629048891.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:34:51.561Z,1629048891.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:34:51.562Z,1629048891.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:34:51.569Z,1629048891.569 [Micromodem](INFO): Nmea in: $CATXP,71*74

2021-08-15T17:34:52.041Z,1629048892.041 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
452,000,004C8,18A,80,80,3D,FF
2021-08-15T17:34:52.041Z,1629048892.041 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:34:52.041Z,1629048892.041 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:34:52.043Z,1629048892.043 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:34:53.917Z,1629048893.917 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:34:54.108Z,1629048894.108 [Micromodem](INFO): Nmea in: $CATXF,71*62

2021-08-15T17:34:54.108Z,1629048894.108 [Micromodem](ERROR): Response from modem unexpected: $CATXF,71*62

2021-08-15T17:34:54.507Z,1629048894.507 [Micromodem](INFO): Nmea in: $CAXST,7,20210815,173451.820362,3,0,200,4000,14500,1,1,10,1,2,2,3,71,14500*5D

2021-08-15T17:34:54.507Z,1629048894.507 [Micromodem](ERROR): Response from modem unexpected: $CAXST,7,20210815,173451.820362,3,0,200,4000,14500,1,1,10,1,2,2,3,71,14500*5D

2021-08-15T17:34:56.578Z,1629048896.578 [Micromodem](INFO): Nmea in: $CAACK,10,1,1,1*7B

2021-08-15T17:34:56.622Z,1629048896.622 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:34:56.942Z,1629048896.942 [Micromodem](INFO): Nmea in: $CAACK,10,1,2,1*78

2021-08-15T17:34:56.943Z,1629048896.943 [Micromodem](INFO): Sent 63 bytes from file Logs/20210815T133512/Courier0057.lzma.parts
2021-08-15T17:34:56.943Z,1629048896.943 [Micromodem](INFO): Packets left to send: 0
2021-08-15T17:34:57.363Z,1629048897.363 [Micromodem](INFO): Nmea in: $CACST,6,0,20210815173456.523773,06,32767,45,0115,0150,07,00,00,00,00,1,010,001,0,4,1,0,150,18.0,3.70,09,-0.70,-01,0.22,42,14500,4000*60

2021-08-15T17:34:57.363Z,1629048897.363 [Micromodem](ERROR): Response from modem unexpected: $CACST,6,0,20210815173456.523773,06,32767,45,0115,0150,07,00,00,00,00,1,010,001,0,4,1,0,150,18.0,3.70,09,-0.70,-01,0.22,42,14500,4000*60

2021-08-15T17:34:57.638Z,1629048897.638 [lineCaptureDepth:MicromodemComms] Stopped
2021-08-15T17:34:57.638Z,1629048897.638 [lineCaptureDepth:MicromodemComms](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms
2021-08-15T17:34:57.638Z,1629048897.638 [lineCaptureDepth:MicromodemComms:CheckIn] Stopped
2021-08-15T17:34:57.638Z,1629048897.638 [lineCaptureDepth:MicromodemComms:CheckIn](DEBUG): Aggregate::uninitialize lineCaptureDepth:MicromodemComms:CheckIn
2021-08-15T17:34:57.638Z,1629048897.638 [lineCaptureDepth:MicromodemComms:CheckIn:A] Stopped
2021-08-15T17:34:57.800Z,1629048897.800 [DUSBL_Hydroid](INFO): Setting waiting for range response to false due to timeout. Elapsed:6.237882
2021-08-15T17:34:59.327Z,1629048899.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:34:59.657Z,1629048899.657 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:34:59.657Z,1629048899.657 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:34:59.657Z,1629048899.657 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:34:59.658Z,1629048899.658 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:35:00.065Z,1629048900.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
452,000,004C8,18A,80,80,3D,FF
2021-08-15T17:35:00.065Z,1629048900.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:35:00.066Z,1629048900.066 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:35:02.164Z,1629048902.164 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:35:03.301Z,1629048903.301 [Micromodem](ERROR): Nmea resend: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:35:03.719Z,1629048903.719 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:35:04.097Z,1629048904.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CED,000,00516,189,80,80,7C,FF
2021-08-15T17:35:04.098Z,1629048904.098 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:35:04.144Z,1629048904.144 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:35:04.549Z,1629048904.549 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173504.37*5E

2021-08-15T17:35:04.583Z,1629048904.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.620003 m, bearing: 15.680163 deg, deltaT: 15.778112 s, approachRate: 0.296614 m/s, LOS rate: 6.256211 deg/s, posRepo size: 4
2021-08-15T17:35:04.945Z,1629048904.945 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T17:35:04.945Z,1629048904.945 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T17:35:04.946Z,1629048904.946 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T17:35:04.946Z,1629048904.946 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T17:35:04.946Z,1629048904.946 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T17:35:04.946Z,1629048904.946 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T17:35:05.424Z,1629048905.424 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T17:35:05.424Z,1629048905.424 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T17:35:05.425Z,1629048905.425 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T17:35:05.425Z,1629048905.425 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T17:35:07.031Z,1629048907.031 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:35:07.329Z,1629048907.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:35:07.329Z,1629048907.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:35:07.329Z,1629048907.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:35:07.330Z,1629048907.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:35:07.749Z,1629048907.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CED,000,00516,189,80,80,7C,FF
2021-08-15T17:35:07.749Z,1629048907.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:35:07.749Z,1629048907.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:35:07.751Z,1629048907.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:35:08.166Z,1629048908.166 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:35:08.557Z,1629048908.557 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,099,000,0052B,186,80,80,63,FF
2021-08-15T17:35:08.558Z,1629048908.558 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:35:09.013Z,1629048909.013 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173508.83*5D

2021-08-15T17:35:09.061Z,1629048909.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 41.879997 m, bearing: 328.381343 deg, deltaT: 4.464603 s, approachRate: 0.282219 m/s, LOS rate: -10.594185 deg/s, posRepo size: 4
2021-08-15T17:35:11.471Z,1629048911.471 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:35:11.778Z,1629048911.778 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:35:11.778Z,1629048911.778 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:35:11.778Z,1629048911.778 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:35:11.779Z,1629048911.779 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:35:12.209Z,1629048912.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
099,000,0052B,186,80,80,63,FF
2021-08-15T17:35:12.209Z,1629048912.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:35:12.209Z,1629048912.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:35:12.211Z,1629048912.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:35:12.601Z,1629048912.601 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:35:13.030Z,1629048913.030 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D4F,000,00540,18A,80,80,1F,FF
2021-08-15T17:35:13.036Z,1629048913.036 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:35:13.052Z,1629048913.052 [Micromodem](INFO): Nmea in: $SNTTA,0.045333,0.294627,,,173513.29*59

2021-08-15T17:35:13.450Z,1629048913.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.139999 m, bearing: 11.997199 deg, deltaT: 4.555538 s, approachRate: 0.276587 m/s, LOS rate: 9.574249 deg/s, posRepo size: 4
2021-08-15T17:35:15.899Z,1629048915.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:35:16.265Z,1629048916.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:35:16.265Z,1629048916.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:35:16.266Z,1629048916.266 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:35:16.267Z,1629048916.267 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:35:16.675Z,1629048916.675 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D4F,000,00540,18A,80,80,1F,FF
2021-08-15T17:35:16.675Z,1629048916.675 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:35:16.675Z,1629048916.675 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:35:16.677Z,1629048916.677 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:35:17.089Z,1629048917.089 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:35:17.491Z,1629048917.491 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CF,000,00559,186,80,80,22,FF
2021-08-15T17:35:17.491Z,1629048917.491 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:35:17.917Z,1629048917.917 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173517.75*5A

2021-08-15T17:35:17.936Z,1629048917.936 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.640003 m, bearing: 326.134429 deg, deltaT: 4.348558 s, approachRate: 0.344943 m/s, LOS rate: -10.546662 deg/s, posRepo size: 4
2021-08-15T17:35:20.341Z,1629048920.341 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:35:20.710Z,1629048920.710 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:35:20.710Z,1629048920.710 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:35:20.710Z,1629048920.710 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:35:20.711Z,1629048920.711 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:35:21.117Z,1629048921.117 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CF,000,00559,186,80,80,22,FF
2021-08-15T17:35:21.117Z,1629048921.117 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:35:21.117Z,1629048921.117 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:35:21.119Z,1629048921.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:35:21.541Z,1629048921.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:35:21.921Z,1629048921.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C45,000,0056A,188,80,80,5D,FF
2021-08-15T17:35:21.921Z,1629048921.921 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:35:22.373Z,1629048922.373 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173522.19*56

2021-08-15T17:35:22.436Z,1629048922.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.660000 m, bearing: 22.948029 deg, deltaT: 4.447782 s, approachRate: 0.229327 m/s, LOS rate: 12.773465 deg/s, posRepo size: 4
2021-08-15T17:35:24.802Z,1629048924.802 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:35:25.197Z,1629048925.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:35:25.198Z,1629048925.198 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:35:25.198Z,1629048925.198 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:35:25.199Z,1629048925.199 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:35:25.561Z,1629048925.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C45,000,0056A,188,80,80,5D,FF
2021-08-15T17:35:25.562Z,1629048925.562 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:35:25.562Z,1629048925.562 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:35:25.564Z,1629048925.564 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:35:25.965Z,1629048925.965 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:35:26.369Z,1629048926.369 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E13,000,00583,187,80,80,5B,FF
2021-08-15T17:35:26.370Z,1629048926.370 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:35:26.822Z,1629048926.822 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173526.64*58

2021-08-15T17:35:26.872Z,1629048926.872 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.159996 m, bearing: 359.118724 deg, deltaT: 4.500727 s, approachRate: 0.333279 m/s, LOS rate: -5.294542 deg/s, posRepo size: 4
2021-08-15T17:35:29.218Z,1629048929.218 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-15T17:35:29.288Z,1629048929.288 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:35:29.613Z,1629048929.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:35:29.613Z,1629048929.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:35:29.613Z,1629048929.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:35:29.614Z,1629048929.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:35:30.017Z,1629048930.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E13,000,00583,187,80,80,5B,FF
2021-08-15T17:35:30.017Z,1629048930.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:35:30.017Z,1629048930.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:35:30.019Z,1629048930.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:35:30.436Z,1629048930.436 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:35:30.833Z,1629048930.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D93,000,0059A,189,80,80,69,FF
2021-08-15T17:35:30.833Z,1629048930.833 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:35:31.362Z,1629048931.362 [Micromodem](INFO): Nmea in: $SNTTA,0.054488,,,,173531.09*4E

2021-08-15T17:35:31.470Z,1629048931.470 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.540005 m, bearing: 5.653346 deg, deltaT: 4.600027 s, approachRate: 0.300000 m/s, LOS rate: 1.420562 deg/s, posRepo size: 4
2021-08-15T17:35:33.796Z,1629048933.796 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:35:34.213Z,1629048934.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:35:34.213Z,1629048934.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:35:34.213Z,1629048934.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:35:34.214Z,1629048934.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:35:34.587Z,1629048934.587 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D93,000,0059A,189,80,80,69,FF
2021-08-15T17:35:34.587Z,1629048934.587 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:35:34.587Z,1629048934.587 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:35:34.589Z,1629048934.589 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:35:35.038Z,1629048935.038 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:35:35.406Z,1629048935.406 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DDA,000,005AC,188,80,80,64,FF
2021-08-15T17:35:35.406Z,1629048935.406 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:35:35.837Z,1629048935.837 [Micromodem](INFO): Nmea in: $SNTTA,0.056154,,,,173535.66*45

2021-08-15T17:35:35.873Z,1629048935.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.619995 m, bearing: 1.237653 deg, deltaT: 4.414575 s, approachRate: 0.244642 m/s, LOS rate: -1.000253 deg/s, posRepo size: 4
2021-08-15T17:35:38.233Z,1629048938.233 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T17:35:38.268Z,1629048938.268 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:35:38.631Z,1629048938.631 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:35:38.632Z,1629048938.632 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:35:38.633Z,1629048938.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:35:38.633Z,1629048938.633 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:35:39.073Z,1629048939.073 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DDA,000,005AC,188,80,80,64,FF
2021-08-15T17:35:39.073Z,1629048939.073 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:35:39.074Z,1629048939.074 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:35:39.075Z,1629048939.075 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:35:39.477Z,1629048939.477 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:35:39.865Z,1629048939.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D8B,000,005C3,189,80,80,7A,FF
2021-08-15T17:35:39.865Z,1629048939.865 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:35:40.313Z,1629048940.313 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173540.15*5E

2021-08-15T17:35:40.339Z,1629048940.339 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.000004 m, bearing: 4.357978 deg, deltaT: 4.440804 s, approachRate: 0.310757 m/s, LOS rate: 0.702649 deg/s, posRepo size: 4
2021-08-15T17:35:42.734Z,1629048942.734 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:35:43.097Z,1629048943.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:35:43.097Z,1629048943.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:35:43.097Z,1629048943.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:35:43.098Z,1629048943.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:35:43.510Z,1629048943.510 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D8B,000,005C3,189,80,80,7A,FF
2021-08-15T17:35:43.510Z,1629048943.510 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:35:43.511Z,1629048943.511 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:35:43.514Z,1629048943.514 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:35:43.908Z,1629048943.908 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:35:44.321Z,1629048944.321 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,138,000,005DB,185,80,80,63,FF
2021-08-15T17:35:44.322Z,1629048944.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:35:44.749Z,1629048944.749 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173544.59*52

2021-08-15T17:35:44.784Z,1629048944.784 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.440002 m, bearing: 319.589168 deg, deltaT: 4.468382 s, approachRate: 0.322264 m/s, LOS rate: -10.019023 deg/s, posRepo size: 4
2021-08-15T17:35:47.250Z,1629048947.250 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:35:47.543Z,1629048947.543 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:35:47.543Z,1629048947.543 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:35:47.543Z,1629048947.543 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:35:47.545Z,1629048947.545 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:35:47.945Z,1629048947.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
138,000,005DB,185,80,80,63,FF
2021-08-15T17:35:47.945Z,1629048947.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:35:47.945Z,1629048947.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:35:47.947Z,1629048947.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:35:48.370Z,1629048948.370 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:35:48.753Z,1629048948.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DC4,000,005EE,189,80,80,74,FF
2021-08-15T17:35:48.753Z,1629048948.753 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:35:49.222Z,1629048949.222 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173549.02*51

2021-08-15T17:35:49.289Z,1629048949.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.579998 m, bearing: 6.266439 deg, deltaT: 4.415523 s, approachRate: 0.258179 m/s, LOS rate: 10.571179 deg/s, posRepo size: 4
2021-08-15T17:35:51.607Z,1629048951.607 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:35:51.989Z,1629048951.989 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:35:51.989Z,1629048951.989 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:35:51.989Z,1629048951.989 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:35:51.990Z,1629048951.990 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:35:52.390Z,1629048952.390 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DC4,000,005EE,189,80,80,74,FF
2021-08-15T17:35:52.390Z,1629048952.390 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:35:52.390Z,1629048952.390 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:35:52.410Z,1629048952.410 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:35:52.809Z,1629048952.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:35:53.209Z,1629048953.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB2,000,00607,189,80,80,68,FF
2021-08-15T17:35:53.210Z,1629048953.210 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:35:53.637Z,1629048953.637 [Micromodem](INFO): Nmea in: $SNTTA,0.057601,,,,173553.48*4F

2021-08-15T17:35:53.659Z,1629048953.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.080002 m, bearing: 5.777132 deg, deltaT: 4.527871 s, approachRate: 0.331282 m/s, LOS rate: -0.108066 deg/s, posRepo size: 4
2021-08-15T17:35:56.055Z,1629048956.055 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:35:56.441Z,1629048956.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:35:56.441Z,1629048956.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:35:56.441Z,1629048956.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:35:56.442Z,1629048956.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:35:56.842Z,1629048956.842 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB2,000,00607,189,80,80,68,FF
2021-08-15T17:35:56.842Z,1629048956.842 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:35:56.843Z,1629048956.843 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:35:56.858Z,1629048956.858 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:35:57.253Z,1629048957.253 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:35:57.641Z,1629048957.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D0D,000,0061E,189,80,80,71,FF
2021-08-15T17:35:57.641Z,1629048957.641 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:35:58.069Z,1629048958.069 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173557.93*56

2021-08-15T17:35:58.102Z,1629048958.102 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.459995 m, bearing: 12.717922 deg, deltaT: 4.351797 s, approachRate: 0.317109 m/s, LOS rate: 1.594925 deg/s, posRepo size: 4
2021-08-15T17:36:00.518Z,1629048960.518 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:36:00.869Z,1629048960.869 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:36:00.869Z,1629048960.869 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:36:00.869Z,1629048960.869 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:36:00.870Z,1629048960.870 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:36:01.286Z,1629048961.286 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D0D,000,0061E,189,80,80,71,FF
2021-08-15T17:36:01.286Z,1629048961.286 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:36:01.287Z,1629048961.287 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:36:01.288Z,1629048961.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:36:01.684Z,1629048961.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:36:02.085Z,1629048962.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7A,000,004EF,186,80,80,8A,FF
2021-08-15T17:36:02.085Z,1629048962.085 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:36:02.529Z,1629048962.529 [Micromodem](INFO): Nmea in: $SNTTA,0.060610,,,,173602.37*44

2021-08-15T17:36:02.566Z,1629048962.566 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.279999 m, bearing: 358.941221 deg, deltaT: 4.429783 s, approachRate: -4.104038 m/s, LOS rate: -3.110017 deg/s, posRepo size: 4
2021-08-15T17:36:02.926Z,1629048962.926 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T17:36:02.926Z,1629048962.926 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T17:36:02.926Z,1629048962.926 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T17:36:02.927Z,1629048962.927 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T17:36:02.927Z,1629048962.927 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T17:36:02.927Z,1629048962.927 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T17:36:03.363Z,1629048963.363 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T17:36:03.363Z,1629048963.363 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T17:36:03.363Z,1629048963.363 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T17:36:03.363Z,1629048963.363 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T17:36:04.931Z,1629048964.931 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:36:05.329Z,1629048965.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:36:05.329Z,1629048965.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:36:05.329Z,1629048965.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:36:05.330Z,1629048965.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:36:05.721Z,1629048965.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7A,000,004EF,186,80,80,8A,FF
2021-08-15T17:36:05.721Z,1629048965.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:36:05.721Z,1629048965.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:36:05.723Z,1629048965.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:36:06.163Z,1629048966.163 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:36:06.529Z,1629048966.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DBA,000,0064C,189,80,80,8B,FF
2021-08-15T17:36:06.530Z,1629048966.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:36:06.550Z,1629048966.550 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:36:06.989Z,1629048966.989 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173606.80*53

2021-08-15T17:36:07.061Z,1629048967.061 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.220001 m, bearing: 7.192234 deg, deltaT: 4.438820 s, approachRate: 4.717471 m/s, LOS rate: 1.858832 deg/s, posRepo size: 4
2021-08-15T17:36:07.427Z,1629048967.427 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T17:36:07.428Z,1629048967.428 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T17:36:07.428Z,1629048967.428 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T17:36:07.429Z,1629048967.429 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T17:36:07.429Z,1629048967.429 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T17:36:07.429Z,1629048967.429 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T17:36:07.777Z,1629048967.777 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T17:36:07.777Z,1629048967.777 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T17:36:07.778Z,1629048967.778 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T17:36:07.778Z,1629048967.778 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T17:36:09.051Z,1629048969.051 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:36:09.365Z,1629048969.365 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:36:09.365Z,1629048969.365 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:36:09.365Z,1629048969.365 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:36:09.366Z,1629048969.366 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:36:09.762Z,1629048969.762 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DBA,000,0064C,189,80,80,8B,FF
2021-08-15T17:36:09.762Z,1629048969.762 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:36:09.762Z,1629048969.762 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:36:09.763Z,1629048969.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:36:10.196Z,1629048970.196 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:36:10.569Z,1629048970.569 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DFF,000,0065F,187,80,80,89,FF
2021-08-15T17:36:10.570Z,1629048970.570 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:36:11.024Z,1629048971.024 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173610.84*50

2021-08-15T17:36:11.081Z,1629048971.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.360008 m, bearing: 4.531394 deg, deltaT: 4.068037 s, approachRate: 0.280235 m/s, LOS rate: -0.654084 deg/s, posRepo size: 4
2021-08-15T17:36:13.442Z,1629048973.442 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:36:13.805Z,1629048973.805 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:36:13.805Z,1629048973.805 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:36:13.805Z,1629048973.805 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:36:13.806Z,1629048973.806 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:36:14.213Z,1629048974.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DFF,000,0065F,187,80,80,89,FF
2021-08-15T17:36:14.213Z,1629048974.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:36:14.214Z,1629048974.214 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:36:14.215Z,1629048974.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:36:14.663Z,1629048974.663 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:36:15.077Z,1629048975.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEA,000,00675,188,80,80,6C,FF
2021-08-15T17:36:15.078Z,1629048975.078 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:36:15.477Z,1629048975.477 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173615.29*52

2021-08-15T17:36:15.520Z,1629048975.520 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.680000 m, bearing: 5.475355 deg, deltaT: 4.562357 s, approachRate: 0.289322 m/s, LOS rate: 0.206902 deg/s, posRepo size: 4
2021-08-15T17:36:17.908Z,1629048977.908 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:36:18.289Z,1629048978.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:36:18.289Z,1629048978.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:36:18.289Z,1629048978.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:36:18.290Z,1629048978.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:36:18.697Z,1629048978.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEA,000,00675,188,80,80,6C,FF
2021-08-15T17:36:18.697Z,1629048978.697 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:36:18.697Z,1629048978.697 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:36:18.699Z,1629048978.699 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:36:19.111Z,1629048979.111 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:36:19.501Z,1629048979.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB1,000,0068D,189,80,80,96,FF
2021-08-15T17:36:19.501Z,1629048979.501 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:36:19.941Z,1629048979.941 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173619.77*55

2021-08-15T17:36:19.963Z,1629048979.963 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.119999 m, bearing: 5.097199 deg, deltaT: 4.373824 s, approachRate: 0.329231 m/s, LOS rate: -0.086459 deg/s, posRepo size: 4
2021-08-15T17:36:20.332Z,1629048980.332 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T17:36:22.362Z,1629048982.362 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:36:22.737Z,1629048982.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:36:22.737Z,1629048982.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:36:22.738Z,1629048982.738 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:36:22.739Z,1629048982.739 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:36:23.137Z,1629048983.137 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB1,000,0068D,189,80,80,96,FF
2021-08-15T17:36:23.137Z,1629048983.137 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:36:23.138Z,1629048983.138 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:36:23.143Z,1629048983.143 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:36:23.563Z,1629048983.563 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:36:23.957Z,1629048983.957 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF0,000,006A4,187,80,80,8F,FF
2021-08-15T17:36:23.957Z,1629048983.957 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:36:24.410Z,1629048984.410 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173624.22*5B

2021-08-15T17:36:24.468Z,1629048984.468 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.500008 m, bearing: 0.342365 deg, deltaT: 4.451365 s, approachRate: 0.310019 m/s, LOS rate: -1.068174 deg/s, posRepo size: 4
2021-08-15T17:36:26.806Z,1629048986.806 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:36:27.209Z,1629048987.209 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:36:27.209Z,1629048987.209 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:36:27.209Z,1629048987.209 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:36:27.210Z,1629048987.210 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:36:27.593Z,1629048987.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF0,000,006A4,187,80,80,8F,FF
2021-08-15T17:36:27.593Z,1629048987.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:36:27.593Z,1629048987.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:36:27.595Z,1629048987.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:36:28.009Z,1629048988.009 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:36:28.402Z,1629048988.402 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D69,000,006BA,189,80,80,9E,FF
2021-08-15T17:36:28.402Z,1629048988.402 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:36:28.849Z,1629048988.849 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173628.67*56

2021-08-15T17:36:28.877Z,1629048988.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.820000 m, bearing: 7.017772 deg, deltaT: 4.480592 s, approachRate: 0.294602 m/s, LOS rate: 1.489849 deg/s, posRepo size: 4
2021-08-15T17:36:31.313Z,1629048991.313 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:36:31.633Z,1629048991.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:36:31.633Z,1629048991.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:36:31.633Z,1629048991.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:36:31.634Z,1629048991.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:36:32.037Z,1629048992.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D69,000,006BA,189,80,80,9E,FF
2021-08-15T17:36:32.037Z,1629048992.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:36:32.037Z,1629048992.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:36:32.039Z,1629048992.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:36:32.453Z,1629048992.453 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:36:32.845Z,1629048992.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D10,000,006D1,189,80,80,8F,FF
2021-08-15T17:36:32.846Z,1629048992.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:36:33.293Z,1629048993.293 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173633.12*5E

2021-08-15T17:36:33.357Z,1629048993.357 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.199997 m, bearing: 11.632381 deg, deltaT: 4.409158 s, approachRate: 0.312984 m/s, LOS rate: 1.046596 deg/s, posRepo size: 4
2021-08-15T17:36:35.703Z,1629048995.703 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:36:36.077Z,1629048996.077 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:36:36.077Z,1629048996.077 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:36:36.077Z,1629048996.077 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:36:36.078Z,1629048996.078 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:36:36.489Z,1629048996.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D10,000,006D1,189,80,80,8F,FF
2021-08-15T17:36:36.489Z,1629048996.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:36:36.489Z,1629048996.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:36:36.491Z,1629048996.491 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:36:36.917Z,1629048996.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:36:37.297Z,1629048997.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D15,000,006E9,189,80,80,8C,FF
2021-08-15T17:36:37.298Z,1629048997.298 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:36:37.741Z,1629048997.741 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173637.57*5B

2021-08-15T17:36:37.764Z,1629048997.764 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.639999 m, bearing: 11.301034 deg, deltaT: 4.475528 s, approachRate: 0.321750 m/s, LOS rate: -0.074035 deg/s, posRepo size: 4
2021-08-15T17:36:40.177Z,1629049000.177 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:36:40.533Z,1629049000.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:36:40.533Z,1629049000.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:36:40.533Z,1629049000.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:36:40.534Z,1629049000.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:36:40.925Z,1629049000.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D15,000,006E9,189,80,80,8C,FF
2021-08-15T17:36:40.925Z,1629049000.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:36:40.925Z,1629049000.925 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:36:40.927Z,1629049000.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:36:41.345Z,1629049001.345 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:36:41.737Z,1629049001.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D8A,000,00701,189,80,80,AD,FF
2021-08-15T17:36:41.738Z,1629049001.738 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:36:42.197Z,1629049002.197 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173642.00*5B

2021-08-15T17:36:42.223Z,1629049002.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.079994 m, bearing: 2.728938 deg, deltaT: 4.386553 s, approachRate: 0.328275 m/s, LOS rate: -1.954176 deg/s, posRepo size: 4
2021-08-15T17:36:44.618Z,1629049004.618 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:36:44.966Z,1629049004.966 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:36:44.966Z,1629049004.966 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:36:44.966Z,1629049004.966 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:36:44.967Z,1629049004.967 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:36:45.383Z,1629049005.383 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D8A,000,00701,189,80,80,AD,FF
2021-08-15T17:36:45.383Z,1629049005.383 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:36:45.383Z,1629049005.383 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:36:45.386Z,1629049005.386 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:36:45.788Z,1629049005.788 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:36:46.213Z,1629049006.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DF9,000,0071A,187,80,80,A9,FF
2021-08-15T17:36:46.214Z,1629049006.214 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:36:46.605Z,1629049006.605 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173646.46*5D

2021-08-15T17:36:46.636Z,1629049006.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 71.580002 m, bearing: 355.553229 deg, deltaT: 4.486639 s, approachRate: 0.334328 m/s, LOS rate: -1.599350 deg/s, posRepo size: 4
2021-08-15T17:36:49.098Z,1629049009.098 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:36:49.410Z,1629049009.410 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:36:49.410Z,1629049009.410 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:36:49.411Z,1629049009.411 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:36:49.412Z,1629049009.412 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:36:49.817Z,1629049009.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DF9,000,0071A,187,80,80,A9,FF
2021-08-15T17:36:49.817Z,1629049009.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:36:49.817Z,1629049009.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:36:49.819Z,1629049009.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:36:50.223Z,1629049010.223 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:36:50.621Z,1629049010.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E2F,000,0072A,187,80,80,AE,FF
2021-08-15T17:36:50.621Z,1629049010.621 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:36:51.081Z,1629049011.081 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173650.90*51

2021-08-15T17:36:51.188Z,1629049011.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.540009 m, bearing: 351.876675 deg, deltaT: 4.417659 s, approachRate: 0.217311 m/s, LOS rate: -0.832240 deg/s, posRepo size: 4
2021-08-15T17:36:53.182Z,1629049013.182 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:36:53.461Z,1629049013.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:36:53.461Z,1629049013.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:36:53.462Z,1629049013.462 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:36:53.463Z,1629049013.463 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:36:53.857Z,1629049013.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E2F,000,0072A,187,80,80,AE,FF
2021-08-15T17:36:53.857Z,1629049013.857 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:36:53.857Z,1629049013.857 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:36:53.859Z,1629049013.859 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:36:54.256Z,1629049014.256 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:36:54.661Z,1629049014.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,156,000,00741,185,80,80,9F,FF
2021-08-15T17:36:54.662Z,1629049014.662 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:36:55.126Z,1629049015.126 [Micromodem](INFO): Nmea in: $SNTTA,0.062617,,,,173654.93*4C

2021-08-15T17:36:55.227Z,1629049015.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.920006 m, bearing: 310.091189 deg, deltaT: 4.047613 s, approachRate: 0.340941 m/s, LOS rate: -10.323489 deg/s, posRepo size: 4
2021-08-15T17:36:57.537Z,1629049017.537 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:36:57.893Z,1629049017.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:36:57.893Z,1629049017.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:36:57.893Z,1629049017.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:36:57.894Z,1629049017.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:36:58.305Z,1629049018.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
156,000,00741,185,80,80,9F,FF
2021-08-15T17:36:58.305Z,1629049018.305 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:36:58.306Z,1629049018.306 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:36:58.307Z,1629049018.307 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:36:58.704Z,1629049018.704 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:36:59.113Z,1629049019.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,032,000,00759,185,80,80,31,FF
2021-08-15T17:36:59.114Z,1629049019.114 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:36:59.562Z,1629049019.562 [Micromodem](INFO): Nmea in: $SNTTA,0.067275,,,,173659.38*45

2021-08-15T17:36:59.583Z,1629049019.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.360001 m, bearing: 324.087695 deg, deltaT: 4.561570 s, approachRate: 0.315680 m/s, LOS rate: 3.068353 deg/s, posRepo size: 4
2021-08-15T17:37:01.982Z,1629049021.982 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:37:02.341Z,1629049022.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:37:02.341Z,1629049022.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:37:02.341Z,1629049022.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:37:02.342Z,1629049022.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:37:02.737Z,1629049022.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
032,000,00759,185,80,80,31,FF
2021-08-15T17:37:02.737Z,1629049022.737 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:37:02.738Z,1629049022.738 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:37:02.739Z,1629049022.739 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:37:03.177Z,1629049023.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:37:03.553Z,1629049023.553 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E10,000,0076A,186,80,80,AE,FF
2021-08-15T17:37:03.554Z,1629049023.554 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:37:03.996Z,1629049023.996 [Micromodem](INFO): Nmea in: $SNTTA,0.060261,,,,173703.81*4B

2021-08-15T17:37:04.015Z,1629049024.015 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.380005 m, bearing: 352.102590 deg, deltaT: 4.322855 s, approachRate: 0.235956 m/s, LOS rate: 6.480647 deg/s, posRepo size: 4
2021-08-15T17:37:06.434Z,1629049026.434 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:37:06.781Z,1629049026.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:37:06.781Z,1629049026.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:37:06.782Z,1629049026.782 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:37:06.783Z,1629049026.783 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:37:07.226Z,1629049027.226 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E10,000,0076A,186,80,80,AE,FF
2021-08-15T17:37:07.227Z,1629049027.227 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:37:07.227Z,1629049027.227 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:37:07.231Z,1629049027.231 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:37:07.621Z,1629049027.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:37:08.013Z,1629049028.013 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,17B,000,0077F,186,80,80,9C,FF
2021-08-15T17:37:08.014Z,1629049028.014 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:37:08.457Z,1629049028.457 [Micromodem](INFO): Nmea in: $SNTTA,0.062033,,,,173708.31*4C

2021-08-15T17:37:08.499Z,1629049028.499 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.640007 m, bearing: 308.106364 deg, deltaT: 4.444742 s, approachRate: 0.283482 m/s, LOS rate: -9.898489 deg/s, posRepo size: 4
2021-08-15T17:37:10.867Z,1629049030.867 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:37:11.249Z,1629049031.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:37:11.249Z,1629049031.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:37:11.249Z,1629049031.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:37:11.250Z,1629049031.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:37:11.661Z,1629049031.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
17B,000,0077F,186,80,80,9C,FF
2021-08-15T17:37:11.661Z,1629049031.661 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:37:11.662Z,1629049031.662 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:37:11.663Z,1629049031.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:37:12.069Z,1629049032.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:37:12.469Z,1629049032.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1C,000,00796,186,80,80,A1,FF
2021-08-15T17:37:12.470Z,1629049032.470 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:37:12.901Z,1629049032.901 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173712.74*5C

2021-08-15T17:37:12.932Z,1629049032.932 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.020004 m, bearing: 351.392715 deg, deltaT: 4.480718 s, approachRate: 0.307986 m/s, LOS rate: 9.660584 deg/s, posRepo size: 4
2021-08-15T17:37:15.342Z,1629049035.342 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:37:15.697Z,1629049035.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:37:15.697Z,1629049035.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:37:15.697Z,1629049035.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:37:15.698Z,1629049035.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:37:16.103Z,1629049036.103 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1C,000,00796,186,80,80,A1,FF
2021-08-15T17:37:16.103Z,1629049036.103 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:37:16.103Z,1629049036.103 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:37:16.105Z,1629049036.105 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:37:16.513Z,1629049036.513 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:37:16.922Z,1629049036.922 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD3,000,007B1,186,80,80,27,FF
2021-08-15T17:37:16.925Z,1629049036.925 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:37:17.349Z,1629049037.349 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173717.18*53

2021-08-15T17:37:17.446Z,1629049037.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.639999 m, bearing: 329.254815 deg, deltaT: 4.497541 s, approachRate: 0.360196 m/s, LOS rate: -4.922223 deg/s, posRepo size: 4
2021-08-15T17:37:19.751Z,1629049039.751 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:37:20.140Z,1629049040.140 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:37:20.141Z,1629049040.141 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:37:20.141Z,1629049040.141 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:37:20.143Z,1629049040.143 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:37:20.546Z,1629049040.546 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD3,000,007B1,186,80,80,27,FF
2021-08-15T17:37:20.546Z,1629049040.546 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:37:20.546Z,1629049040.546 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:37:20.548Z,1629049040.548 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:37:20.962Z,1629049040.962 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:37:21.349Z,1629049041.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED9,000,007BD,186,80,80,9D,FF
2021-08-15T17:37:21.350Z,1629049041.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:37:21.785Z,1629049041.785 [Micromodem](INFO): Nmea in: $SNTTA,0.058402,,,,173721.62*4E

2021-08-15T17:37:21.831Z,1629049041.831 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.360008 m, bearing: 342.307252 deg, deltaT: 4.420882 s, approachRate: 0.162865 m/s, LOS rate: 2.952451 deg/s, posRepo size: 4
2021-08-15T17:37:24.241Z,1629049044.241 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:37:24.581Z,1629049044.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:37:24.581Z,1629049044.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:37:24.581Z,1629049044.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:37:24.582Z,1629049044.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:37:25.009Z,1629049045.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED9,000,007BD,186,80,80,9D,FF
2021-08-15T17:37:25.009Z,1629049045.009 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:37:25.010Z,1629049045.010 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:37:25.020Z,1629049045.020 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:37:25.460Z,1629049045.460 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:37:25.845Z,1629049045.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,ED9,000,007D7,186,80,80,97,FF
2021-08-15T17:37:25.846Z,1629049045.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:37:26.277Z,1629049046.277 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173726.10*59

2021-08-15T17:37:26.320Z,1629049046.320 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.919998 m, bearing: 343.117804 deg, deltaT: 4.427839 s, approachRate: 0.352314 m/s, LOS rate: 0.183058 deg/s, posRepo size: 4
2021-08-15T17:37:28.702Z,1629049048.702 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:37:29.081Z,1629049049.081 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:37:29.081Z,1629049049.081 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:37:29.081Z,1629049049.081 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:37:29.082Z,1629049049.082 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:37:29.474Z,1629049049.474 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
ED9,000,007D7,186,80,80,97,FF
2021-08-15T17:37:29.474Z,1629049049.474 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:37:29.474Z,1629049049.474 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:37:29.476Z,1629049049.476 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:37:29.885Z,1629049049.885 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:37:30.285Z,1629049050.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EB8,000,007F0,186,80,80,96,FF
2021-08-15T17:37:30.286Z,1629049050.286 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:37:30.734Z,1629049050.734 [Micromodem](INFO): Nmea in: $SNTTA,0.064970,,,,173730.55*4D

2021-08-15T17:37:30.750Z,1629049050.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.420006 m, bearing: 344.709539 deg, deltaT: 4.478788 s, approachRate: 0.334914 m/s, LOS rate: 0.355394 deg/s, posRepo size: 4
2021-08-15T17:37:33.210Z,1629049053.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:37:33.517Z,1629049053.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:37:33.517Z,1629049053.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:37:33.517Z,1629049053.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:37:33.518Z,1629049053.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:37:33.929Z,1629049053.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EB8,000,007F0,186,80,80,96,FF
2021-08-15T17:37:33.929Z,1629049053.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:37:33.929Z,1629049053.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:37:33.931Z,1629049053.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:37:34.328Z,1629049054.328 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:37:34.733Z,1629049054.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFA,000,00806,186,80,80,9F,FF
2021-08-15T17:37:34.734Z,1629049054.734 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:37:35.197Z,1629049055.197 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173735.01*5B

2021-08-15T17:37:35.263Z,1629049055.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.740005 m, bearing: 341.579017 deg, deltaT: 4.408939 s, approachRate: 0.299392 m/s, LOS rate: -0.710040 deg/s, posRepo size: 4
2021-08-15T17:37:37.598Z,1629049057.598 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:37:37.969Z,1629049057.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:37:37.969Z,1629049057.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:37:37.969Z,1629049057.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:37:37.970Z,1629049057.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:37:38.370Z,1629049058.370 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFA,000,00806,186,80,80,9F,FF
2021-08-15T17:37:38.370Z,1629049058.370 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:37:38.370Z,1629049058.370 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:37:38.372Z,1629049058.372 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:37:38.773Z,1629049058.773 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:37:39.209Z,1629049059.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BC,000,00821,186,80,80,37,FF
2021-08-15T17:37:39.209Z,1629049059.209 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:37:39.625Z,1629049059.625 [Micromodem](INFO): Nmea in: $SNTTA,0.211419,,,,173739.45*47

2021-08-15T17:37:39.641Z,1629049059.641 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.360008 m, bearing: 319.171543 deg, deltaT: 4.534544 s, approachRate: 0.357258 m/s, LOS rate: -4.941505 deg/s, posRepo size: 4
2021-08-15T17:37:42.034Z,1629049062.034 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:37:42.414Z,1629049062.414 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:37:42.414Z,1629049062.414 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:37:42.414Z,1629049062.414 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:37:42.415Z,1629049062.415 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:37:42.805Z,1629049062.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BC,000,00821,186,80,80,37,FF
2021-08-15T17:37:42.805Z,1629049062.805 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:37:42.805Z,1629049062.805 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:37:42.807Z,1629049062.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:37:43.240Z,1629049063.240 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:37:43.621Z,1629049063.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F24,000,00831,187,80,80,96,FF
2021-08-15T17:37:43.621Z,1629049063.621 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:37:44.061Z,1629049064.061 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173743.88*5B

2021-08-15T17:37:44.092Z,1629049064.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.320000 m, bearing: 339.948952 deg, deltaT: 4.353901 s, approachRate: 0.220490 m/s, LOS rate: 4.772136 deg/s, posRepo size: 4
2021-08-15T17:37:46.504Z,1629049066.504 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:37:46.850Z,1629049066.850 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:37:46.850Z,1629049066.850 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:37:46.850Z,1629049066.850 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:37:46.850Z,1629049066.850 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:37:47.258Z,1629049067.258 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F24,000,00831,187,80,80,96,FF
2021-08-15T17:37:47.258Z,1629049067.258 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:37:47.258Z,1629049067.258 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:37:47.262Z,1629049067.262 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:37:47.665Z,1629049067.665 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:37:48.066Z,1629049068.066 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA9,000,00843,184,80,80,7E,FF
2021-08-15T17:37:48.067Z,1629049068.067 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:37:48.498Z,1629049068.498 [Micromodem](INFO): Nmea in: $SNTTA,0.069946,,,,173748.34*4D

2021-08-15T17:37:48.525Z,1629049068.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.400002 m, bearing: 332.833206 deg, deltaT: 4.468678 s, approachRate: 0.241683 m/s, LOS rate: -1.592360 deg/s, posRepo size: 4
2021-08-15T17:37:50.911Z,1629049070.911 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:37:51.302Z,1629049071.302 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:37:51.302Z,1629049071.302 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:37:51.302Z,1629049071.302 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:37:51.303Z,1629049071.303 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:37:51.701Z,1629049071.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA9,000,00843,184,80,80,7E,FF
2021-08-15T17:37:51.701Z,1629049071.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:37:51.702Z,1629049071.702 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:37:51.703Z,1629049071.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:37:52.121Z,1629049072.121 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:37:52.501Z,1629049072.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,45D,000,0085D,189,80,80,71,FF
2021-08-15T17:37:52.502Z,1629049072.502 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:37:52.957Z,1629049072.957 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173752.78*54

2021-08-15T17:37:53.041Z,1629049073.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.959999 m, bearing: 271.843414 deg, deltaT: 4.467027 s, approachRate: 0.349225 m/s, LOS rate: -13.653330 deg/s, posRepo size: 4
2021-08-15T17:37:55.433Z,1629049075.433 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:37:55.737Z,1629049075.737 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:37:55.737Z,1629049075.737 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:37:55.737Z,1629049075.737 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:37:55.738Z,1629049075.738 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:37:56.153Z,1629049076.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
45D,000,0085D,189,80,80,71,FF
2021-08-15T17:37:56.154Z,1629049076.154 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:37:56.155Z,1629049076.155 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:37:56.171Z,1629049076.171 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:37:56.541Z,1629049076.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:37:56.965Z,1629049076.965 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,49B,000,00873,189,80,80,72,FF
2021-08-15T17:37:56.967Z,1629049076.967 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:37:57.382Z,1629049077.382 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173757.25*59

2021-08-15T17:37:57.450Z,1629049077.450 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.280006 m, bearing: 268.631040 deg, deltaT: 4.477737 s, approachRate: 0.294793 m/s, LOS rate: -0.717410 deg/s, posRepo size: 4
2021-08-15T17:37:59.797Z,1629049079.797 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:38:00.205Z,1629049080.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:38:00.205Z,1629049080.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:38:00.205Z,1629049080.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:38:00.206Z,1629049080.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:38:00.596Z,1629049080.596 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
49B,000,00873,189,80,80,72,FF
2021-08-15T17:38:00.596Z,1629049080.596 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:38:00.597Z,1629049080.597 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:38:00.598Z,1629049080.598 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:38:01.076Z,1629049081.076 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:38:01.441Z,1629049081.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,47B,000,0088A,18A,80,80,71,FF
2021-08-15T17:38:01.442Z,1629049081.442 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:38:01.866Z,1629049081.866 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173801.67*53

2021-08-15T17:38:01.891Z,1629049081.891 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.660004 m, bearing: 270.487622 deg, deltaT: 4.416196 s, approachRate: 0.312486 m/s, LOS rate: 0.420403 deg/s, posRepo size: 4
2021-08-15T17:38:04.289Z,1629049084.289 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:38:04.661Z,1629049084.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:38:04.661Z,1629049084.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:38:04.661Z,1629049084.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:38:04.662Z,1629049084.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:38:05.077Z,1629049085.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
47B,000,0088A,18A,80,80,71,FF
2021-08-15T17:38:05.077Z,1629049085.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:38:05.077Z,1629049085.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:38:05.079Z,1629049085.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:38:05.497Z,1629049085.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:38:05.890Z,1629049085.890 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,442,000,0089D,189,80,80,83,FF
2021-08-15T17:38:05.890Z,1629049085.890 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:38:06.325Z,1629049086.325 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173806.16*52

2021-08-15T17:38:06.398Z,1629049086.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.800003 m, bearing: 273.171012 deg, deltaT: 4.503440 s, approachRate: 0.253140 m/s, LOS rate: 0.595853 deg/s, posRepo size: 4
2021-08-15T17:38:08.739Z,1629049088.739 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:38:09.125Z,1629049089.125 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:38:09.125Z,1629049089.125 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:38:09.126Z,1629049089.126 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:38:09.127Z,1629049089.127 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:38:09.529Z,1629049089.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
442,000,0089D,189,80,80,83,FF
2021-08-15T17:38:09.529Z,1629049089.529 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:38:09.530Z,1629049089.530 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:38:09.531Z,1629049089.531 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:38:09.937Z,1629049089.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:38:10.333Z,1629049090.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,440,000,008B4,189,80,80,4D,FF
2021-08-15T17:38:10.333Z,1629049090.333 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:38:10.786Z,1629049090.786 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173810.61*55

2021-08-15T17:38:10.832Z,1629049090.832 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.180000 m, bearing: 273.437498 deg, deltaT: 4.439553 s, approachRate: 0.310842 m/s, LOS rate: 0.060026 deg/s, posRepo size: 4
2021-08-15T17:38:13.238Z,1629049093.238 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:38:13.561Z,1629049093.561 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:38:13.561Z,1629049093.561 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:38:13.561Z,1629049093.561 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:38:13.562Z,1629049093.562 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:38:13.969Z,1629049093.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
440,000,008B4,189,80,80,4D,FF
2021-08-15T17:38:13.969Z,1629049093.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:38:13.969Z,1629049093.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:38:13.971Z,1629049093.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:38:14.372Z,1629049094.372 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:38:14.777Z,1629049094.777 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,47E,000,008CD,189,80,80,74,FF
2021-08-15T17:38:14.778Z,1629049094.778 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:38:15.233Z,1629049095.233 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173815.05*52

2021-08-15T17:38:15.301Z,1629049095.301 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.680008 m, bearing: 270.209851 deg, deltaT: 4.411447 s, approachRate: 0.340026 m/s, LOS rate: -0.731653 deg/s, posRepo size: 4
2021-08-15T17:38:17.253Z,1629049097.253 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T17:38:17.635Z,1629049097.635 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:38:18.013Z,1629049098.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:38:18.013Z,1629049098.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:38:18.013Z,1629049098.013 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:38:18.014Z,1629049098.014 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:38:18.417Z,1629049098.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
47E,000,008CD,189,80,80,74,FF
2021-08-15T17:38:18.417Z,1629049098.417 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:38:18.418Z,1629049098.418 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:38:18.419Z,1629049098.419 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:38:18.884Z,1629049098.884 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:38:19.269Z,1629049099.269 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,440,000,008E2,18A,80,80,8A,FF
2021-08-15T17:38:19.270Z,1629049099.270 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:38:19.685Z,1629049099.685 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173819.50*5E

2021-08-15T17:38:19.734Z,1629049099.734 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 98.940010 m, bearing: 273.440394 deg, deltaT: 4.534212 s, approachRate: 0.277888 m/s, LOS rate: 0.712482 deg/s, posRepo size: 4
2021-08-15T17:38:22.131Z,1629049102.131 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:38:22.501Z,1629049102.501 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:38:22.501Z,1629049102.501 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:38:22.501Z,1629049102.501 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:38:22.502Z,1629049102.502 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:38:22.905Z,1629049102.905 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
440,000,008E2,18A,80,80,8A,FF
2021-08-15T17:38:22.905Z,1629049102.905 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:38:22.905Z,1629049102.905 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:38:22.907Z,1629049102.907 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:38:23.321Z,1629049103.321 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:38:23.713Z,1629049103.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,35E,000,008F6,188,80,80,60,FF
2021-08-15T17:38:23.714Z,1629049103.714 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:38:24.185Z,1629049104.185 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173823.99*52

2021-08-15T17:38:24.244Z,1629049104.244 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.140007 m, bearing: 284.494209 deg, deltaT: 4.406025 s, approachRate: 0.272354 m/s, LOS rate: 2.508795 deg/s, posRepo size: 4
2021-08-15T17:38:26.574Z,1629049106.574 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:38:26.945Z,1629049106.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:38:26.945Z,1629049106.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:38:26.945Z,1629049106.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:38:26.946Z,1629049106.946 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:38:27.354Z,1629049107.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
35E,000,008F6,188,80,80,60,FF
2021-08-15T17:38:27.354Z,1629049107.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:38:27.354Z,1629049107.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:38:27.356Z,1629049107.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:38:27.378Z,1629049107.378 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T17:38:27.756Z,1629049107.756 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:38:28.174Z,1629049108.174 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CD1,000,0090F,189,80,80,76,FF
2021-08-15T17:38:28.174Z,1629049108.174 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:38:28.606Z,1629049108.606 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173828.43*5E

2021-08-15T17:38:28.628Z,1629049108.628 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.639999 m, bearing: 8.193211 deg, deltaT: 4.458443 s, approachRate: 0.336439 m/s, LOS rate: 18.773149 deg/s, posRepo size: 4
2021-08-15T17:38:31.062Z,1629049111.062 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:38:31.386Z,1629049111.386 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:38:31.386Z,1629049111.386 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:38:31.386Z,1629049111.386 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:38:31.387Z,1629049111.387 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:38:31.789Z,1629049111.789 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CD1,000,0090F,189,80,80,76,FF
2021-08-15T17:38:31.790Z,1629049111.790 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:38:31.790Z,1629049111.790 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:38:31.791Z,1629049111.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:38:31.867Z,1629049111.867 [CTD_Seabird](ERROR): Failed to parse device response: 8.40,3
2021-08-15T17:38:32.216Z,1629049112.216 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:38:32.601Z,1629049112.601 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,3CB,000,00921,189,80,80,85,FF
2021-08-15T17:38:32.602Z,1629049112.602 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:38:33.077Z,1629049113.077 [Micromodem](INFO): Nmea in: $SNTTA,0.076017,,,,173832.87*44

2021-08-15T17:38:33.180Z,1629049113.180 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.720001 m, bearing: 278.580549 deg, deltaT: 4.397654 s, approachRate: 0.245586 m/s, LOS rate: -20.377381 deg/s, posRepo size: 4
2021-08-15T17:38:35.171Z,1629049115.171 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:38:35.445Z,1629049115.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:38:35.445Z,1629049115.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:38:35.445Z,1629049115.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:38:35.446Z,1629049115.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:38:35.837Z,1629049115.837 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
3CB,000,00921,189,80,80,85,FF
2021-08-15T17:38:35.837Z,1629049115.837 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:38:35.837Z,1629049115.837 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:38:35.839Z,1629049115.839 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:38:36.327Z,1629049116.327 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:38:36.723Z,1629049116.723 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E3,000,00934,186,80,80,7F,FF
2021-08-15T17:38:36.723Z,1629049116.723 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:38:37.177Z,1629049117.177 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173836.92*5D

2021-08-15T17:38:37.222Z,1629049117.222 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.860008 m, bearing: 316.562138 deg, deltaT: 4.124048 s, approachRate: 0.276429 m/s, LOS rate: 9.209784 deg/s, posRepo size: 4
2021-08-15T17:38:39.605Z,1629049119.605 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:38:39.963Z,1629049119.963 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:38:39.963Z,1629049119.963 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:38:39.963Z,1629049119.963 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:38:39.964Z,1629049119.964 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:38:40.375Z,1629049120.375 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E3,000,00934,186,80,80,7F,FF
2021-08-15T17:38:40.375Z,1629049120.375 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:38:40.376Z,1629049120.376 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:38:40.377Z,1629049120.377 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:38:40.777Z,1629049120.777 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:38:41.185Z,1629049121.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,103,000,00949,186,80,80,7D,FF
2021-08-15T17:38:41.185Z,1629049121.185 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:38:41.601Z,1629049121.601 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173841.45*57

2021-08-15T17:38:41.633Z,1629049121.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.120010 m, bearing: 315.258309 deg, deltaT: 4.535064 s, approachRate: 0.277836 m/s, LOS rate: -0.287499 deg/s, posRepo size: 4
2021-08-15T17:38:44.034Z,1629049124.034 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:38:44.402Z,1629049124.402 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:38:44.402Z,1629049124.402 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:38:44.402Z,1629049124.402 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:38:44.403Z,1629049124.403 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:38:44.805Z,1629049124.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
103,000,00949,186,80,80,7D,FF
2021-08-15T17:38:44.806Z,1629049124.806 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:38:44.806Z,1629049124.806 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:38:44.807Z,1629049124.807 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:38:45.226Z,1629049125.226 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:38:45.610Z,1629049125.610 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C5,000,00961,186,80,80,7E,FF
2021-08-15T17:38:45.610Z,1629049125.610 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:38:46.065Z,1629049126.065 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173845.89*53

2021-08-15T17:38:46.088Z,1629049126.088 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.560005 m, bearing: 305.649135 deg, deltaT: 4.384895 s, approachRate: 0.328399 m/s, LOS rate: -2.191426 deg/s, posRepo size: 4
2021-08-15T17:38:47.244Z,1629049127.244 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T17:38:48.486Z,1629049128.486 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:38:48.845Z,1629049128.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:38:48.845Z,1629049128.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:38:48.845Z,1629049128.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:38:48.846Z,1629049128.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:38:49.246Z,1629049129.246 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C5,000,00961,186,80,80,7E,FF
2021-08-15T17:38:49.246Z,1629049129.246 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:38:49.246Z,1629049129.246 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:38:49.248Z,1629049129.248 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:38:49.653Z,1629049129.653 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:38:50.054Z,1629049130.054 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,10D,000,00978,186,80,80,78,FF
2021-08-15T17:38:50.054Z,1629049130.054 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:38:50.489Z,1629049130.489 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173850.33*56

2021-08-15T17:38:50.530Z,1629049130.530 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.940002 m, bearing: 314.718369 deg, deltaT: 4.407434 s, approachRate: 0.313107 m/s, LOS rate: 2.057713 deg/s, posRepo size: 4
2021-08-15T17:38:52.899Z,1629049132.899 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:38:53.278Z,1629049133.278 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:38:53.278Z,1629049133.278 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:38:53.279Z,1629049133.279 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:38:53.280Z,1629049133.280 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:38:53.694Z,1629049133.694 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
10D,000,00978,186,80,80,78,FF
2021-08-15T17:38:53.694Z,1629049133.694 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:38:53.694Z,1629049133.694 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:38:53.696Z,1629049133.696 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:38:54.097Z,1629049134.097 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:38:54.498Z,1629049134.498 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DC,000,0098D,187,80,80,98,FF
2021-08-15T17:38:54.498Z,1629049134.498 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:38:54.941Z,1629049134.941 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173854.77*52

2021-08-15T17:38:55.046Z,1629049135.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.200005 m, bearing: 303.666659 deg, deltaT: 4.455088 s, approachRate: 0.282823 m/s, LOS rate: -2.480694 deg/s, posRepo size: 4
2021-08-15T17:38:57.394Z,1629049137.394 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:38:57.735Z,1629049137.735 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:38:57.735Z,1629049137.735 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:38:57.735Z,1629049137.735 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:38:57.736Z,1629049137.736 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:38:58.158Z,1629049138.158 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DC,000,0098D,187,80,80,98,FF
2021-08-15T17:38:58.159Z,1629049138.159 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:38:58.164Z,1629049138.164 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:38:58.173Z,1629049138.173 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:38:58.541Z,1629049138.541 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:38:58.946Z,1629049138.946 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AE,000,009A5,185,80,80,9D,FF
2021-08-15T17:38:58.946Z,1629049138.946 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:38:59.373Z,1629049139.373 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173859.25*58

2021-08-15T17:38:59.448Z,1629049139.448 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.640007 m, bearing: 305.686318 deg, deltaT: 4.510405 s, approachRate: 0.319262 m/s, LOS rate: 0.447778 deg/s, posRepo size: 4
2021-08-15T17:39:01.799Z,1629049141.799 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:39:02.201Z,1629049142.201 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:39:02.201Z,1629049142.201 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:39:02.202Z,1629049142.202 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:39:02.203Z,1629049142.203 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:39:02.577Z,1629049142.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AE,000,009A5,185,80,80,9D,FF
2021-08-15T17:39:02.577Z,1629049142.577 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:39:02.577Z,1629049142.577 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:39:02.579Z,1629049142.579 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:39:03.034Z,1629049143.034 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:39:03.421Z,1629049143.421 [Micromodem](INFO): Nmea in: $SNTTA,0.148799,0.149537,,,173903.66*56

2021-08-15T17:39:03.834Z,1629049143.834 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,199,000,01FE8,185,80,80,7E,FF
2021-08-15T17:39:03.834Z,1629049143.834 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:39:04.270Z,1629049144.270 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 452.579987 m, bearing: 306.465288 deg, deltaT: 4.818042 s, approachRate: 70.970734 m/s, LOS rate: 0.161678 deg/s, posRepo size: 4
2021-08-15T17:39:06.670Z,1629049146.670 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:39:07.117Z,1629049147.117 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:39:07.117Z,1629049147.117 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:39:07.117Z,1629049147.117 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:39:07.118Z,1629049147.118 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:39:07.461Z,1629049147.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
199,000,01FE8,185,80,80,7E,FF
2021-08-15T17:39:07.461Z,1629049147.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:39:07.461Z,1629049147.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:39:07.463Z,1629049147.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:39:07.886Z,1629049147.886 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:39:08.265Z,1629049148.265 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DD,000,009C7,187,80,80,57,FF
2021-08-15T17:39:08.266Z,1629049148.266 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:39:08.710Z,1629049148.710 [Micromodem](INFO): Nmea in: $SNTTA,0.090736,,,,173908.54*4E

2021-08-15T17:39:08.732Z,1629049148.732 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.680000 m, bearing: 303.557950 deg, deltaT: 4.467630 s, approachRate: -76.080605 m/s, LOS rate: -0.650756 deg/s, posRepo size: 4
2021-08-15T17:39:11.217Z,1629049151.217 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:39:11.489Z,1629049151.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:39:11.489Z,1629049151.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:39:11.489Z,1629049151.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:39:11.490Z,1629049151.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:39:11.899Z,1629049151.899 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DD,000,009C7,187,80,80,57,FF
2021-08-15T17:39:11.899Z,1629049151.899 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:39:11.900Z,1629049151.900 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:39:11.903Z,1629049151.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:39:12.301Z,1629049152.301 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:39:12.713Z,1629049152.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0CE,000,009DD,186,80,80,83,FF
2021-08-15T17:39:12.714Z,1629049152.714 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:39:13.181Z,1629049153.181 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173912.98*50

2021-08-15T17:39:13.245Z,1629049153.245 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.000008 m, bearing: 317.847470 deg, deltaT: 4.445697 s, approachRate: 0.296918 m/s, LOS rate: 3.214236 deg/s, posRepo size: 4
2021-08-15T17:39:15.547Z,1629049155.547 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:39:15.942Z,1629049155.942 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:39:15.942Z,1629049155.942 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:39:15.942Z,1629049155.942 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:39:15.943Z,1629049155.943 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:39:16.333Z,1629049156.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0CE,000,009DD,186,80,80,83,FF
2021-08-15T17:39:16.333Z,1629049156.333 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:39:16.334Z,1629049156.334 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:39:16.335Z,1629049156.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:39:16.741Z,1629049156.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:39:17.153Z,1629049157.153 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0EE,000,009F2,186,80,80,8E,FF
2021-08-15T17:39:17.154Z,1629049157.154 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:39:17.597Z,1629049157.597 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173917.42*52

2021-08-15T17:39:17.633Z,1629049157.633 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.259995 m, bearing: 316.465067 deg, deltaT: 4.445708 s, approachRate: 0.283416 m/s, LOS rate: -0.310952 deg/s, posRepo size: 4
2021-08-15T17:39:19.246Z,1629049159.246 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T17:39:20.008Z,1629049160.008 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:39:20.382Z,1629049160.382 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:39:20.382Z,1629049160.382 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:39:20.382Z,1629049160.382 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:39:20.383Z,1629049160.383 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:39:20.781Z,1629049160.781 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0EE,000,009F2,186,80,80,8E,FF
2021-08-15T17:39:20.782Z,1629049160.782 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:39:20.782Z,1629049160.782 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:39:20.783Z,1629049160.783 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:39:21.209Z,1629049161.209 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:39:21.597Z,1629049161.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C2,000,00A07,186,80,80,AB,FF
2021-08-15T17:39:21.597Z,1629049161.597 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:39:22.042Z,1629049162.042 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173921.86*5F

2021-08-15T17:39:22.083Z,1629049162.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.519997 m, bearing: 318.703703 deg, deltaT: 4.401557 s, approachRate: 0.286263 m/s, LOS rate: 0.508601 deg/s, posRepo size: 4
2021-08-15T17:39:24.470Z,1629049164.470 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:39:24.821Z,1629049164.821 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:39:24.821Z,1629049164.821 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:39:24.821Z,1629049164.821 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:39:24.822Z,1629049164.822 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:39:25.234Z,1629049165.234 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C2,000,00A07,186,80,80,AB,FF
2021-08-15T17:39:25.234Z,1629049165.234 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:39:25.234Z,1629049165.234 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:39:25.236Z,1629049165.236 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:39:25.633Z,1629049165.633 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:39:26.038Z,1629049166.038 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F1,000,00A1A,187,80,80,A8,FF
2021-08-15T17:39:26.038Z,1629049166.038 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:39:26.469Z,1629049166.469 [Micromodem](INFO): Nmea in: $SNTTA,0.090128,,,,173926.31*48

2021-08-15T17:39:26.507Z,1629049166.507 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.660004 m, bearing: 316.317972 deg, deltaT: 4.440340 s, approachRate: 0.256739 m/s, LOS rate: -0.537286 deg/s, posRepo size: 4
2021-08-15T17:39:28.878Z,1629049168.878 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:39:29.265Z,1629049169.265 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:39:29.265Z,1629049169.265 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:39:29.265Z,1629049169.265 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:39:29.266Z,1629049169.266 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:39:29.674Z,1629049169.674 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F1,000,00A1A,187,80,80,A8,FF
2021-08-15T17:39:29.674Z,1629049169.674 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:39:29.674Z,1629049169.674 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:39:29.676Z,1629049169.676 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:39:30.077Z,1629049170.077 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:39:30.485Z,1629049170.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,151,000,00A2B,185,80,80,A0,FF
2021-08-15T17:39:30.486Z,1629049170.486 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:39:30.909Z,1629049170.909 [Micromodem](INFO): Nmea in: $SNTTA,0.083770,,,,173930.75*46

2021-08-15T17:39:30.929Z,1629049170.929 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.680000 m, bearing: 310.748254 deg, deltaT: 4.478109 s, approachRate: 0.227774 m/s, LOS rate: -1.243766 deg/s, posRepo size: 4
2021-08-15T17:39:33.373Z,1629049173.373 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:39:33.715Z,1629049173.715 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:39:33.715Z,1629049173.715 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:39:33.715Z,1629049173.715 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:39:33.716Z,1629049173.716 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:39:34.150Z,1629049174.150 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
151,000,00A2B,185,80,80,A0,FF
2021-08-15T17:39:34.151Z,1629049174.151 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:39:34.151Z,1629049174.151 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:39:34.164Z,1629049174.164 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:39:34.534Z,1629049174.534 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:39:34.930Z,1629049174.930 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,117,000,00A3F,186,80,80,A0,FF
2021-08-15T17:39:34.930Z,1629049174.930 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:39:35.347Z,1629049175.347 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173935.24*52

2021-08-15T17:39:35.457Z,1629049175.457 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.880005 m, bearing: 313.948334 deg, deltaT: 4.507962 s, approachRate: 0.266197 m/s, LOS rate: 0.709873 deg/s, posRepo size: 4
2021-08-15T17:39:37.784Z,1629049177.784 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:39:38.197Z,1629049178.197 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:39:38.197Z,1629049178.197 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:39:38.198Z,1629049178.198 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:39:38.199Z,1629049178.199 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:39:38.561Z,1629049178.561 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
117,000,00A3F,186,80,80,A0,FF
2021-08-15T17:39:38.562Z,1629049178.562 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:39:38.562Z,1629049178.562 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:39:38.563Z,1629049178.563 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:39:39.002Z,1629049179.002 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:39:39.791Z,1629049179.791 [Micromodem](INFO): Nmea in: $SNTTA,0.082618,,,,173939.64*41

2021-08-15T17:39:40.202Z,1629049180.202 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D9,000,00A3F,186,80,80,A0,FF
2021-08-15T17:39:40.202Z,1629049180.202 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:39:40.614Z,1629049180.614 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.880005 m, bearing: 303.987486 deg, deltaT: 5.231382 s, approachRate: 0.000000 m/s, LOS rate: -1.904057 deg/s, posRepo size: 4
2021-08-15T17:39:40.615Z,1629049180.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Completed rollout at range: 119.88 m. Resuming terminal guidance.
2021-08-15T17:39:40.615Z,1629049180.615 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE
2021-08-15T17:39:43.081Z,1629049183.081 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:39:43.406Z,1629049183.406 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:39:43.406Z,1629049183.406 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:39:43.406Z,1629049183.406 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:39:43.407Z,1629049183.407 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:39:43.809Z,1629049183.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D9,000,00A3F,186,80,80,A0,FF
2021-08-15T17:39:43.809Z,1629049183.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:39:43.809Z,1629049183.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:39:43.811Z,1629049183.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:39:44.233Z,1629049184.233 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:39:44.621Z,1629049184.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,192,000,00A6F,186,80,80,7C,FF
2021-08-15T17:39:44.621Z,1629049184.621 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:39:45.082Z,1629049185.082 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173944.89*53

2021-08-15T17:39:45.165Z,1629049185.165 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.760002 m, bearing: 308.109670 deg, deltaT: nan s, approachRate: -1.000000 m/s, LOS rate: nan deg/s, posRepo size: 1
2021-08-15T17:39:45.166Z,1629049185.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target bearing of 308.109670deg and heading rate command to 0 deg/s.
2021-08-15T17:39:47.204Z,1629049187.204 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:39:47.457Z,1629049187.457 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:39:47.457Z,1629049187.457 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:39:47.457Z,1629049187.457 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:39:47.458Z,1629049187.458 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:39:47.849Z,1629049187.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
192,000,00A6F,186,80,80,7C,FF
2021-08-15T17:39:47.849Z,1629049187.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:39:47.849Z,1629049187.849 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:39:47.851Z,1629049187.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:39:48.272Z,1629049188.272 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:39:48.665Z,1629049188.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0AC,000,00A8E,186,80,80,A4,FF
2021-08-15T17:39:48.665Z,1629049188.665 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:39:49.109Z,1629049189.109 [Micromodem](INFO): Nmea in: $SNTTA,,,,,173948.93*54

2021-08-15T17:39:49.227Z,1629049189.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.620003 m, bearing: 317.557952 deg, deltaT: 4.066577 s, approachRate: 0.457387 m/s, LOS rate: 2.323399 deg/s, posRepo size: 2
2021-08-15T17:39:49.233Z,1629049189.233 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.620003 m,
      bearing: 317.557952 deg,
      approachRate: 0.457387 m/s,
      LOS rate: 2.323399 deg/s,
      cmd update: 9.293598 deg/s,
      cmd heading: 308.109670 deg,
      new cmd heading: 308.109670 deg.

2021-08-15T17:39:51.223Z,1629049191.223 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:39:51.481Z,1629049191.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:39:51.481Z,1629049191.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:39:51.481Z,1629049191.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:39:51.482Z,1629049191.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:39:51.885Z,1629049191.885 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0AC,000,00A8E,186,80,80,A4,FF
2021-08-15T17:39:51.885Z,1629049191.885 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:39:51.885Z,1629049191.885 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:39:51.887Z,1629049191.887 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:39:52.292Z,1629049192.292 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:39:52.697Z,1629049192.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE8,000,00AAC,186,80,80,95,FF
2021-08-15T17:39:52.698Z,1629049192.698 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:39:53.162Z,1629049193.162 [Micromodem](INFO): Nmea in: $SNTTA,0.099737,,,,173952.97*46

2021-08-15T17:39:53.227Z,1629049193.227 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 126.419998 m, bearing: 327.306490 deg, deltaT: 4.003990 s, approachRate: 0.449550 m/s, LOS rate: 2.434706 deg/s, posRepo size: 3
2021-08-15T17:39:53.234Z,1629049193.234 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 126.419998 m,
      bearing: 327.306490 deg,
      approachRate: 0.449550 m/s,
      LOS rate: 2.434706 deg/s,
      cmd update: 9.738824 deg/s,
      cmd heading: 345.358408 deg,
      new cmd heading: 350.125466 deg.

2021-08-15T17:39:55.222Z,1629049195.222 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:39:55.549Z,1629049195.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:39:55.549Z,1629049195.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:39:55.550Z,1629049195.550 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:39:55.550Z,1629049195.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:39:55.945Z,1629049195.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE8,000,00AAC,186,80,80,95,FF
2021-08-15T17:39:55.945Z,1629049195.945 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:39:55.945Z,1629049195.945 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:39:55.947Z,1629049195.947 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:39:56.359Z,1629049196.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:39:56.753Z,1629049196.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1AC,000,00AC6,186,80,80,A8,FF
2021-08-15T17:39:56.754Z,1629049196.754 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:39:57.205Z,1629049197.205 [Micromodem](INFO): Nmea in: $SNTTA,0.463729,0.463667,,,173957.03*58

2021-08-15T17:39:57.269Z,1629049197.269 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.980003 m, bearing: 284.649746 deg, deltaT: 4.093249 s, approachRate: 0.381117 m/s, LOS rate: -10.421243 deg/s, posRepo size: 4
2021-08-15T17:39:57.271Z,1629049197.271 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.980003 m,
      bearing: 284.649746 deg,
      approachRate: 0.381117 m/s,
      LOS rate: -10.421243 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 25.180458 deg,
      new cmd heading: 29.708680 deg.

2021-08-15T17:39:59.609Z,1629049199.609 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:39:59.993Z,1629049199.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:39:59.993Z,1629049199.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:39:59.993Z,1629049199.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:39:59.994Z,1629049199.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:40:00.394Z,1629049200.394 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1AC,000,00AC6,186,80,80,A8,FF
2021-08-15T17:40:00.394Z,1629049200.394 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:40:00.394Z,1629049200.394 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:40:00.397Z,1629049200.397 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:40:00.804Z,1629049200.804 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:40:01.205Z,1629049201.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2AA,000,00AE1,189,80,80,A7,FF
2021-08-15T17:40:01.205Z,1629049201.205 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:40:01.637Z,1629049201.637 [Micromodem](INFO): Nmea in: $SNTTA,0.119852,,,,174001.47*46

2021-08-15T17:40:01.671Z,1629049201.671 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 129.600006 m, bearing: 283.714146 deg, deltaT: 4.494925 s, approachRate: 0.360407 m/s, LOS rate: -0.208146 deg/s, posRepo size: 4
2021-08-15T17:40:01.674Z,1629049201.674 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 129.600006 m,
      bearing: 283.714146 deg,
      approachRate: 0.360407 m/s,
      LOS rate: -0.208146 deg/s,
      cmd update: -0.832583 deg/s,
      cmd heading: 331.311076 deg,
      new cmd heading: 326.767072 deg.

2021-08-15T17:40:04.055Z,1629049204.055 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:40:04.441Z,1629049204.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:40:04.441Z,1629049204.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:40:04.442Z,1629049204.442 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:40:04.442Z,1629049204.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:40:04.845Z,1629049204.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2AA,000,00AE1,189,80,80,A7,FF
2021-08-15T17:40:04.845Z,1629049204.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:40:04.845Z,1629049204.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:40:04.847Z,1629049204.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:40:05.245Z,1629049205.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:40:05.654Z,1629049205.654 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EE3,000,00B07,186,80,80,A6,FF
2021-08-15T17:40:05.654Z,1629049205.654 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:40:06.089Z,1629049206.089 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174005.93*53

2021-08-15T17:40:06.162Z,1629049206.162 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 131.880005 m, bearing: 350.465148 deg, deltaT: 4.373254 s, approachRate: 0.521351 m/s, LOS rate: 15.263463 deg/s, posRepo size: 4
2021-08-15T17:40:06.163Z,1629049206.163 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.263463 deg/s. Setting heading cmd to target bearing of 350.465148deg and heading rate command to 0 deg/s.
2021-08-15T17:40:08.502Z,1629049208.502 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:40:08.893Z,1629049208.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:40:08.893Z,1629049208.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:40:08.893Z,1629049208.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:40:08.894Z,1629049208.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:40:09.285Z,1629049209.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EE3,000,00B07,186,80,80,A6,FF
2021-08-15T17:40:09.285Z,1629049209.285 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:40:09.285Z,1629049209.285 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:40:09.287Z,1629049209.287 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:40:09.713Z,1629049209.713 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:40:10.097Z,1629049210.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EDF,000,00B31,186,80,80,7B,FF
2021-08-15T17:40:10.098Z,1629049210.098 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:40:10.189Z,1629049210.189 [Radio_Surface](INFO): Powering up
2021-08-15T17:40:10.537Z,1629049210.537 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174010.37*59

2021-08-15T17:40:10.559Z,1629049210.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 134.400009 m, bearing: 347.703238 deg, deltaT: 4.438231 s, approachRate: 0.567795 m/s, LOS rate: -0.622300 deg/s, posRepo size: 4
2021-08-15T17:40:10.562Z,1629049210.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 134.400009 m,
      bearing: 347.703238 deg,
      approachRate: 0.567795 m/s,
      LOS rate: -0.622300 deg/s,
      cmd update: -2.489199 deg/s,
      cmd heading: 350.465148 deg,
      new cmd heading: 350.465148 deg.

2021-08-15T17:40:13.007Z,1629049213.007 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:40:13.341Z,1629049213.341 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:40:13.341Z,1629049213.341 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:40:13.341Z,1629049213.341 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:40:13.342Z,1629049213.342 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:40:13.741Z,1629049213.741 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EDF,000,00B31,186,80,80,7B,FF
2021-08-15T17:40:13.741Z,1629049213.741 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:40:13.742Z,1629049213.742 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:40:13.744Z,1629049213.744 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:40:14.151Z,1629049214.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:40:14.551Z,1629049214.551 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DEF,000,00B58,188,80,80,65,FF
2021-08-15T17:40:14.552Z,1629049214.552 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:40:14.988Z,1629049214.988 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174014.82*53

2021-08-15T17:40:15.046Z,1629049215.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 136.740005 m, bearing: 356.900224 deg, deltaT: 4.462587 s, approachRate: 0.524359 m/s, LOS rate: 2.060909 deg/s, posRepo size: 4
2021-08-15T17:40:15.047Z,1629049215.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 136.740005 m,
      bearing: 356.900224 deg,
      approachRate: 0.524359 m/s,
      LOS rate: 2.060909 deg/s,
      cmd update: 8.243636 deg/s,
      cmd heading: 339.357870 deg,
      new cmd heading: 338.190294 deg.

2021-08-15T17:40:16.101Z,1629049216.101 [DataOverHttps](INFO): Radio surface powered ON.
2021-08-15T17:40:17.491Z,1629049217.491 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:40:17.781Z,1629049217.781 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:40:17.781Z,1629049217.781 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:40:17.781Z,1629049217.781 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:40:17.782Z,1629049217.782 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:40:18.173Z,1629049218.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DEF,000,00B58,188,80,80,65,FF
2021-08-15T17:40:18.173Z,1629049218.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:40:18.173Z,1629049218.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:40:18.175Z,1629049218.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:40:18.589Z,1629049218.589 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:40:19.014Z,1629049219.014 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD0,000,00B7F,189,80,80,47,FF
2021-08-15T17:40:19.022Z,1629049219.022 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:40:19.445Z,1629049219.445 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 139.080002 m, bearing: 11.538554 deg, deltaT: 4.544598 s, approachRate: 0.514896 m/s, LOS rate: 3.221042 deg/s, posRepo size: 4
2021-08-15T17:40:19.447Z,1629049219.447 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 139.080002 m,
      bearing: 11.538554 deg,
      approachRate: 0.514896 m/s,
      LOS rate: 3.221042 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 16.755644 deg,
      new cmd heading: 19.482639 deg.

2021-08-15T17:40:21.869Z,1629049221.869 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:40:22.213Z,1629049222.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:40:22.213Z,1629049222.213 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:40:22.213Z,1629049222.213 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:40:22.214Z,1629049222.214 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:40:22.625Z,1629049222.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD0,000,00B7F,189,80,80,47,FF
2021-08-15T17:40:22.625Z,1629049222.625 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:40:22.625Z,1629049222.625 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:40:22.627Z,1629049222.627 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:40:23.083Z,1629049223.083 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:40:23.878Z,1629049223.878 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174023.71*5B

2021-08-15T17:40:24.682Z,1629049224.682 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:40:25.902Z,1629049225.902 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,8D0,000,00B7F,189,80,80,47,FF
2021-08-15T17:40:25.903Z,1629049225.903 [DUSBL_Hydroid](INFO): No reply:!U1,N,8D0,000,00B7F,189,80,80,47,FF
2021-08-15T17:40:25.903Z,1629049225.903 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T17:40:27.123Z,1629049227.123 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T17:40:27.544Z,1629049227.544 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:40:27.897Z,1629049227.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:40:27.897Z,1629049227.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:40:27.897Z,1629049227.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:40:27.898Z,1629049227.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:40:28.301Z,1629049228.301 [DUSBL_Hydroid](INFO): DUSBL response received:0,80,63,E4
!U1,P
7F,189,80,80,47,FF
2021-08-15T17:40:28.301Z,1629049228.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:40:28.301Z,1629049228.301 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:40:28.303Z,1629049228.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:40:28.712Z,1629049228.712 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:40:29.131Z,1629049229.131 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E7C,000,00BD5,186,80,80,A1,FF
2021-08-15T17:40:29.132Z,1629049229.132 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:40:29.145Z,1629049229.145 [Micromodem](INFO): Nmea in: $SNTTA,0.119586,0.288137,,,174029.38*59

2021-08-15T17:40:29.547Z,1629049229.547 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 144.240005 m, bearing: 46.036459 deg, deltaT: 10.157992 s, approachRate: 0.507975 m/s, LOS rate: 3.396134 deg/s, posRepo size: 4
2021-08-15T17:40:29.550Z,1629049229.550 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 144.240005 m,
      bearing: 46.036459 deg,
      approachRate: 0.507975 m/s,
      LOS rate: 3.396134 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 138.750683 deg,
      new cmd heading: 141.968039 deg.

2021-08-15T17:40:31.962Z,1629049231.962 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:40:32.349Z,1629049232.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:40:32.349Z,1629049232.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:40:32.350Z,1629049232.350 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:40:32.351Z,1629049232.351 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:40:32.745Z,1629049232.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E7C,000,00BD5,186,80,80,A1,FF
2021-08-15T17:40:32.745Z,1629049232.745 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:40:32.745Z,1629049232.745 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:40:32.747Z,1629049232.747 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:40:33.181Z,1629049233.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:40:33.566Z,1629049233.566 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E46,000,00BED,186,80,80,B4,FF
2021-08-15T17:40:33.566Z,1629049233.566 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:40:33.997Z,1629049233.997 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174033.83*57

2021-08-15T17:40:34.058Z,1629049234.058 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.680008 m, bearing: 69.684937 deg, deltaT: 4.303614 s, approachRate: 0.334603 m/s, LOS rate: 5.495028 deg/s, posRepo size: 4
2021-08-15T17:40:34.066Z,1629049234.066 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 145.680008 m,
      bearing: 69.684937 deg,
      approachRate: 0.334603 m/s,
      LOS rate: 5.495028 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 190.391580 deg,
      new cmd heading: 196.034400 deg.

2021-08-15T17:40:36.423Z,1629049236.423 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:40:36.785Z,1629049236.785 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:40:36.785Z,1629049236.785 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:40:36.786Z,1629049236.786 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:40:36.787Z,1629049236.787 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:40:37.197Z,1629049237.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E46,000,00BED,186,80,80,B4,FF
2021-08-15T17:40:37.197Z,1629049237.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:40:37.198Z,1629049237.198 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:40:37.199Z,1629049237.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:40:37.597Z,1629049237.597 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:40:38.005Z,1629049238.005 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C8C,000,00BF9,189,80,80,79,FF
2021-08-15T17:40:38.006Z,1629049238.006 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:40:38.449Z,1629049238.449 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174038.28*5D

2021-08-15T17:40:38.491Z,1629049238.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.399994 m, bearing: 105.735672 deg, deltaT: 4.477107 s, approachRate: 0.160815 m/s, LOS rate: 8.052239 deg/s, posRepo size: 4
2021-08-15T17:40:38.494Z,1629049238.494 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.399994 m,
      bearing: 105.735672 deg,
      approachRate: 0.160815 m/s,
      LOS rate: 8.052239 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 244.052102 deg,
      new cmd heading: 249.286166 deg.

2021-08-15T17:40:40.842Z,1629049240.842 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:40:41.237Z,1629049241.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:40:41.237Z,1629049241.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:40:41.237Z,1629049241.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:40:41.238Z,1629049241.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:40:41.637Z,1629049241.637 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C8C,000,00BF9,189,80,80,79,FF
2021-08-15T17:40:41.637Z,1629049241.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:40:41.637Z,1629049241.637 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:40:41.639Z,1629049241.639 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:40:42.041Z,1629049242.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:40:42.469Z,1629049242.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E9B,000,00BFC,185,80,80,A2,FF
2021-08-15T17:40:42.470Z,1629049242.470 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:40:42.499Z,1629049242.499 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T17:40:42.881Z,1629049242.881 [Micromodem](INFO): Nmea in: $SNTTA,0.127053,,,,174042.72*43

2021-08-15T17:40:42.913Z,1629049242.913 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 146.580002 m, bearing: 96.351908 deg, deltaT: 4.452074 s, approachRate: 0.040432 m/s, LOS rate: -2.107729 deg/s, posRepo size: 4
2021-08-15T17:40:42.915Z,1629049242.915 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 146.580002 m,
      bearing: 96.351908 deg,
      approachRate: 0.040432 m/s,
      LOS rate: -2.107729 deg/s,
      cmd update: -8.430915 deg/s,
      cmd heading: 297.546748 deg,
      new cmd heading: 302.343280 deg.

2021-08-15T17:40:45.330Z,1629049245.330 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:40:45.697Z,1629049245.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:40:45.697Z,1629049245.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:40:45.697Z,1629049245.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:40:45.698Z,1629049245.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:40:46.077Z,1629049246.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E9B,000,00BFC,185,80,80,A2,FF
2021-08-15T17:40:46.077Z,1629049246.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:40:46.077Z,1629049246.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:40:46.079Z,1629049246.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:40:46.265Z,1629049246.265 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T17:40:46.493Z,1629049246.493 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:40:47.318Z,1629049247.318 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174047.16*58

2021-08-15T17:40:48.166Z,1629049248.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:40:49.721Z,1629049249.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,185,80,80,A2,FF
2021-08-15T17:40:49.722Z,1629049249.722 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,185,80,80,A2,FF
2021-08-15T17:40:49.722Z,1629049249.722 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T17:40:50.953Z,1629049250.953 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:40:51.333Z,1629049251.333 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:40:51.333Z,1629049251.333 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:40:51.333Z,1629049251.333 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:40:51.334Z,1629049251.334 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:40:51.733Z,1629049251.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,185,80,80,A2,FF
2021-08-15T17:40:51.733Z,1629049251.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:40:51.733Z,1629049251.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:40:51.735Z,1629049251.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:40:52.184Z,1629049252.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:40:52.550Z,1629049252.550 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F75,000,00C20,187,80,80,5A,FF
2021-08-15T17:40:52.550Z,1629049252.550 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:40:52.959Z,1629049252.959 [Micromodem](INFO): Nmea in: $SNTTA,0.334843,0.334593,,,174052.82*51

2021-08-15T17:40:53.043Z,1629049253.043 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 148.740005 m, bearing: 54.146994 deg, deltaT: 10.134259 s, approachRate: 0.213139 m/s, LOS rate: -4.164578 deg/s, posRepo size: 4
2021-08-15T17:40:53.050Z,1629049253.050 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 148.740005 m,
      bearing: 54.146994 deg,
      approachRate: 0.213139 m/s,
      LOS rate: -4.164578 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 212.121674 deg,
      new cmd heading: 208.760581 deg.

2021-08-15T17:40:55.440Z,1629049255.440 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:40:55.809Z,1629049255.809 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:40:55.809Z,1629049255.809 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:40:55.809Z,1629049255.809 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:40:55.810Z,1629049255.810 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:40:56.217Z,1629049256.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F75,000,00C20,187,80,80,5A,FF
2021-08-15T17:40:56.217Z,1629049256.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:40:56.218Z,1629049256.218 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:40:56.219Z,1629049256.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:40:56.608Z,1629049256.608 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:40:57.047Z,1629049257.047 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFF,000,00C3C,182,80,80,56,FF
2021-08-15T17:40:57.048Z,1629049257.048 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:40:57.486Z,1629049257.486 [Micromodem](INFO): Nmea in: $SNTTA,0.328698,0.328598,,,174057.30*5E

2021-08-15T17:40:57.519Z,1629049257.519 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 150.419998 m, bearing: 46.221598 deg, deltaT: 4.569122 s, approachRate: 0.367684 m/s, LOS rate: -1.734556 deg/s, posRepo size: 4
2021-08-15T17:40:57.525Z,1629049257.525 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.419998 m,
      bearing: 46.221598 deg,
      approachRate: 0.367684 m/s,
      LOS rate: -1.734556 deg/s,
      cmd update: -6.938223 deg/s,
      cmd heading: 157.319628 deg,
      new cmd heading: 153.632784 deg.

2021-08-15T17:40:59.936Z,1629049259.936 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:41:00.309Z,1629049260.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:41:00.309Z,1629049260.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:41:00.309Z,1629049260.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:41:00.310Z,1629049260.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:41:00.721Z,1629049260.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFF,000,00C3C,182,80,80,56,FF
2021-08-15T17:41:00.721Z,1629049260.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:41:00.721Z,1629049260.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:41:00.723Z,1629049260.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:41:01.129Z,1629049261.129 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:41:01.530Z,1629049261.530 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D26,000,00C50,18A,80,80,56,FF
2021-08-15T17:41:01.530Z,1629049261.530 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:41:01.968Z,1629049261.968 [Micromodem](INFO): Nmea in: $SNTTA,0.076466,,,,174101.80*4F

2021-08-15T17:41:01.984Z,1629049261.984 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.620010 m, bearing: 91.766037 deg, deltaT: 4.385931 s, approachRate: 0.273605 m/s, LOS rate: 10.384212 deg/s, posRepo size: 4
2021-08-15T17:41:01.986Z,1629049261.986 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.620010 m,
      bearing: 91.766037 deg,
      approachRate: 0.273605 m/s,
      LOS rate: 10.384212 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 126.888480 deg,
      new cmd heading: 124.206537 deg.

2021-08-15T17:41:04.382Z,1629049264.382 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:41:04.773Z,1629049264.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:41:04.773Z,1629049264.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:41:04.773Z,1629049264.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:41:04.774Z,1629049264.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:41:05.173Z,1629049265.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D26,000,00C50,18A,80,80,56,FF
2021-08-15T17:41:05.173Z,1629049265.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:41:05.173Z,1629049265.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:41:05.175Z,1629049265.175 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:41:05.631Z,1629049265.631 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:41:06.029Z,1629049266.029 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CB5,000,00C5B,189,80,80,65,FF
2021-08-15T17:41:06.030Z,1629049266.030 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:41:06.457Z,1629049266.457 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174106.26*5F

2021-08-15T17:41:06.483Z,1629049266.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.279999 m, bearing: 112.790903 deg, deltaT: 4.475666 s, approachRate: 0.147461 m/s, LOS rate: 4.697595 deg/s, posRepo size: 4
2021-08-15T17:41:06.488Z,1629049266.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 152.279999 m,
      bearing: 112.790903 deg,
      approachRate: 0.147461 m/s,
      LOS rate: 4.697595 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 180.642793 deg,
      new cmd heading: 185.510701 deg.

2021-08-15T17:41:07.273Z,1629049267.273 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T17:41:08.878Z,1629049268.878 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:41:09.253Z,1629049269.253 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:41:09.254Z,1629049269.254 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:41:09.254Z,1629049269.254 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:41:09.255Z,1629049269.255 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:41:09.661Z,1629049269.661 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CB5,000,00C5B,189,80,80,65,FF
2021-08-15T17:41:09.662Z,1629049269.662 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:41:09.662Z,1629049269.662 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:41:09.663Z,1629049269.663 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:41:10.069Z,1629049270.069 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:41:10.478Z,1629049270.478 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E49,000,00C60,186,80,80,77,FF
2021-08-15T17:41:10.478Z,1629049270.478 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:41:10.920Z,1629049270.920 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174110.74*5F

2021-08-15T17:41:10.940Z,1629049270.940 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.580002 m, bearing: 106.456688 deg, deltaT: 4.458262 s, approachRate: 0.067291 m/s, LOS rate: -1.420781 deg/s, posRepo size: 4
2021-08-15T17:41:10.942Z,1629049270.942 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 152.580002 m,
      bearing: 106.456688 deg,
      approachRate: 0.067291 m/s,
      LOS rate: -1.420781 deg/s,
      cmd update: -5.683125 deg/s,
      cmd heading: 234.037838 deg,
      new cmd heading: 239.001230 deg.

2021-08-15T17:41:13.381Z,1629049273.381 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:41:13.697Z,1629049273.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:41:13.698Z,1629049273.698 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:41:13.698Z,1629049273.698 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:41:13.699Z,1629049273.699 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:41:14.113Z,1629049274.113 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E49,000,00C60,186,80,80,77,FF
2021-08-15T17:41:14.114Z,1629049274.114 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:41:14.114Z,1629049274.114 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:41:14.119Z,1629049274.119 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:41:14.517Z,1629049274.517 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:41:14.914Z,1629049274.914 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB9,000,00C5E,186,80,80,77,FF
2021-08-15T17:41:14.914Z,1629049274.914 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:41:15.333Z,1629049275.333 [Micromodem](INFO): Nmea in: $SNTTA,0.101188,,,,174115.20*44

2021-08-15T17:41:15.423Z,1629049275.423 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 152.460007 m, bearing: 128.167707 deg, deltaT: 4.500470 s, approachRate: -0.026663 m/s, LOS rate: 4.824167 deg/s, posRepo size: 4
2021-08-15T17:41:15.430Z,1629049275.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 152.460007 m,
      bearing: 128.167707 deg,
      approachRate: -0.026663 m/s,
      LOS rate: 4.824167 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 208.434678 deg,
      new cmd heading: 206.218106 deg.

2021-08-15T17:41:17.754Z,1629049277.754 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:41:18.180Z,1629049278.180 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:41:18.180Z,1629049278.180 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:41:18.181Z,1629049278.181 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:41:18.182Z,1629049278.182 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:41:18.550Z,1629049278.550 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB9,000,00C5E,186,80,80,77,FF
2021-08-15T17:41:18.550Z,1629049278.550 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:41:18.550Z,1629049278.550 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:41:18.552Z,1629049278.552 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:41:18.958Z,1629049278.958 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:41:19.366Z,1629049279.366 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00C4D,18A,80,80,89,FF
2021-08-15T17:41:19.367Z,1629049279.367 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:41:19.801Z,1629049279.801 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174119.63*50

2021-08-15T17:41:19.838Z,1629049279.838 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 151.440018 m, bearing: 175.104235 deg, deltaT: 4.436340 s, approachRate: -0.229917 m/s, LOS rate: 10.580012 deg/s, posRepo size: 4
2021-08-15T17:41:19.840Z,1629049279.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 151.440018 m,
      bearing: 175.104235 deg,
      approachRate: -0.229917 m/s,
      LOS rate: 10.580012 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 261.672943 deg,
      new cmd heading: 266.108047 deg.

2021-08-15T17:41:21.405Z,1629049281.405 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T17:41:22.235Z,1629049282.235 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:41:22.601Z,1629049282.601 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:41:22.601Z,1629049282.601 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:41:22.601Z,1629049282.601 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:41:22.602Z,1629049282.602 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:41:23.031Z,1629049283.031 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00C4D,18A,80,80,89,FF
2021-08-15T17:41:23.031Z,1629049283.031 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:41:23.031Z,1629049283.031 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:41:23.033Z,1629049283.033 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:41:23.490Z,1629049283.490 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:41:23.893Z,1629049283.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00C39,189,80,80,69,FF
2021-08-15T17:41:23.894Z,1629049283.894 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:41:24.305Z,1629049284.305 [Micromodem](INFO): Nmea in: $SNTTA,0.116371,,,,174124.12*45

2021-08-15T17:41:24.342Z,1629049284.342 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 150.239990 m, bearing: 190.491886 deg, deltaT: 4.459990 s, approachRate: -0.269065 m/s, LOS rate: 3.450154 deg/s, posRepo size: 4
2021-08-15T17:41:24.344Z,1629049284.344 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 150.239990 m,
      bearing: 190.491886 deg,
      approachRate: -0.269065 m/s,
      LOS rate: 3.450154 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 315.242025 deg,
      new cmd heading: 320.159301 deg.

2021-08-15T17:41:26.742Z,1629049286.742 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:41:27.164Z,1629049287.164 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:41:27.164Z,1629049287.164 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:41:27.164Z,1629049287.164 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:41:27.165Z,1629049287.165 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:41:27.521Z,1629049287.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00C39,189,80,80,69,FF
2021-08-15T17:41:27.521Z,1629049287.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:41:27.521Z,1629049287.521 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:41:27.523Z,1629049287.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:41:27.947Z,1629049287.947 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:41:28.338Z,1629049288.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D03,000,00C11,189,80,80,A2,FF
2021-08-15T17:41:28.338Z,1629049288.338 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:41:28.769Z,1629049288.769 [Micromodem](INFO): Nmea in: $SNTTA,0.101036,,,,174128.61*4B

2021-08-15T17:41:28.799Z,1629049288.799 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 147.839996 m, bearing: 179.375890 deg, deltaT: 4.472091 s, approachRate: -0.536660 m/s, LOS rate: -2.485637 deg/s, posRepo size: 4
2021-08-15T17:41:28.801Z,1629049288.801 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 147.839996 m,
      bearing: 179.375890 deg,
      approachRate: -0.536660 m/s,
      LOS rate: -2.485637 deg/s,
      cmd update: -9.942549 deg/s,
      cmd heading: 8.825363 deg,
      new cmd heading: 13.644731 deg.

2021-08-15T17:41:31.212Z,1629049291.212 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:41:31.569Z,1629049291.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:41:31.569Z,1629049291.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:41:31.569Z,1629049291.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:41:31.570Z,1629049291.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:41:31.973Z,1629049291.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D03,000,00C11,189,80,80,A2,FF
2021-08-15T17:41:31.973Z,1629049291.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:41:31.973Z,1629049291.973 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:41:31.975Z,1629049291.975 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:41:32.424Z,1629049292.424 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:41:32.446Z,1629049292.446 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T17:41:32.818Z,1629049292.818 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,206,000,00BE7,189,80,80,A2,FF
2021-08-15T17:41:32.818Z,1629049292.818 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:41:33.245Z,1629049293.245 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174133.11*5D

2021-08-15T17:41:33.258Z,1629049293.258 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T17:41:33.336Z,1629049293.336 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 145.320007 m, bearing: 121.919519 deg, deltaT: 4.460629 s, approachRate: -0.564940 m/s, LOS rate: -12.880778 deg/s, posRepo size: 4
2021-08-15T17:41:33.337Z,1629049293.337 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -12.880778 deg/s. Setting heading cmd to target bearing of 121.919519deg and heading rate command to 0 deg/s.
2021-08-15T17:41:35.658Z,1629049295.658 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:41:36.041Z,1629049296.041 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:41:36.041Z,1629049296.041 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:41:36.041Z,1629049296.041 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:41:36.042Z,1629049296.042 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:41:36.465Z,1629049296.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
206,000,00BE7,189,80,80,A2,FF
2021-08-15T17:41:36.465Z,1629049296.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:41:36.465Z,1629049296.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:41:36.467Z,1629049296.467 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:41:36.894Z,1629049296.894 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:41:37.289Z,1629049297.289 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C7A,000,00BC3,189,80,80,A5,FF
2021-08-15T17:41:37.289Z,1629049297.289 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:41:37.293Z,1629049297.293 [Micromodem](INFO): Nmea in: $SNTTA,0.163543,0.162831,,,174137.55*50

2021-08-15T17:41:37.729Z,1629049297.729 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 143.160004 m, bearing: 182.831624 deg, deltaT: 4.555336 s, approachRate: -0.474170 m/s, LOS rate: 13.371595 deg/s, posRepo size: 4
2021-08-15T17:41:37.730Z,1629049297.730 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.371595 deg/s. Setting heading cmd to target bearing of 182.831624deg and heading rate command to 0 deg/s.
2021-08-15T17:41:40.136Z,1629049300.136 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:41:40.513Z,1629049300.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:41:40.513Z,1629049300.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:41:40.513Z,1629049300.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:41:40.514Z,1629049300.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:41:40.921Z,1629049300.921 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C7A,000,00BC3,189,80,80,A5,FF
2021-08-15T17:41:40.921Z,1629049300.921 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:41:40.921Z,1629049300.921 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:41:40.923Z,1629049300.923 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:41:41.329Z,1629049301.329 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:41:41.745Z,1629049301.745 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00BA0,189,80,80,AD,FF
2021-08-15T17:41:41.746Z,1629049301.746 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:41:42.193Z,1629049302.193 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174142.00*5B

2021-08-15T17:41:42.266Z,1629049302.266 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.059998 m, bearing: 180.071859 deg, deltaT: 4.342316 s, approachRate: -0.483614 m/s, LOS rate: -0.635551 deg/s, posRepo size: 4
2021-08-15T17:41:42.275Z,1629049302.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 141.059998 m,
      bearing: 180.071859 deg,
      approachRate: -0.483614 m/s,
      LOS rate: -0.635551 deg/s,
      cmd update: -2.542206 deg/s,
      cmd heading: 182.831624 deg,
      new cmd heading: 182.831624 deg.

2021-08-15T17:41:44.579Z,1629049304.579 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:41:44.972Z,1629049304.972 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:41:44.972Z,1629049304.972 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:41:44.973Z,1629049304.973 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:41:44.976Z,1629049304.976 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:41:45.365Z,1629049305.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00BA0,189,80,80,AD,FF
2021-08-15T17:41:45.365Z,1629049305.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:41:45.365Z,1629049305.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:41:45.367Z,1629049305.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:41:45.789Z,1629049305.789 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:41:46.188Z,1629049306.188 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DA4,000,00B93,189,80,80,65,FF
2021-08-15T17:41:46.190Z,1629049306.190 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:41:46.621Z,1629049306.621 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174146.45*5E

2021-08-15T17:41:46.647Z,1629049306.647 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.279999 m, bearing: 129.430295 deg, deltaT: 4.492440 s, approachRate: -0.173625 m/s, LOS rate: -11.272618 deg/s, posRepo size: 4
2021-08-15T17:41:46.669Z,1629049306.669 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.279999 m,
      bearing: 129.430295 deg,
      approachRate: -0.173625 m/s,
      LOS rate: -11.272618 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 171.421180 deg,
      new cmd heading: 170.414563 deg.

2021-08-15T17:41:49.082Z,1629049309.082 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:41:49.417Z,1629049309.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:41:49.417Z,1629049309.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:41:49.417Z,1629049309.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:41:49.418Z,1629049309.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:41:49.826Z,1629049309.826 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DA4,000,00B93,189,80,80,65,FF
2021-08-15T17:41:49.826Z,1629049309.826 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:41:49.826Z,1629049309.826 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:41:49.828Z,1629049309.828 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:41:50.225Z,1629049310.225 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:41:50.633Z,1629049310.633 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F6,000,00B94,186,80,80,82,FF
2021-08-15T17:41:50.634Z,1629049310.634 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:41:51.082Z,1629049311.082 [Micromodem](INFO): Nmea in: $SNTTA,0.101437,,,,174150.91*4E

2021-08-15T17:41:51.181Z,1629049311.181 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.340012 m, bearing: 55.246098 deg, deltaT: 4.395646 s, approachRate: 0.013653 m/s, LOS rate: -16.876745 deg/s, posRepo size: 4
2021-08-15T17:41:51.182Z,1629049311.182 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.876745 deg/s. Setting heading cmd to target bearing of 55.246098deg and heading rate command to 0 deg/s.
2021-08-15T17:41:53.169Z,1629049313.169 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:41:53.461Z,1629049313.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:41:53.461Z,1629049313.461 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:41:53.461Z,1629049313.461 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:41:53.462Z,1629049313.462 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:41:53.861Z,1629049313.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F6,000,00B94,186,80,80,82,FF
2021-08-15T17:41:53.861Z,1629049313.861 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:41:53.861Z,1629049313.861 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:41:53.863Z,1629049313.863 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:41:54.277Z,1629049314.277 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:41:54.677Z,1629049314.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C68,000,00B9E,189,80,80,A1,FF
2021-08-15T17:41:54.678Z,1629049314.678 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:41:55.117Z,1629049315.117 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174154.95*50

2021-08-15T17:41:55.179Z,1629049315.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.940002 m, bearing: 118.123641 deg, deltaT: 4.088028 s, approachRate: 0.146768 m/s, LOS rate: 15.380900 deg/s, posRepo size: 4
2021-08-15T17:41:55.185Z,1629049315.185 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 15.380900 deg/s. Setting heading cmd to target bearing of 118.123641deg and heading rate command to 0 deg/s.
2021-08-15T17:41:56.544Z,1629049316.544 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T17:41:57.526Z,1629049317.526 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:41:57.901Z,1629049317.901 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:41:57.901Z,1629049317.901 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:41:57.901Z,1629049317.901 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:41:57.902Z,1629049317.902 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:41:58.309Z,1629049318.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C68,000,00B9E,189,80,80,A1,FF
2021-08-15T17:41:58.309Z,1629049318.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:41:58.310Z,1629049318.310 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:41:58.311Z,1629049318.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:41:58.716Z,1629049318.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:41:59.121Z,1629049319.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,C20,000,00BB0,189,80,80,94,FF
2021-08-15T17:41:59.121Z,1629049319.121 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:41:59.553Z,1629049319.553 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174159.39*5B

2021-08-15T17:41:59.586Z,1629049319.586 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 142.020004 m, bearing: 124.836242 deg, deltaT: 4.503202 s, approachRate: 0.239830 m/s, LOS rate: 1.490628 deg/s, posRepo size: 4
2021-08-15T17:41:59.589Z,1629049319.589 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.020004 m,
      bearing: 124.836242 deg,
      approachRate: 0.239830 m/s,
      LOS rate: 1.490628 deg/s,
      cmd update: 5.962514 deg/s,
      cmd heading: 118.123641 deg,
      new cmd heading: 118.123641 deg.

2021-08-15T17:42:01.959Z,1629049321.959 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:42:02.349Z,1629049322.349 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:42:02.349Z,1629049322.349 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:42:02.350Z,1629049322.350 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:42:02.351Z,1629049322.351 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:42:02.772Z,1629049322.772 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
C20,000,00BB0,189,80,80,94,FF
2021-08-15T17:42:02.773Z,1629049322.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:42:02.773Z,1629049322.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:42:02.775Z,1629049322.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:42:03.181Z,1629049323.181 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:42:03.199Z,1629049323.199 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T17:42:03.562Z,1629049323.562 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,CAB,000,00BB8,189,80,80,94,FF
2021-08-15T17:42:03.562Z,1629049323.562 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:42:03.977Z,1629049323.977 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174203.86*53

2021-08-15T17:42:04.017Z,1629049324.017 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 142.500000 m, bearing: 127.471575 deg, deltaT: 4.365948 s, approachRate: 0.109941 m/s, LOS rate: 0.603611 deg/s, posRepo size: 4
2021-08-15T17:42:04.019Z,1629049324.019 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.500000 m,
      bearing: 127.471575 deg,
      approachRate: 0.109941 m/s,
      LOS rate: 0.603611 deg/s,
      cmd update: 2.414443 deg/s,
      cmd heading: 144.177410 deg,
      new cmd heading: 146.592222 deg.

2021-08-15T17:42:06.427Z,1629049326.427 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:42:06.790Z,1629049326.790 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:42:06.791Z,1629049326.791 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:42:06.791Z,1629049326.791 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:42:06.792Z,1629049326.792 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:42:07.217Z,1629049327.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
CAB,000,00BB8,189,80,80,94,FF
2021-08-15T17:42:07.217Z,1629049327.217 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:42:07.217Z,1629049327.217 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:42:07.219Z,1629049327.219 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:42:07.596Z,1629049327.596 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:42:08.006Z,1629049328.006 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E19,000,00BB9,186,80,80,94,FF
2021-08-15T17:42:08.006Z,1629049328.006 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:42:08.433Z,1629049328.433 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174208.30*55

2021-08-15T17:42:08.479Z,1629049328.479 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 142.559998 m, bearing: 121.511183 deg, deltaT: 4.463537 s, approachRate: 0.013442 m/s, LOS rate: -1.335352 deg/s, posRepo size: 4
2021-08-15T17:42:08.481Z,1629049328.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 142.559998 m,
      bearing: 121.511183 deg,
      approachRate: 0.013442 m/s,
      LOS rate: -1.335352 deg/s,
      cmd update: -5.341407 deg/s,
      cmd heading: 154.928919 deg,
      new cmd heading: 155.939096 deg.

2021-08-15T17:42:10.851Z,1629049330.851 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:42:11.233Z,1629049331.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:42:11.233Z,1629049331.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:42:11.233Z,1629049331.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:42:11.234Z,1629049331.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:42:11.646Z,1629049331.646 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E19,000,00BB9,186,80,80,94,FF
2021-08-15T17:42:11.646Z,1629049331.646 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:42:11.646Z,1629049331.646 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:42:11.647Z,1629049331.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:42:12.053Z,1629049332.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:42:12.461Z,1629049332.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,AFD,000,00BAF,189,80,80,B3,FF
2021-08-15T17:42:12.462Z,1629049332.462 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:42:12.889Z,1629049332.889 [Micromodem](INFO): Nmea in: $SNTTA,0.094292,,,,174212.73*43

2021-08-15T17:42:12.921Z,1629049332.921 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 141.960007 m, bearing: 181.114692 deg, deltaT: 4.441610 s, approachRate: -0.135084 m/s, LOS rate: 13.419348 deg/s, posRepo size: 4
2021-08-15T17:42:12.922Z,1629049332.922 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is 13.419348 deg/s. Setting heading cmd to target bearing of 181.114692deg and heading rate command to 0 deg/s.
2021-08-15T17:42:15.311Z,1629049335.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:42:15.705Z,1629049335.705 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:42:15.705Z,1629049335.705 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:42:15.705Z,1629049335.705 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:42:15.706Z,1629049335.706 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:42:16.089Z,1629049336.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
AFD,000,00BAF,189,80,80,B3,FF
2021-08-15T17:42:16.089Z,1629049336.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:42:16.089Z,1629049336.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:42:16.091Z,1629049336.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:42:16.492Z,1629049336.492 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:42:16.910Z,1629049336.910 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,B86,000,00B93,189,80,80,AB,FF
2021-08-15T17:42:16.910Z,1629049336.910 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:42:17.329Z,1629049337.329 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174217.17*5E

2021-08-15T17:42:17.381Z,1629049337.381 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for altitude
2021-08-15T17:42:17.424Z,1629049337.424 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 140.279999 m, bearing: 194.818087 deg, deltaT: 4.424166 s, approachRate: -0.379734 m/s, LOS rate: 3.097396 deg/s, posRepo size: 4
2021-08-15T17:42:17.426Z,1629049337.426 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 140.279999 m,
      bearing: 194.818087 deg,
      approachRate: -0.379734 m/s,
      LOS rate: 3.097396 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 181.114692 deg,
      new cmd heading: 181.114692 deg.

2021-08-15T17:42:19.746Z,1629049339.746 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:42:20.144Z,1629049340.144 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:42:20.144Z,1629049340.144 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:42:20.145Z,1629049340.145 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:42:20.145Z,1629049340.145 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:42:20.521Z,1629049340.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
B86,000,00B93,189,80,80,AB,FF
2021-08-15T17:42:20.521Z,1629049340.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:42:20.522Z,1629049340.522 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:42:20.523Z,1629049340.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:42:20.937Z,1629049340.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:42:21.341Z,1629049341.341 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D0D,000,00B73,18A,80,80,8D,FF
2021-08-15T17:42:21.341Z,1629049341.341 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:42:21.770Z,1629049341.770 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174221.60*5B

2021-08-15T17:42:21.786Z,1629049341.786 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 138.360001 m, bearing: 194.178385 deg, deltaT: 4.495134 s, approachRate: -0.427128 m/s, LOS rate: -0.142310 deg/s, posRepo size: 4
2021-08-15T17:42:21.788Z,1629049341.788 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 138.360001 m,
      bearing: 194.178385 deg,
      approachRate: -0.427128 m/s,
      LOS rate: -0.142310 deg/s,
      cmd update: -0.569239 deg/s,
      cmd heading: 235.061305 deg,
      new cmd heading: 239.303161 deg.

2021-08-15T17:42:24.183Z,1629049344.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:42:24.571Z,1629049344.571 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:42:24.571Z,1629049344.571 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:42:24.571Z,1629049344.571 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:42:24.572Z,1629049344.572 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:42:24.973Z,1629049344.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D0D,000,00B73,18A,80,80,8D,FF
2021-08-15T17:42:24.973Z,1629049344.973 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:42:24.974Z,1629049344.974 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:42:24.979Z,1629049344.979 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:42:25.382Z,1629049345.382 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:42:25.805Z,1629049345.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F58,000,00B48,186,80,80,B0,FF
2021-08-15T17:42:25.806Z,1629049345.806 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:42:26.237Z,1629049346.237 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174226.06*5C

2021-08-15T17:42:26.263Z,1629049346.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 135.779999 m, bearing: 187.350258 deg, deltaT: 4.428949 s, approachRate: -0.582531 m/s, LOS rate: -1.541704 deg/s, posRepo size: 4
2021-08-15T17:42:26.265Z,1629049346.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 135.779999 m,
      bearing: 187.350258 deg,
      approachRate: -0.582531 m/s,
      LOS rate: -1.541704 deg/s,
      cmd update: -6.166814 deg/s,
      cmd heading: 232.540273 deg,
      new cmd heading: 232.311494 deg.

2021-08-15T17:42:28.627Z,1629049348.627 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:42:29.064Z,1629049349.064 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:42:29.064Z,1629049349.064 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:42:29.065Z,1629049349.065 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:42:29.065Z,1629049349.065 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:42:29.433Z,1629049349.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F58,000,00B48,186,80,80,B0,FF
2021-08-15T17:42:29.433Z,1629049349.433 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:42:29.433Z,1629049349.433 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:42:29.435Z,1629049349.435 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:42:29.822Z,1629049349.822 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:42:30.233Z,1629049350.233 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,11B,000,00B18,185,80,80,A3,FF
2021-08-15T17:42:30.233Z,1629049350.233 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:42:30.237Z,1629049350.237 [Micromodem](INFO): Nmea in: A,0.108621,0.093859,,,174230.51*5B

2021-08-15T17:42:30.237Z,1629049350.237 [Micromodem](ERROR): Response from modem failed NMEA checksum: A,0.108621,0.093859,,,174230.51*5B
 expected 0
2021-08-15T17:42:30.663Z,1629049350.663 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 132.900009 m, bearing: 183.209921 deg, deltaT: 4.402215 s, approachRate: -0.654214 m/s, LOS rate: -0.940512 deg/s, posRepo size: 4
2021-08-15T17:42:30.666Z,1629049350.666 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 132.900009 m,
      bearing: 183.209921 deg,
      approachRate: -0.654214 m/s,
      LOS rate: -0.940512 deg/s,
      cmd update: -3.762049 deg/s,
      cmd heading: 205.392599 deg,
      new cmd heading: 202.925448 deg.

2021-08-15T17:42:31.684Z,1629049351.684 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T17:42:33.117Z,1629049353.117 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:42:33.465Z,1629049353.465 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:42:33.465Z,1629049353.465 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:42:33.465Z,1629049353.465 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:42:33.466Z,1629049353.466 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:42:33.869Z,1629049353.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
11B,000,00B18,185,80,80,A3,FF
2021-08-15T17:42:33.869Z,1629049353.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:42:33.869Z,1629049353.869 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:42:33.871Z,1629049353.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:42:34.281Z,1629049354.281 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:42:34.669Z,1629049354.669 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,240,000,00AE8,189,80,80,AF,FF
2021-08-15T17:42:34.669Z,1629049354.669 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:42:35.121Z,1629049355.121 [Micromodem](INFO): Nmea in: $SNTTA,0.089307,,,,174234.95*4E

2021-08-15T17:42:35.216Z,1629049355.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 130.020004 m, bearing: 179.036812 deg, deltaT: 4.447008 s, approachRate: -0.647628 m/s, LOS rate: -0.938408 deg/s, posRepo size: 4
2021-08-15T17:42:35.218Z,1629049355.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 130.020004 m,
      bearing: 179.036812 deg,
      approachRate: -0.647628 m/s,
      LOS rate: -0.938408 deg/s,
      cmd update: -3.753633 deg/s,
      cmd heading: 188.752543 deg,
      new cmd heading: 186.759925 deg.

2021-08-15T17:42:37.234Z,1629049357.234 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:42:37.505Z,1629049357.505 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:42:37.505Z,1629049357.505 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:42:37.505Z,1629049357.505 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:42:37.506Z,1629049357.506 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:42:37.901Z,1629049357.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
240,000,00AE8,189,80,80,AF,FF
2021-08-15T17:42:37.901Z,1629049357.901 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:42:37.902Z,1629049357.902 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:42:37.903Z,1629049357.903 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:42:38.317Z,1629049358.317 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:42:38.714Z,1629049358.714 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1B9,000,00AC0,186,80,80,B9,FF
2021-08-15T17:42:38.714Z,1629049358.714 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:42:39.165Z,1629049359.165 [Micromodem](INFO): Nmea in: $SNTTA,0.087233,0.485034,,,174238.98*57

2021-08-15T17:42:39.229Z,1629049359.229 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 127.619995 m, bearing: 179.330660 deg, deltaT: 4.048246 s, approachRate: -0.592852 m/s, LOS rate: 0.072587 deg/s, posRepo size: 4
2021-08-15T17:42:39.231Z,1629049359.231 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 127.619995 m,
      bearing: 179.330660 deg,
      approachRate: -0.592852 m/s,
      LOS rate: 0.072587 deg/s,
      cmd update: 0.290346 deg/s,
      cmd heading: 173.467412 deg,
      new cmd heading: 171.720178 deg.

2021-08-15T17:42:41.589Z,1629049361.589 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:42:41.945Z,1629049361.945 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:42:41.945Z,1629049361.945 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:42:41.945Z,1629049361.945 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:42:41.945Z,1629049361.945 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:42:42.356Z,1629049362.356 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1B9,000,00AC0,186,80,80,B9,FF
2021-08-15T17:42:42.356Z,1629049362.356 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:42:42.356Z,1629049362.356 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:42:42.359Z,1629049362.359 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:42:42.748Z,1629049362.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:42:43.154Z,1629049363.154 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,001,000,00A93,182,80,80,8A,FF
2021-08-15T17:42:43.154Z,1629049363.154 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:42:43.159Z,1629049363.159 [Micromodem](INFO): Nmea in: $SNTTA,0.085462,0.254744,,,174243.44*50

2021-08-15T17:42:43.587Z,1629049363.587 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 124.920006 m, bearing: 187.070316 deg, deltaT: 4.492581 s, approachRate: -0.600988 m/s, LOS rate: 1.722764 deg/s, posRepo size: 4
2021-08-15T17:42:43.590Z,1629049363.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 124.920006 m,
      bearing: 187.070316 deg,
      approachRate: -0.600988 m/s,
      LOS rate: 1.722764 deg/s,
      cmd update: 6.891056 deg/s,
      cmd heading: 174.770570 deg,
      new cmd heading: 174.869462 deg.

2021-08-15T17:42:45.995Z,1629049365.995 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:42:46.377Z,1629049366.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:42:46.377Z,1629049366.377 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:42:46.378Z,1629049366.378 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:42:46.379Z,1629049366.379 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:42:46.790Z,1629049366.790 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
001,000,00A93,182,80,80,8A,FF
2021-08-15T17:42:46.790Z,1629049366.790 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:42:46.790Z,1629049366.790 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:42:46.791Z,1629049366.791 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:42:47.238Z,1629049367.238 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:42:47.597Z,1629049367.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F9C,000,00A69,187,80,80,CE,FF
2021-08-15T17:42:47.598Z,1629049367.598 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:42:48.067Z,1629049368.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 122.400002 m, bearing: 184.040786 deg, deltaT: 4.372703 s, approachRate: -0.576304 m/s, LOS rate: -0.692828 deg/s, posRepo size: 4
2021-08-15T17:42:48.074Z,1629049368.074 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 122.400002 m,
      bearing: 184.040786 deg,
      approachRate: -0.576304 m/s,
      LOS rate: -0.692828 deg/s,
      cmd update: -2.771311 deg/s,
      cmd heading: 204.934264 deg,
      new cmd heading: 207.990047 deg.

2021-08-15T17:42:50.485Z,1629049370.485 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:42:50.829Z,1629049370.829 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:42:50.830Z,1629049370.830 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:42:50.830Z,1629049370.830 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:42:50.831Z,1629049370.831 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:42:51.234Z,1629049371.234 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F9C,000,00A69,187,80,80,CE,FF
2021-08-15T17:42:51.234Z,1629049371.234 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:42:51.234Z,1629049371.234 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:42:51.236Z,1629049371.236 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:42:51.673Z,1629049371.673 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:42:52.079Z,1629049372.079 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12E,000,00A3B,185,80,80,A8,FF
2021-08-15T17:42:52.079Z,1629049372.079 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:42:52.501Z,1629049372.501 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174252.32*58

2021-08-15T17:42:52.562Z,1629049372.562 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.639999 m, bearing: 178.902762 deg, deltaT: 4.530193 s, approachRate: -0.609246 m/s, LOS rate: -1.134173 deg/s, posRepo size: 4
2021-08-15T17:42:52.564Z,1629049372.564 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 119.639999 m,
      bearing: 178.902762 deg,
      approachRate: -0.609246 m/s,
      LOS rate: -1.134173 deg/s,
      cmd update: -4.536693 deg/s,
      cmd heading: 192.402879 deg,
      new cmd heading: 191.256462 deg.

2021-08-15T17:42:54.919Z,1629049374.919 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:42:55.301Z,1629049375.301 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:42:55.301Z,1629049375.301 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:42:55.301Z,1629049375.301 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:42:55.302Z,1629049375.302 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:42:55.705Z,1629049375.705 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
12E,000,00A3B,185,80,80,A8,FF
2021-08-15T17:42:55.705Z,1629049375.705 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:42:55.705Z,1629049375.705 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:42:55.707Z,1629049375.707 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:42:56.113Z,1629049376.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:42:56.517Z,1629049376.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,161,000,00A0F,185,80,80,BA,FF
2021-08-15T17:42:56.518Z,1629049376.518 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:42:57.011Z,1629049377.011 [Micromodem](INFO): Nmea in: $SNTTA,0.098925,,,,174256.79*42

2021-08-15T17:42:57.081Z,1629049377.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.000000 m, bearing: 179.907142 deg, deltaT: 4.401128 s, approachRate: -0.599846 m/s, LOS rate: 0.228210 deg/s, posRepo size: 4
2021-08-15T17:42:57.083Z,1629049377.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 117.000000 m,
      bearing: 179.907142 deg,
      approachRate: -0.599846 m/s,
      LOS rate: 0.228210 deg/s,
      cmd update: 0.912838 deg/s,
      cmd heading: 172.399770 deg,
      new cmd heading: 170.013991 deg.

2021-08-15T17:42:59.442Z,1629049379.442 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:42:59.754Z,1629049379.754 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:42:59.754Z,1629049379.754 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:42:59.754Z,1629049379.754 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:42:59.755Z,1629049379.755 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:43:00.173Z,1629049380.173 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
161,000,00A0F,185,80,80,BA,FF
2021-08-15T17:43:00.173Z,1629049380.173 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:43:00.173Z,1629049380.173 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:43:00.174Z,1629049380.174 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:43:00.557Z,1629049380.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:43:00.978Z,1629049380.978 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F32,000,009DF,186,80,80,BA,FF
2021-08-15T17:43:00.979Z,1629049380.979 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:43:01.390Z,1629049381.390 [Micromodem](INFO): Nmea in: $SNTTA,0.075847,,,,174301.26*4D

2021-08-15T17:43:01.446Z,1629049381.446 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 114.120003 m, bearing: 187.661005 deg, deltaT: 4.552872 s, approachRate: -0.632567 m/s, LOS rate: 1.703071 deg/s, posRepo size: 4
2021-08-15T17:43:01.449Z,1629049381.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 114.120003 m,
      bearing: 187.661005 deg,
      approachRate: -0.632567 m/s,
      LOS rate: 1.703071 deg/s,
      cmd update: 6.812283 deg/s,
      cmd heading: 176.545664 deg,
      new cmd heading: 176.864804 deg.

2021-08-15T17:43:03.807Z,1629049383.807 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:43:04.205Z,1629049384.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:43:04.205Z,1629049384.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:43:04.205Z,1629049384.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:43:04.206Z,1629049384.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:43:04.593Z,1629049384.593 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F32,000,009DF,186,80,80,BA,FF
2021-08-15T17:43:04.593Z,1629049384.593 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:43:04.593Z,1629049384.593 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:43:04.595Z,1629049384.595 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:43:05.041Z,1629049385.041 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:43:05.417Z,1629049385.417 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F0D,000,009B4,187,80,80,85,FF
2021-08-15T17:43:05.417Z,1629049385.418 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:43:05.837Z,1629049385.837 [Micromodem](INFO): Nmea in: $SNTTA,0.074123,,,,174305.68*49

2021-08-15T17:43:05.873Z,1629049385.873 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.540001 m, bearing: 185.523852 deg, deltaT: 4.363630 s, approachRate: -0.591251 m/s, LOS rate: -0.489765 deg/s, posRepo size: 4
2021-08-15T17:43:05.875Z,1629049385.875 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 111.540001 m,
      bearing: 185.523852 deg,
      approachRate: -0.591251 m/s,
      LOS rate: -0.489765 deg/s,
      cmd update: -1.959059 deg/s,
      cmd heading: 206.348108 deg,
      new cmd heading: 209.081537 deg.

2021-08-15T17:43:06.824Z,1629049386.824 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T17:43:08.274Z,1629049388.274 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:43:08.633Z,1629049388.633 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:43:08.633Z,1629049388.633 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:43:08.633Z,1629049388.633 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:43:08.634Z,1629049388.634 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:43:09.065Z,1629049389.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F0D,000,009B4,187,80,80,85,FF
2021-08-15T17:43:09.065Z,1629049389.065 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:43:09.066Z,1629049389.066 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:43:09.067Z,1629049389.067 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:43:09.557Z,1629049389.557 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:43:09.962Z,1629049389.962 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A3,000,00989,186,80,80,9F,FF
2021-08-15T17:43:09.962Z,1629049389.962 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:43:10.365Z,1629049390.365 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174310.15*5A

2021-08-15T17:43:10.434Z,1629049390.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.959999 m, bearing: 185.070847 deg, deltaT: 4.523868 s, approachRate: -0.570309 m/s, LOS rate: -0.100137 deg/s, posRepo size: 4
2021-08-15T17:43:10.440Z,1629049390.440 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 108.959999 m,
      bearing: 185.070847 deg,
      approachRate: -0.570309 m/s,
      LOS rate: -0.100137 deg/s,
      cmd update: -0.400547 deg/s,
      cmd heading: 197.489440 deg,
      new cmd heading: 196.627205 deg.

2021-08-15T17:43:12.817Z,1629049392.817 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:43:13.216Z,1629049393.216 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:43:13.216Z,1629049393.216 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:43:13.217Z,1629049393.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:43:13.218Z,1629049393.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:43:13.589Z,1629049393.589 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A3,000,00989,186,80,80,9F,FF
2021-08-15T17:43:13.589Z,1629049393.589 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:43:13.589Z,1629049393.589 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:43:13.591Z,1629049393.591 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:43:13.997Z,1629049393.997 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:43:14.393Z,1629049394.393 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A9,000,00958,185,80,80,B6,FF
2021-08-15T17:43:14.394Z,1629049394.394 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:43:14.846Z,1629049394.846 [Micromodem](INFO): Nmea in: $SNTTA,0.070519,,,,174314.67*4F

2021-08-15T17:43:14.877Z,1629049394.877 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 106.019997 m, bearing: 181.005778 deg, deltaT: 4.506437 s, approachRate: -0.652401 m/s, LOS rate: -0.902058 deg/s, posRepo size: 4
2021-08-15T17:43:14.881Z,1629049394.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 106.019997 m,
      bearing: 181.005778 deg,
      approachRate: -0.652401 m/s,
      LOS rate: -0.902058 deg/s,
      cmd update: -3.608233 deg/s,
      cmd heading: 195.687162 deg,
      new cmd heading: 195.533882 deg.

2021-08-15T17:43:15.045Z,1629049395.045 [CTD_Seabird](ERROR): Failed to parse device response: 8.17,24.4678,4.813714
2021-08-15T17:43:17.310Z,1629049397.310 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:43:17.637Z,1629049397.637 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:43:17.637Z,1629049397.637 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:43:17.637Z,1629049397.637 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:43:17.638Z,1629049397.638 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:43:18.037Z,1629049398.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A9,000,00958,185,80,80,B6,FF
2021-08-15T17:43:18.037Z,1629049398.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:43:18.037Z,1629049398.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:43:18.039Z,1629049398.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:43:18.457Z,1629049398.457 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:43:18.845Z,1629049398.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BB,000,0092E,186,80,80,AA,FF
2021-08-15T17:43:18.845Z,1629049398.845 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:43:19.286Z,1629049399.286 [Micromodem](INFO): Nmea in: $SNTTA,0.076070,,,,174319.12*4C

2021-08-15T17:43:19.361Z,1629049399.361 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.500000 m, bearing: 184.626980 deg, deltaT: 4.391549 s, approachRate: -0.573829 m/s, LOS rate: 0.824584 deg/s, posRepo size: 4
2021-08-15T17:43:19.363Z,1629049399.363 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 103.500000 m,
      bearing: 184.626980 deg,
      approachRate: -0.573829 m/s,
      LOS rate: 0.824584 deg/s,
      cmd update: 3.298337 deg/s,
      cmd heading: 179.823843 deg,
      new cmd heading: 178.138171 deg.

2021-08-15T17:43:21.700Z,1629049401.700 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:43:22.097Z,1629049402.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:43:22.097Z,1629049402.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:43:22.097Z,1629049402.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:43:22.098Z,1629049402.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:43:22.477Z,1629049402.477 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BB,000,0092E,186,80,80,AA,FF
2021-08-15T17:43:22.478Z,1629049402.478 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:43:22.478Z,1629049402.478 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:43:22.479Z,1629049402.479 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:43:22.896Z,1629049402.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:43:23.290Z,1629049403.290 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD3,000,008FC,185,80,80,69,FF
2021-08-15T17:43:23.290Z,1629049403.290 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:43:23.734Z,1629049403.734 [Micromodem](INFO): Nmea in: $SNTTA,0.074181,,,,174323.56*48

2021-08-15T17:43:23.755Z,1629049403.755 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.500000 m, bearing: 186.113298 deg, deltaT: 4.475345 s, approachRate: -0.670339 m/s, LOS rate: 0.332112 deg/s, posRepo size: 4
2021-08-15T17:43:23.758Z,1629049403.758 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 100.500000 m,
      bearing: 186.113298 deg,
      approachRate: -0.670339 m/s,
      LOS rate: 0.332112 deg/s,
      cmd update: 1.328449 deg/s,
      cmd heading: 194.555988 deg,
      new cmd heading: 195.873265 deg.

2021-08-15T17:43:26.179Z,1629049406.179 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:43:26.529Z,1629049406.529 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:43:26.529Z,1629049406.529 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:43:26.529Z,1629049406.529 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:43:26.530Z,1629049406.530 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:43:26.929Z,1629049406.929 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD3,000,008FC,185,80,80,69,FF
2021-08-15T17:43:26.929Z,1629049406.929 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:43:26.929Z,1629049406.929 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:43:26.931Z,1629049406.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:43:27.391Z,1629049407.391 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:43:27.785Z,1629049407.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,072,000,008CF,186,80,80,95,FF
2021-08-15T17:43:27.786Z,1629049407.786 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:43:28.221Z,1629049408.221 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174328.01*54

2021-08-15T17:43:28.275Z,1629049408.275 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.800003 m, bearing: 185.976257 deg, deltaT: 4.439058 s, approachRate: -0.608236 m/s, LOS rate: -0.030872 deg/s, posRepo size: 4
2021-08-15T17:43:28.289Z,1629049408.289 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 97.800003 m,
      bearing: 185.976257 deg,
      approachRate: -0.608236 m/s,
      LOS rate: -0.030872 deg/s,
      cmd update: -0.123486 deg/s,
      cmd heading: 200.469581 deg,
      new cmd heading: 201.090141 deg.

2021-08-15T17:43:30.655Z,1629049410.655 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:43:31.061Z,1629049411.061 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:43:31.061Z,1629049411.061 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:43:31.061Z,1629049411.061 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:43:31.062Z,1629049411.062 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:43:31.437Z,1629049411.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
072,000,008CF,186,80,80,95,FF
2021-08-15T17:43:31.437Z,1629049411.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:43:31.437Z,1629049411.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:43:31.439Z,1629049411.439 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:43:31.829Z,1629049411.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:43:32.254Z,1629049412.254 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,152,000,0089D,185,80,80,76,FF
2021-08-15T17:43:32.255Z,1629049412.255 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:43:32.669Z,1629049412.669 [Micromodem](INFO): Nmea in: $SNTTA,0.094574,,,,174332.52*4C

2021-08-15T17:43:32.715Z,1629049412.715 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.800003 m, bearing: 183.904182 deg, deltaT: 4.522217 s, approachRate: -0.663391 m/s, LOS rate: -0.458199 deg/s, posRepo size: 4
2021-08-15T17:43:32.721Z,1629049412.721 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 94.800003 m,
      bearing: 183.904182 deg,
      approachRate: -0.663391 m/s,
      LOS rate: -0.458199 deg/s,
      cmd update: -1.832795 deg/s,
      cmd heading: 199.911580 deg,
      new cmd heading: 199.863616 deg.

2021-08-15T17:43:35.177Z,1629049415.177 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:43:35.522Z,1629049415.522 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:43:35.523Z,1629049415.523 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:43:35.523Z,1629049415.523 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:43:35.524Z,1629049415.524 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:43:35.981Z,1629049415.981 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
152,000,0089D,185,80,80,76,FF
2021-08-15T17:43:35.981Z,1629049415.981 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:43:35.982Z,1629049415.982 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:43:35.983Z,1629049415.983 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:43:36.408Z,1629049416.408 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:43:36.809Z,1629049416.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,148,000,0086D,186,80,80,89,FF
2021-08-15T17:43:36.809Z,1629049416.809 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:43:37.262Z,1629049417.262 [Micromodem](INFO): Nmea in: $SNTTA,0.445088,,,,174337.06*46

2021-08-15T17:43:37.343Z,1629049417.343 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 91.920006 m, bearing: 182.756246 deg, deltaT: 4.495592 s, approachRate: -0.640627 m/s, LOS rate: -0.255347 deg/s, posRepo size: 4
2021-08-15T17:43:37.349Z,1629049417.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 91.920006 m,
      bearing: 182.756246 deg,
      approachRate: -0.640627 m/s,
      LOS rate: -0.255347 deg/s,
      cmd update: -1.021388 deg/s,
      cmd heading: 191.664597 deg,
      new cmd heading: 190.717331 deg.

2021-08-15T17:43:39.663Z,1629049419.663 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:43:40.029Z,1629049420.029 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:43:40.029Z,1629049420.029 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:43:40.029Z,1629049420.029 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:43:40.030Z,1629049420.030 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:43:40.445Z,1629049420.445 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
148,000,0086D,186,80,80,89,FF
2021-08-15T17:43:40.445Z,1629049420.445 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:43:40.445Z,1629049420.445 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:43:40.447Z,1629049420.447 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:43:40.841Z,1629049420.841 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:43:41.253Z,1629049421.253 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0C7,000,0083C,186,80,80,AE,FF
2021-08-15T17:43:41.254Z,1629049421.254 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:43:41.257Z,1629049421.257 [Micromodem](INFO): Nmea in: $SNTTA,0.212913,0.212932,,,174341.53*5F

2021-08-15T17:43:41.673Z,1629049421.673 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 88.980003 m, bearing: 184.852800 deg, deltaT: 4.520974 s, approachRate: -0.650303 m/s, LOS rate: 0.463739 deg/s, posRepo size: 4
2021-08-15T17:43:41.675Z,1629049421.675 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 88.980003 m,
      bearing: 184.852800 deg,
      approachRate: -0.650303 m/s,
      LOS rate: 0.463739 deg/s,
      cmd update: 1.854958 deg/s,
      cmd heading: 187.051116 deg,
      new cmd heading: 186.714650 deg.

2021-08-15T17:43:41.972Z,1629049421.972 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T17:43:42.397Z,1629049422.397 [Radio_Surface](INFO): Powering down
2021-08-15T17:43:42.978Z,1629049422.978 [DataOverHttps](INFO): Radio surface powered OFF, will not connect.
2021-08-15T17:43:44.094Z,1629049424.094 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:43:44.469Z,1629049424.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:43:44.469Z,1629049424.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:43:44.469Z,1629049424.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:43:44.470Z,1629049424.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:43:44.881Z,1629049424.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0C7,000,0083C,186,80,80,AE,FF
2021-08-15T17:43:44.881Z,1629049424.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:43:44.881Z,1629049424.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:43:44.883Z,1629049424.883 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:43:45.312Z,1629049425.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:43:45.697Z,1629049425.697 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,056,000,00815,184,80,80,98,FF
2021-08-15T17:43:45.698Z,1629049425.698 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:43:46.153Z,1629049426.153 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174345.96*51

2021-08-15T17:43:46.215Z,1629049426.215 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.639999 m, bearing: 186.902348 deg, deltaT: 4.367727 s, approachRate: -0.535749 m/s, LOS rate: 0.469248 deg/s, posRepo size: 4
2021-08-15T17:43:46.221Z,1629049426.221 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 86.639999 m,
      bearing: 186.902348 deg,
      approachRate: -0.535749 m/s,
      LOS rate: 0.469248 deg/s,
      cmd update: 1.876993 deg/s,
      cmd heading: 195.160611 deg,
      new cmd heading: 196.088964 deg.

2021-08-15T17:43:48.566Z,1629049428.566 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:43:48.937Z,1629049428.937 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:43:48.937Z,1629049428.937 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:43:48.937Z,1629049428.937 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:43:48.938Z,1629049428.938 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:43:49.349Z,1629049429.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
056,000,00815,184,80,80,98,FF
2021-08-15T17:43:49.349Z,1629049429.349 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:43:49.349Z,1629049429.349 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:43:49.351Z,1629049429.351 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:43:49.748Z,1629049429.748 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:43:50.161Z,1629049430.161 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0D9,000,007E2,186,80,80,78,FF
2021-08-15T17:43:50.162Z,1629049430.162 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:43:50.585Z,1629049430.585 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174350.43*5D

2021-08-15T17:43:50.634Z,1629049430.634 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.580002 m, bearing: 184.739473 deg, deltaT: 4.511724 s, approachRate: -0.678232 m/s, LOS rate: -0.479390 deg/s, posRepo size: 4
2021-08-15T17:43:50.636Z,1629049430.636 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 83.580002 m,
      bearing: 184.739473 deg,
      approachRate: -0.678232 m/s,
      LOS rate: -0.479390 deg/s,
      cmd update: -1.917560 deg/s,
      cmd heading: 203.621363 deg,
      new cmd heading: 204.390074 deg.

2021-08-15T17:43:53.040Z,1629049433.040 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:43:53.382Z,1629049433.382 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:43:53.382Z,1629049433.382 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:43:53.382Z,1629049433.382 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:43:53.383Z,1629049433.383 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:43:53.793Z,1629049433.793 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0D9,000,007E2,186,80,80,78,FF
2021-08-15T17:43:53.794Z,1629049433.794 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:43:53.794Z,1629049433.794 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:43:53.795Z,1629049433.795 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:43:54.224Z,1629049434.224 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:43:54.597Z,1629049434.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,197,000,007AE,186,80,80,9E,FF
2021-08-15T17:43:54.598Z,1629049434.598 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:43:55.057Z,1629049435.057 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174354.88*5E

2021-08-15T17:43:55.122Z,1629049435.122 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.459999 m, bearing: 181.511649 deg, deltaT: 4.388320 s, approachRate: -0.710979 m/s, LOS rate: -0.735549 deg/s, posRepo size: 4
2021-08-15T17:43:55.131Z,1629049435.131 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 80.459999 m,
      bearing: 181.511649 deg,
      approachRate: -0.710979 m/s,
      LOS rate: -0.735549 deg/s,
      cmd update: -2.942196 deg/s,
      cmd heading: 195.198651 deg,
      new cmd heading: 194.225083 deg.

2021-08-15T17:43:57.119Z,1629049437.119 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:43:57.437Z,1629049437.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:43:57.437Z,1629049437.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:43:57.437Z,1629049437.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:43:57.438Z,1629049437.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:43:57.833Z,1629049437.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
197,000,007AE,186,80,80,9E,FF
2021-08-15T17:43:57.833Z,1629049437.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:43:57.833Z,1629049437.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:43:57.835Z,1629049437.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:43:58.236Z,1629049438.236 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:43:58.638Z,1629049438.638 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0F6,000,00783,186,80,80,A1,FF
2021-08-15T17:43:58.638Z,1629049438.638 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:43:59.105Z,1629049439.105 [Micromodem](INFO): Nmea in: $SNTTA,0.077325,0.478425,,,174358.92*55

2021-08-15T17:43:59.214Z,1629049439.214 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.880005 m, bearing: 184.313871 deg, deltaT: 4.039876 s, approachRate: -0.638632 m/s, LOS rate: 0.693641 deg/s, posRepo size: 4
2021-08-15T17:43:59.216Z,1629049439.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 77.880005 m,
      bearing: 184.313871 deg,
      approachRate: -0.638632 m/s,
      LOS rate: 0.693641 deg/s,
      cmd update: 2.774562 deg/s,
      cmd heading: 183.312411 deg,
      new cmd heading: 181.666559 deg.

2021-08-15T17:44:01.176Z,1629049441.176 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:44:01.469Z,1629049441.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:44:01.469Z,1629049441.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:44:01.469Z,1629049441.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:44:01.470Z,1629049441.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:44:01.873Z,1629049441.873 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0F6,000,00783,186,80,80,A1,FF
2021-08-15T17:44:01.873Z,1629049441.873 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:44:01.873Z,1629049441.873 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:44:01.875Z,1629049441.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:44:02.269Z,1629049442.269 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:44:02.677Z,1629049442.677 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,01A,000,00758,183,80,80,AE,FF
2021-08-15T17:44:02.677Z,1629049442.677 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:44:03.117Z,1629049443.117 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174402.96*55

2021-08-15T17:44:03.180Z,1629049443.180 [RDI_PathfinderUp](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T17:44:03.193Z,1629049443.193 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.300003 m, bearing: 186.999282 deg, deltaT: 4.039974 s, approachRate: -0.638618 m/s, LOS rate: 0.664710 deg/s, posRepo size: 4
2021-08-15T17:44:03.195Z,1629049443.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 75.300003 m,
      bearing: 186.999282 deg,
      approachRate: -0.638618 m/s,
      LOS rate: 0.664710 deg/s,
      cmd update: 2.658841 deg/s,
      cmd heading: 194.521573 deg,
      new cmd heading: 195.903224 deg.

2021-08-15T17:44:05.134Z,1629049445.134 [RDI_Pathfinder](ERROR): only read 3 of 4 data items
2021-08-15T17:44:05.553Z,1629049445.553 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:44:05.909Z,1629049445.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:44:05.909Z,1629049445.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:44:05.909Z,1629049445.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:44:05.910Z,1629049445.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:44:06.317Z,1629049446.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
01A,000,00758,183,80,80,AE,FF
2021-08-15T17:44:06.317Z,1629049446.317 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:44:06.318Z,1629049446.318 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:44:06.324Z,1629049446.324 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:44:06.716Z,1629049446.716 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:44:07.115Z,1629049447.115 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0A8,000,0072A,186,80,80,82,FF
2021-08-15T17:44:07.116Z,1629049447.116 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:44:07.557Z,1629049447.557 [Micromodem](INFO): Nmea in: $SNTTA,0.075108,,,,174407.41*4F

2021-08-15T17:44:07.590Z,1629049447.590 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.540009 m, bearing: 185.655224 deg, deltaT: 4.544687 s, approachRate: -0.607301 m/s, LOS rate: -0.295743 deg/s, posRepo size: 4
2021-08-15T17:44:07.592Z,1629049447.592 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 72.540009 m,
      bearing: 185.655224 deg,
      approachRate: -0.607301 m/s,
      LOS rate: -0.295743 deg/s,
      cmd update: -1.182971 deg/s,
      cmd heading: 206.594536 deg,
      new cmd heading: 207.537462 deg.

2021-08-15T17:44:09.992Z,1629049449.992 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:44:10.353Z,1629049450.353 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:44:10.354Z,1629049450.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:44:10.354Z,1629049450.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:44:10.355Z,1629049450.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:44:10.761Z,1629049450.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0A8,000,0072A,186,80,80,82,FF
2021-08-15T17:44:10.761Z,1629049450.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:44:10.762Z,1629049450.762 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:44:10.763Z,1629049450.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:44:11.204Z,1629049451.204 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:44:11.565Z,1629049451.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D9,000,006FE,186,80,80,65,FF
2021-08-15T17:44:11.566Z,1629049451.566 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:44:12.013Z,1629049452.013 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174411.85*55

2021-08-15T17:44:12.029Z,1629049452.029 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.900002 m, bearing: 182.294361 deg, deltaT: 4.343382 s, approachRate: -0.607823 m/s, LOS rate: -0.773789 deg/s, posRepo size: 4
2021-08-15T17:44:12.031Z,1629049452.031 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 69.900002 m,
      bearing: 182.294361 deg,
      approachRate: -0.607823 m/s,
      LOS rate: -0.773789 deg/s,
      cmd update: -3.095158 deg/s,
      cmd heading: 201.451903 deg,
      new cmd heading: 200.924114 deg.

2021-08-15T17:44:14.441Z,1629049454.441 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:44:14.797Z,1629049454.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:44:14.797Z,1629049454.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:44:14.798Z,1629049454.798 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:44:14.799Z,1629049454.799 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:44:15.225Z,1629049455.225 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D9,000,006FE,186,80,80,65,FF
2021-08-15T17:44:15.225Z,1629049455.225 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:44:15.225Z,1629049455.225 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:44:15.227Z,1629049455.227 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:44:15.623Z,1629049455.623 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:44:16.017Z,1629049456.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,171,000,006CC,185,80,80,71,FF
2021-08-15T17:44:16.017Z,1629049456.017 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:44:16.441Z,1629049456.441 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174416.31*5D

2021-08-15T17:44:16.481Z,1629049456.481 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.900002 m, bearing: 181.941199 deg, deltaT: 4.488250 s, approachRate: -0.668412 m/s, LOS rate: -0.078686 deg/s, posRepo size: 4
2021-08-15T17:44:16.483Z,1629049456.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 66.900002 m,
      bearing: 181.941199 deg,
      approachRate: -0.668412 m/s,
      LOS rate: -0.078686 deg/s,
      cmd update: -0.314743 deg/s,
      cmd heading: 187.572114 deg,
      new cmd heading: 186.291846 deg.

2021-08-15T17:44:18.871Z,1629049458.871 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:44:19.257Z,1629049459.257 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:44:19.257Z,1629049459.257 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:44:19.257Z,1629049459.257 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:44:19.258Z,1629049459.258 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:44:19.651Z,1629049459.651 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
171,000,006CC,185,80,80,71,FF
2021-08-15T17:44:19.651Z,1629049459.651 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:44:19.651Z,1629049459.651 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:44:19.653Z,1629049459.653 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:44:20.070Z,1629049460.070 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:44:20.457Z,1629049460.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,05E,000,0069F,186,80,80,AD,FF
2021-08-15T17:44:20.458Z,1629049460.458 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:44:20.905Z,1629049460.905 [Micromodem](INFO): Nmea in: $SNTTA,0.052703,,,,174420.73*43

2021-08-15T17:44:20.928Z,1629049460.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.200005 m, bearing: 184.278354 deg, deltaT: 4.445071 s, approachRate: -0.607414 m/s, LOS rate: 0.525786 deg/s, posRepo size: 4
2021-08-15T17:44:20.930Z,1629049460.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 64.200005 m,
      bearing: 184.278354 deg,
      approachRate: -0.607414 m/s,
      LOS rate: 0.525786 deg/s,
      cmd update: 2.103142 deg/s,
      cmd heading: 186.173043 deg,
      new cmd heading: 186.042206 deg.

2021-08-15T17:44:23.378Z,1629049463.378 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:44:23.692Z,1629049463.692 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:44:23.693Z,1629049463.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:44:23.693Z,1629049463.693 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:44:23.694Z,1629049463.694 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:44:24.110Z,1629049464.110 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
05E,000,0069F,186,80,80,AD,FF
2021-08-15T17:44:24.110Z,1629049464.110 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:44:24.110Z,1629049464.110 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:44:24.113Z,1629049464.113 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:44:24.496Z,1629049464.496 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:44:24.911Z,1629049464.911 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,032,000,0066F,185,80,80,5A,FF
2021-08-15T17:44:24.911Z,1629049464.911 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:44:25.337Z,1629049465.337 [Micromodem](INFO): Nmea in: $SNTTA,0.057602,,,,174425.20*45

2021-08-15T17:44:25.434Z,1629049465.434 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.320004 m, bearing: 185.372905 deg, deltaT: 4.423753 s, approachRate: -0.651031 m/s, LOS rate: 0.247426 deg/s, posRepo size: 4
2021-08-15T17:44:25.436Z,1629049465.436 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 61.320004 m,
      bearing: 185.372905 deg,
      approachRate: -0.651031 m/s,
      LOS rate: 0.247426 deg/s,
      cmd update: 0.989704 deg/s,
      cmd heading: 195.482209 deg,
      new cmd heading: 196.514319 deg.

2021-08-15T17:44:27.758Z,1629049467.758 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:44:28.161Z,1629049468.161 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:44:28.161Z,1629049468.161 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:44:28.162Z,1629049468.162 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:44:28.163Z,1629049468.163 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:44:28.537Z,1629049468.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
032,000,0066F,185,80,80,5A,FF
2021-08-15T17:44:28.537Z,1629049468.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:44:28.538Z,1629049468.538 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:44:28.539Z,1629049468.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:44:28.945Z,1629049468.945 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:44:29.349Z,1629049469.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0BA,000,0063E,186,80,80,52,FF
2021-08-15T17:44:29.350Z,1629049469.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:44:29.790Z,1629049469.790 [Micromodem](INFO): Nmea in: $SNTTA,0.048332,,,,174429.62*47

2021-08-15T17:44:29.840Z,1629049469.840 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.380001 m, bearing: 185.411373 deg, deltaT: 4.513228 s, approachRate: -0.651419 m/s, LOS rate: 0.008523 deg/s, posRepo size: 4
2021-08-15T17:44:29.842Z,1629049469.842 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 58.380001 m,
      bearing: 185.411373 deg,
      approachRate: -0.651419 m/s,
      LOS rate: 0.008523 deg/s,
      cmd update: 0.034093 deg/s,
      cmd heading: 199.941581 deg,
      new cmd heading: 200.329762 deg.

2021-08-15T17:44:32.274Z,1629049472.274 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:44:32.581Z,1629049472.581 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:44:32.581Z,1629049472.581 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:44:32.581Z,1629049472.581 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:44:32.582Z,1629049472.582 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:44:32.989Z,1629049472.989 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0BA,000,0063E,186,80,80,52,FF
2021-08-15T17:44:32.989Z,1629049472.989 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:44:32.990Z,1629049472.990 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:44:32.997Z,1629049472.997 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:44:33.403Z,1629049473.403 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:44:33.785Z,1629049473.785 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,109,000,00611,185,80,80,87,FF
2021-08-15T17:44:33.785Z,1629049473.785 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:44:34.245Z,1629049474.245 [Micromodem](INFO): Nmea in: $SNTTA,0.108813,,,,174434.08*4A

2021-08-15T17:44:34.293Z,1629049474.293 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.680000 m, bearing: 185.653844 deg, deltaT: 4.390207 s, approachRate: -0.615005 m/s, LOS rate: 0.055230 deg/s, posRepo size: 4
2021-08-15T17:44:34.295Z,1629049474.295 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 55.680000 m,
      bearing: 185.653844 deg,
      approachRate: -0.615005 m/s,
      LOS rate: 0.055230 deg/s,
      cmd update: 0.220921 deg/s,
      cmd heading: 200.091178 deg,
      new cmd heading: 200.106893 deg.

2021-08-15T17:44:36.646Z,1629049476.646 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:44:37.054Z,1629049477.054 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:44:37.054Z,1629049477.054 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:44:37.055Z,1629049477.055 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:44:37.055Z,1629049477.055 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:44:37.441Z,1629049477.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
109,000,00611,185,80,80,87,FF
2021-08-15T17:44:37.441Z,1629049477.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:44:37.441Z,1629049477.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:44:37.443Z,1629049477.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:44:37.829Z,1629049477.829 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:44:38.229Z,1629049478.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,133,000,005E3,186,80,80,5D,FF
2021-08-15T17:44:38.230Z,1629049478.230 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:44:38.661Z,1629049478.661 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174438.53*55

2021-08-15T17:44:38.705Z,1629049478.705 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.919994 m, bearing: 185.237859 deg, deltaT: 4.414045 s, approachRate: -0.625278 m/s, LOS rate: -0.094241 deg/s, posRepo size: 4
2021-08-15T17:44:38.712Z,1629049478.712 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 52.919994 m,
      bearing: 185.237859 deg,
      approachRate: -0.625278 m/s,
      LOS rate: -0.094241 deg/s,
      cmd update: -0.376966 deg/s,
      cmd heading: 201.068759 deg,
      new cmd heading: 201.166744 deg.

2021-08-15T17:44:41.176Z,1629049481.176 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:44:41.489Z,1629049481.489 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:44:41.489Z,1629049481.489 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:44:41.489Z,1629049481.489 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:44:41.490Z,1629049481.490 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:44:41.865Z,1629049481.865 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
133,000,005E3,186,80,80,5D,FF
2021-08-15T17:44:41.865Z,1629049481.865 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:44:41.865Z,1629049481.865 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:44:41.867Z,1629049481.867 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:44:42.289Z,1629049482.289 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:44:42.673Z,1629049482.673 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,125,000,005B8,185,80,80,A8,FF
2021-08-15T17:44:42.674Z,1629049482.674 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:44:43.097Z,1629049483.097 [Micromodem](INFO): Nmea in: $SNTTA,0.462035,0.462041,,,174442.95*51

2021-08-15T17:44:43.189Z,1629049483.189 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.340000 m, bearing: 185.719127 deg, deltaT: 4.466761 s, approachRate: -0.577598 m/s, LOS rate: 0.107744 deg/s, posRepo size: 4
2021-08-15T17:44:43.191Z,1629049483.191 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 50.340000 m,
      bearing: 185.719127 deg,
      approachRate: -0.577598 m/s,
      LOS rate: 0.107744 deg/s,
      cmd update: 0.430978 deg/s,
      cmd heading: 199.386359 deg,
      new cmd heading: 199.209676 deg.

2021-08-15T17:44:45.538Z,1629049485.538 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:44:45.909Z,1629049485.909 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:44:45.909Z,1629049485.909 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:44:45.909Z,1629049485.909 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:44:45.910Z,1629049485.910 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:44:46.329Z,1629049486.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
125,000,005B8,185,80,80,A8,FF
2021-08-15T17:44:46.329Z,1629049486.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:44:46.329Z,1629049486.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:44:46.331Z,1629049486.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:44:46.806Z,1629049486.806 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:44:47.205Z,1629049487.205 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,135,000,0058C,186,80,80,53,FF
2021-08-15T17:44:47.205Z,1629049487.205 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:44:47.613Z,1629049487.613 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174447.41*5E

2021-08-15T17:44:47.649Z,1629049487.649 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.700005 m, bearing: 185.386921 deg, deltaT: 4.561858 s, approachRate: -0.578711 m/s, LOS rate: -0.072823 deg/s, posRepo size: 4
2021-08-15T17:44:47.651Z,1629049487.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 47.700005 m,
      bearing: 185.386921 deg,
      approachRate: -0.578711 m/s,
      LOS rate: -0.072823 deg/s,
      cmd update: -0.291291 deg/s,
      cmd heading: 201.354152 deg,
      new cmd heading: 201.510719 deg.

2021-08-15T17:44:50.054Z,1629049490.054 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:44:50.438Z,1629049490.438 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:44:50.438Z,1629049490.438 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:44:50.439Z,1629049490.439 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:44:50.439Z,1629049490.439 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:44:50.841Z,1629049490.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
135,000,0058C,186,80,80,53,FF
2021-08-15T17:44:50.842Z,1629049490.842 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:44:50.842Z,1629049490.842 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:44:50.843Z,1629049490.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:44:51.249Z,1629049491.249 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:44:51.641Z,1629049491.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,156,000,0055B,185,80,80,B0,FF
2021-08-15T17:44:51.641Z,1629049491.641 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:44:52.089Z,1629049492.089 [Micromodem](INFO): Nmea in: $SNTTA,0.153277,,,,174451.93*4D

2021-08-15T17:44:52.114Z,1629049492.114 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.759998 m, bearing: 185.263745 deg, deltaT: 4.404769 s, approachRate: -0.667460 m/s, LOS rate: -0.027964 deg/s, posRepo size: 4
2021-08-15T17:44:52.160Z,1629049492.160 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 44.759998 m,
      bearing: 185.263745 deg,
      approachRate: -0.667460 m/s,
      LOS rate: -0.027964 deg/s,
      cmd update: -0.111857 deg/s,
      cmd heading: 200.072255 deg,
      new cmd heading: 199.947742 deg.

2021-08-15T17:44:54.516Z,1629049494.516 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:44:54.873Z,1629049494.873 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:44:54.873Z,1629049494.873 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:44:54.873Z,1629049494.873 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:44:54.874Z,1629049494.874 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:44:55.273Z,1629049495.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
156,000,0055B,185,80,80,B0,FF
2021-08-15T17:44:55.273Z,1629049495.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:44:55.274Z,1629049495.274 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:44:55.275Z,1629049495.275 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:44:55.695Z,1629049495.695 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:44:56.085Z,1629049496.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,15E,000,00533,186,80,80,72,FF
2021-08-15T17:44:56.085Z,1629049496.085 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:44:56.534Z,1629049496.534 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174456.36*5E

2021-08-15T17:44:56.561Z,1629049496.561 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.360001 m, bearing: 183.273114 deg, deltaT: 4.474653 s, approachRate: -0.536354 m/s, LOS rate: -0.444868 deg/s, posRepo size: 4
2021-08-15T17:44:56.563Z,1629049496.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 42.360001 m,
      bearing: 183.273114 deg,
      approachRate: -0.536354 m/s,
      LOS rate: -0.444868 deg/s,
      cmd update: -1.779473 deg/s,
      cmd heading: 199.572216 deg,
      new cmd heading: 199.527041 deg.

2021-08-15T17:44:58.935Z,1629049498.935 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:44:59.321Z,1629049499.321 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:44:59.322Z,1629049499.322 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:44:59.322Z,1629049499.322 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:44:59.323Z,1629049499.323 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:44:59.721Z,1629049499.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
15E,000,00533,186,80,80,72,FF
2021-08-15T17:44:59.721Z,1629049499.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:44:59.721Z,1629049499.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:44:59.723Z,1629049499.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:45:00.160Z,1629049500.160 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:45:00.537Z,1629049500.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,11B,000,00502,186,80,80,56,FF
2021-08-15T17:45:00.537Z,1629049500.537 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:45:00.964Z,1629049500.964 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174500.81*50

2021-08-15T17:45:01.046Z,1629049501.046 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 39.419998 m, bearing: 185.662901 deg, deltaT: 4.413108 s, approachRate: -0.666198 m/s, LOS rate: 0.541520 deg/s, posRepo size: 4
2021-08-15T17:45:01.047Z,1629049501.047 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 39.42 m.
2021-08-15T17:45:01.060Z,1629049501.060 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 39.419998 m,
      bearing: 185.662901 deg,
      approachRate: -0.666198 m/s,
      LOS rate: 0.541520 deg/s,
      cmd update: 2.166081 deg/s,
      cmd heading: 191.747402 deg,
      new cmd heading: 190.871802 deg.

2021-08-15T17:45:01.396Z,1629049501.396 [PowerOnly](INFO): Powering up loadControl
2021-08-15T17:45:01.466Z,1629049501.466 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1
2021-08-15T17:45:01.466Z,1629049501.466 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T17:45:01.466Z,1629049501.466 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1
2021-08-15T17:45:01.467Z,1629049501.467 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 5.000000 count pings.
2021-08-15T17:45:01.467Z,1629049501.467 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped
2021-08-15T17:45:01.467Z,1629049501.467 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1
2021-08-15T17:45:01.806Z,1629049501.806 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped
2021-08-15T17:45:01.806Z,1629049501.806 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T17:45:01.806Z,1629049501.806 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped
2021-08-15T17:45:01.806Z,1629049501.806 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsUSBL
2021-08-15T17:45:03.091Z,1629049503.091 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:45:03.382Z,1629049503.382 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:45:03.382Z,1629049503.382 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:45:03.382Z,1629049503.382 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:45:03.383Z,1629049503.383 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:45:03.761Z,1629049503.761 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
11B,000,00502,186,80,80,56,FF
2021-08-15T17:45:03.761Z,1629049503.761 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:45:03.761Z,1629049503.761 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:45:03.763Z,1629049503.763 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:45:04.205Z,1629049504.205 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:45:04.574Z,1629049504.574 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,095,000,004CE,186,80,80,AA,FF
2021-08-15T17:45:04.574Z,1629049504.574 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:45:04.599Z,1629049504.599 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:45:05.025Z,1629049505.025 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174504.85*50

2021-08-15T17:45:05.079Z,1629049505.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.299995 m, bearing: 189.173974 deg, deltaT: 4.017663 s, approachRate: -0.776572 m/s, LOS rate: 0.873909 deg/s, posRepo size: 4
2021-08-15T17:45:05.079Z,1629049505.079 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 36.30 m.
2021-08-15T17:45:05.081Z,1629049505.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 36.299995 m,
      bearing: 189.173974 deg,
      approachRate: -0.776572 m/s,
      LOS rate: 0.873909 deg/s,
      cmd update: 3.495637 deg/s,
      cmd heading: 200.501305 deg,
      new cmd heading: 201.548047 deg.

2021-08-15T17:45:07.452Z,1629049507.452 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:45:07.801Z,1629049507.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:45:07.801Z,1629049507.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:45:07.801Z,1629049507.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:45:07.802Z,1629049507.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:45:08.209Z,1629049508.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
095,000,004CE,186,80,80,AA,FF
2021-08-15T17:45:08.209Z,1629049508.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:45:08.209Z,1629049508.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:45:08.211Z,1629049508.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:45:08.617Z,1629049508.617 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:45:09.065Z,1629049509.065 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,11B,000,004A3,186,80,80,94,FF
2021-08-15T17:45:09.065Z,1629049509.065 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:45:09.171Z,1629049509.171 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:45:09.465Z,1629049509.465 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174509.30*53

2021-08-15T17:45:09.484Z,1629049509.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.719997 m, bearing: 187.568374 deg, deltaT: 4.572323 s, approachRate: -0.564264 m/s, LOS rate: -0.351156 deg/s, posRepo size: 4
2021-08-15T17:45:09.485Z,1629049509.485 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 33.72 m.
2021-08-15T17:45:09.487Z,1629049509.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 33.719997 m,
      bearing: 187.568374 deg,
      approachRate: -0.564264 m/s,
      LOS rate: -0.351156 deg/s,
      cmd update: -1.404625 deg/s,
      cmd heading: 216.484572 deg,
      new cmd heading: 217.589036 deg.

2021-08-15T17:45:11.874Z,1629049511.874 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:45:12.245Z,1629049512.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:45:12.245Z,1629049512.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:45:12.245Z,1629049512.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:45:12.246Z,1629049512.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:45:12.653Z,1629049512.653 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
11B,000,004A3,186,80,80,94,FF
2021-08-15T17:45:12.653Z,1629049512.653 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:45:12.653Z,1629049512.653 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:45:12.655Z,1629049512.655 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:45:13.084Z,1629049513.084 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:45:13.457Z,1629049513.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,262,000,00479,188,80,80,52,FF
2021-08-15T17:45:13.458Z,1629049513.458 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:45:13.478Z,1629049513.478 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:45:13.906Z,1629049513.906 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174513.74*58

2021-08-15T17:45:13.928Z,1629049513.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 31.200001 m, bearing: 180.414638 deg, deltaT: 4.307179 s, approachRate: -0.585069 m/s, LOS rate: -1.660886 deg/s, posRepo size: 4
2021-08-15T17:45:13.928Z,1629049513.928 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 31.20 m.
2021-08-15T17:45:13.930Z,1629049513.930 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 31.200001 m,
      bearing: 180.414638 deg,
      approachRate: -0.585069 m/s,
      LOS rate: -1.660886 deg/s,
      cmd update: -6.643546 deg/s,
      cmd heading: 210.434637 deg,
      new cmd heading: 209.798887 deg.

2021-08-15T17:45:16.339Z,1629049516.339 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:45:16.689Z,1629049516.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:45:16.689Z,1629049516.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:45:16.689Z,1629049516.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:45:16.690Z,1629049516.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:45:17.102Z,1629049517.102 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
262,000,00479,188,80,80,52,FF
2021-08-15T17:45:17.102Z,1629049517.102 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:45:17.102Z,1629049517.102 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:45:17.104Z,1629049517.104 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:45:17.501Z,1629049517.501 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:45:17.901Z,1629049517.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1ED,000,00452,187,80,80,5F,FF
2021-08-15T17:45:17.902Z,1629049517.902 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:45:17.922Z,1629049517.922 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:45:18.345Z,1629049518.345 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174518.19*58

2021-08-15T17:45:18.402Z,1629049518.402 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.860003 m, bearing: 182.838577 deg, deltaT: 4.444044 s, approachRate: -0.526547 m/s, LOS rate: 0.545435 deg/s, posRepo size: 4
2021-08-15T17:45:18.403Z,1629049518.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Powering the camera and arming the DDM at range: 28.86 m.
2021-08-15T17:45:18.403Z,1629049518.403 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Final approach. Armed for intercept at range: 28.86 m.
2021-08-15T17:45:18.404Z,1629049518.404 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH
2021-08-15T17:45:18.407Z,1629049518.407 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 28.860003 m,
      bearing: 182.838577 deg,
      approachRate: -0.526547 m/s,
      LOS rate: 0.545435 deg/s,
      cmd update: 2.181741 deg/s,
      cmd heading: 180.909551 deg,
      new cmd heading: 177.708790 deg.

2021-08-15T17:45:20.751Z,1629049520.751 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:45:21.149Z,1629049521.149 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:45:21.149Z,1629049521.149 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:45:21.150Z,1629049521.150 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:45:21.150Z,1629049521.150 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:45:21.537Z,1629049521.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1ED,000,00452,187,80,80,5F,FF
2021-08-15T17:45:21.537Z,1629049521.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:45:21.537Z,1629049521.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:45:21.539Z,1629049521.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:45:21.949Z,1629049521.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:45:22.778Z,1629049522.778 [Micromodem](INFO): Nmea in: $SNTTA,0.051914,,,,174522.62*4B

2021-08-15T17:45:23.253Z,1629049523.253 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:45:25.197Z,1629049525.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
2,187,80,80,5F,FF
2021-08-15T17:45:25.197Z,1629049525.197 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
2,187,80,80,5F,FF
2021-08-15T17:45:25.197Z,1629049525.197 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T17:45:26.018Z,1629049526.018 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:45:26.386Z,1629049526.386 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:45:26.386Z,1629049526.386 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:45:26.386Z,1629049526.386 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:45:26.387Z,1629049526.387 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:45:26.601Z,1629049526.601 [CTD_Seabird](ERROR): Failed to parse device response: 5.12,24.0069,4.763.62
2021-08-15T17:45:26.797Z,1629049526.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
2,187,80,80,5F,FF
2021-08-15T17:45:26.797Z,1629049526.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:45:26.797Z,1629049526.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:45:26.799Z,1629049526.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:45:27.212Z,1629049527.212 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:45:27.617Z,1629049527.617 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FD0,000,003E6,184,80,80,A1,FF
2021-08-15T17:45:27.617Z,1629049527.617 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:45:27.666Z,1629049527.666 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:45:28.049Z,1629049528.049 [Micromodem](INFO): Nmea in: $SNTTA,0.038277,,,,174527.88*4B

2021-08-15T17:45:28.065Z,1629049528.065 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 22.379997 m, bearing: 189.777503 deg, deltaT: 9.744104 s, approachRate: -0.665018 m/s, LOS rate: 0.712115 deg/s, posRepo size: 4
2021-08-15T17:45:28.067Z,1629049528.067 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 22.379997 m,
      bearing: 189.777503 deg,
      approachRate: -0.665018 m/s,
      LOS rate: 0.712115 deg/s,
      cmd update: 2.848461 deg/s,
      cmd heading: 202.159565 deg,
      new cmd heading: 203.046231 deg.

2021-08-15T17:45:30.477Z,1629049530.477 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:45:30.846Z,1629049530.846 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:45:30.846Z,1629049530.846 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:45:30.846Z,1629049530.846 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:45:30.847Z,1629049530.847 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:45:31.241Z,1629049531.241 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FD0,000,003E6,184,80,80,A1,FF
2021-08-15T17:45:31.241Z,1629049531.241 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:45:31.242Z,1629049531.242 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:45:31.243Z,1629049531.243 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:45:31.725Z,1629049531.725 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:45:32.139Z,1629049532.139 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0E6,000,003B9,186,80,80,6A,FF
2021-08-15T17:45:32.144Z,1629049532.144 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:45:32.229Z,1629049532.229 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:45:32.541Z,1629049532.541 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174532.33*58

2021-08-15T17:45:32.576Z,1629049532.576 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 19.680002 m, bearing: 187.731451 deg, deltaT: 4.562348 s, approachRate: -0.591799 m/s, LOS rate: -0.448465 deg/s, posRepo size: 4
2021-08-15T17:45:32.578Z,1629049532.578 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 19.680002 m,
      bearing: 187.731451 deg,
      approachRate: -0.591799 m/s,
      LOS rate: -0.448465 deg/s,
      cmd update: -1.793858 deg/s,
      cmd heading: 215.155592 deg,
      new cmd heading: 216.165306 deg.

2021-08-15T17:45:35.046Z,1629049535.046 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:45:35.361Z,1629049535.361 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:45:35.361Z,1629049535.361 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:45:35.361Z,1629049535.361 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:45:35.362Z,1629049535.362 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:45:35.765Z,1629049535.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0E6,000,003B9,186,80,80,6A,FF
2021-08-15T17:45:35.765Z,1629049535.765 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:45:35.765Z,1629049535.765 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:45:35.767Z,1629049535.767 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:45:36.201Z,1629049536.201 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:45:36.577Z,1629049536.577 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,220,000,0038A,188,80,80,7A,FF
2021-08-15T17:45:36.578Z,1629049536.578 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:45:36.632Z,1629049536.632 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:45:37.041Z,1629049537.041 [Micromodem](INFO): Nmea in: $SNTTA,0.025706,,,,174536.85*49

2021-08-15T17:45:37.087Z,1629049537.087 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 16.860001 m, bearing: 183.462078 deg, deltaT: 4.403508 s, approachRate: -0.640399 m/s, LOS rate: -0.969539 deg/s, posRepo size: 4
2021-08-15T17:45:37.089Z,1629049537.089 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 16.860001 m,
      bearing: 183.462078 deg,
      approachRate: -0.640399 m/s,
      LOS rate: -0.969539 deg/s,
      cmd update: -3.878157 deg/s,
      cmd heading: 207.263812 deg,
      new cmd heading: 206.427598 deg.

2021-08-15T17:45:39.440Z,1629049539.440 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:45:39.811Z,1629049539.811 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:45:39.811Z,1629049539.811 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:45:39.811Z,1629049539.811 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:45:39.828Z,1629049539.828 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:45:40.202Z,1629049540.202 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
220,000,0038A,188,80,80,7A,FF
2021-08-15T17:45:40.202Z,1629049540.202 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:45:40.202Z,1629049540.202 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:45:40.203Z,1629049540.203 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:45:40.619Z,1629049540.619 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:45:41.101Z,1629049541.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B2,000,00366,189,80,80,69,FF
2021-08-15T17:45:41.101Z,1629049541.101 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:45:41.221Z,1629049541.221 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:45:41.462Z,1629049541.462 [Micromodem](INFO): Nmea in: $SNTTA,0.033901,,,,174541.29*41

2021-08-15T17:45:41.484Z,1629049541.484 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.700000 m, bearing: 178.260137 deg, deltaT: 4.588566 s, approachRate: -0.470735 m/s, LOS rate: -1.133674 deg/s, posRepo size: 4
2021-08-15T17:45:41.486Z,1629049541.486 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.700000 m,
      bearing: 178.260137 deg,
      approachRate: -0.470735 m/s,
      LOS rate: -1.133674 deg/s,
      cmd update: -4.534698 deg/s,
      cmd heading: 189.445028 deg,
      new cmd heading: 188.405512 deg.

2021-08-15T17:45:43.894Z,1629049543.894 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:45:44.249Z,1629049544.249 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:45:44.249Z,1629049544.249 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:45:44.249Z,1629049544.249 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:45:44.250Z,1629049544.250 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:45:44.654Z,1629049544.654 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B2,000,00366,189,80,80,69,FF
2021-08-15T17:45:44.654Z,1629049544.654 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:45:44.654Z,1629049544.654 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:45:44.682Z,1629049544.682 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:45:45.072Z,1629049545.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:45:45.458Z,1629049545.458 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,06F,000,00339,186,80,80,86,FF
2021-08-15T17:45:45.458Z,1629049545.458 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:45:45.530Z,1629049545.530 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:45:45.929Z,1629049545.929 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174545.76*59

2021-08-15T17:45:46.005Z,1629049546.005 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.999999 m, bearing: 187.266712 deg, deltaT: 4.309314 s, approachRate: -0.626550 m/s, LOS rate: 2.090025 deg/s, posRepo size: 4
2021-08-15T17:45:46.008Z,1629049546.008 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.999999 m,
      bearing: 187.266712 deg,
      approachRate: -0.626550 m/s,
      LOS rate: 2.090025 deg/s,
      cmd update: 8.360100 deg/s,
      cmd heading: 169.912248 deg,
      new cmd heading: 167.729984 deg.

2021-08-15T17:45:48.317Z,1629049548.317 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:45:48.685Z,1629049548.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:45:48.685Z,1629049548.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:45:48.685Z,1629049548.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:45:48.686Z,1629049548.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:45:49.089Z,1629049549.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
06F,000,00339,186,80,80,86,FF
2021-08-15T17:45:49.089Z,1629049549.089 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:45:49.089Z,1629049549.089 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:45:49.091Z,1629049549.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:45:49.497Z,1629049549.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:45:49.901Z,1629049549.901 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F45,000,0030F,186,80,80,C6,FF
2021-08-15T17:45:49.901Z,1629049549.901 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:45:49.922Z,1629049549.922 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:45:50.338Z,1629049550.338 [Micromodem](INFO): Nmea in: $SNTTA,0.050242,,,,174550.17*45

2021-08-15T17:45:50.413Z,1629049550.413 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.479997 m, bearing: 188.050817 deg, deltaT: 4.391816 s, approachRate: -0.573795 m/s, LOS rate: 0.178538 deg/s, posRepo size: 4
2021-08-15T17:45:50.414Z,1629049550.414 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.479997 m,
      bearing: 188.050817 deg,
      approachRate: -0.573795 m/s,
      LOS rate: 0.178538 deg/s,
      cmd update: 0.714152 deg/s,
      cmd heading: 206.662120 deg,
      new cmd heading: 210.787036 deg.

2021-08-15T17:45:52.426Z,1629049552.426 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:45:52.729Z,1629049552.729 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:45:52.729Z,1629049552.729 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:45:52.729Z,1629049552.729 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:45:52.730Z,1629049552.730 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:45:53.141Z,1629049553.141 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F45,000,0030F,186,80,80,C6,FF
2021-08-15T17:45:53.141Z,1629049553.141 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:45:53.141Z,1629049553.141 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:45:53.148Z,1629049553.148 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:45:53.532Z,1629049553.532 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:45:53.930Z,1629049553.930 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F63,000,00302,187,80,80,BC,FF
2021-08-15T17:45:53.930Z,1629049553.930 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:45:53.955Z,1629049553.955 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:45:54.354Z,1629049554.354 [Micromodem](INFO): Nmea in: $SNTTA,0.033931,,,,174554.23*4C

2021-08-15T17:45:54.437Z,1629049554.437 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.699999 m, bearing: 189.560726 deg, deltaT: 4.032642 s, approachRate: -0.193421 m/s, LOS rate: 0.374422 deg/s, posRepo size: 4
2021-08-15T17:45:54.444Z,1629049554.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.699999 m,
      bearing: 189.560726 deg,
      approachRate: -0.193421 m/s,
      LOS rate: 0.374422 deg/s,
      cmd update: 1.497687 deg/s,
      cmd heading: 209.542029 deg,
      new cmd heading: 209.884978 deg.

2021-08-15T17:45:56.810Z,1629049556.810 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:45:57.193Z,1629049557.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:45:57.193Z,1629049557.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:45:57.193Z,1629049557.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:45:57.194Z,1629049557.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:45:57.581Z,1629049557.581 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F63,000,00302,187,80,80,BC,FF
2021-08-15T17:45:57.581Z,1629049557.581 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:45:57.582Z,1629049557.582 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:45:57.583Z,1629049557.583 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:45:57.976Z,1629049557.976 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:45:58.386Z,1629049558.386 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FC3,000,002CF,184,80,80,8D,FF
2021-08-15T17:45:58.386Z,1629049558.386 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:45:58.445Z,1629049558.445 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:45:58.837Z,1629049558.837 [Micromodem](INFO): Nmea in: $SNTTA,0.036243,,,,174558.67*4B

2021-08-15T17:45:58.879Z,1629049558.879 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.639998 m, bearing: 193.273439 deg, deltaT: 4.490360 s, approachRate: -0.681460 m/s, LOS rate: 0.826819 deg/s, posRepo size: 4
2021-08-15T17:45:58.881Z,1629049558.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.639998 m,
      bearing: 193.273439 deg,
      approachRate: -0.681460 m/s,
      LOS rate: 0.826819 deg/s,
      cmd update: 3.307274 deg/s,
      cmd heading: 216.237268 deg,
      new cmd heading: 216.921972 deg.

2021-08-15T17:46:01.283Z,1629049561.283 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:46:01.613Z,1629049561.613 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:46:01.613Z,1629049561.613 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:46:01.613Z,1629049561.613 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:46:01.614Z,1629049561.614 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:46:02.017Z,1629049562.017 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FC3,000,002CF,184,80,80,8D,FF
2021-08-15T17:46:02.017Z,1629049562.017 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:46:02.017Z,1629049562.017 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:46:02.019Z,1629049562.019 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:46:02.465Z,1629049562.465 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:46:02.830Z,1629049562.830 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF6,000,002BB,186,80,80,7B,FF
2021-08-15T17:46:02.830Z,1629049562.830 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:46:02.850Z,1629049562.850 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:46:03.269Z,1629049563.269 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174603.10*58

2021-08-15T17:46:03.327Z,1629049563.327 [lineCaptureDepth:SetNavAcoustic] Running Loop=1
2021-08-15T17:46:03.327Z,1629049563.327 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic
2021-08-15T17:46:03.327Z,1629049563.327 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Running Loop=1
2021-08-15T17:46:03.327Z,1629049563.327 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::initialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T17:46:03.328Z,1629049563.328 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Running Loop=1
2021-08-15T17:46:03.328Z,1629049563.328 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A](INFO): Reseting nav to dock location at range 4.440000 m 
2021-08-15T17:46:03.329Z,1629049563.329 [lineCaptureDepth:SetNavAcoustic:UpdateNav:A] Stopped
2021-08-15T17:46:03.329Z,1629049563.329 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Running Loop=1
2021-08-15T17:46:03.329Z,1629049563.329 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Initialize SetNavComponent.
2021-08-15T17:46:03.331Z,1629049563.331 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 4.440000 m, bearing: 214.980368 deg, deltaT: 4.405456 s, approachRate: -0.272389 m/s, LOS rate: 4.927283 deg/s, posRepo size: 4
2021-08-15T17:46:03.333Z,1629049563.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 4.440000 m,
      bearing: 214.980368 deg,
      approachRate: -0.272389 m/s,
      LOS rate: 4.927283 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 230.872782 deg,
      new cmd heading: 232.473939 deg.

2021-08-15T17:46:03.673Z,1629049563.673 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](INFO): SetNav fix at 20210815T174603: (41.552319, -70.708603)
2021-08-15T17:46:03.673Z,1629049563.673 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav] Stopped
2021-08-15T17:46:03.673Z,1629049563.673 [lineCaptureDepth:SetNavAcoustic:UpdateNav:B.SetNav](DEBUG): Uninitialize SetNavComponent.
2021-08-15T17:46:03.674Z,1629049563.674 [lineCaptureDepth:SetNavAcoustic:UpdateNav](INFO): Completed lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T17:46:03.674Z,1629049563.674 [lineCaptureDepth:SetNavAcoustic:UpdateNav] Stopped
2021-08-15T17:46:03.674Z,1629049563.674 [lineCaptureDepth:SetNavAcoustic:UpdateNav](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic:UpdateNav
2021-08-15T17:46:03.674Z,1629049563.674 [lineCaptureDepth:SetNavAcoustic](INFO): Completed lineCaptureDepth:SetNavAcoustic
2021-08-15T17:46:03.674Z,1629049563.674 [lineCaptureDepth:SetNavAcoustic] Stopped
2021-08-15T17:46:03.674Z,1629049563.674 [lineCaptureDepth:SetNavAcoustic](DEBUG): Aggregate::uninitialize lineCaptureDepth:SetNavAcoustic
2021-08-15T17:46:05.679Z,1629049565.679 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:46:06.057Z,1629049566.057 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:46:06.057Z,1629049566.057 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:46:06.057Z,1629049566.057 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:46:06.058Z,1629049566.058 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:46:06.461Z,1629049566.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF6,000,002BB,186,80,80,7B,FF
2021-08-15T17:46:06.461Z,1629049566.461 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:46:06.461Z,1629049566.461 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:46:06.463Z,1629049566.463 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:46:06.868Z,1629049566.868 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:46:07.277Z,1629049567.277 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F81,000,002C7,187,80,80,94,FF
2021-08-15T17:46:07.278Z,1629049567.278 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:46:07.281Z,1629049567.281 [Micromodem](INFO): Nmea in: $SNTTA,0.163197,0.162578,,,174607.55*59

2021-08-15T17:46:07.358Z,1629049567.358 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:46:07.711Z,1629049567.711 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 5.160000 m, bearing: 217.060967 deg, deltaT: 4.507635 s, approachRate: 0.159729 m/s, LOS rate: 0.461572 deg/s, posRepo size: 4
2021-08-15T17:46:07.714Z,1629049567.714 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 5.160000 m,
      bearing: 217.060967 deg,
      approachRate: 0.159729 m/s,
      LOS rate: 0.461572 deg/s,
      cmd update: 1.846288 deg/s,
      cmd heading: 284.917219 deg,
      new cmd heading: 289.245595 deg.

2021-08-15T17:46:10.126Z,1629049570.126 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:46:10.509Z,1629049570.509 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:46:10.509Z,1629049570.509 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:46:10.510Z,1629049570.510 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:46:10.511Z,1629049570.511 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:46:10.910Z,1629049570.910 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F81,000,002C7,187,80,80,94,FF
2021-08-15T17:46:10.911Z,1629049570.911 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:46:10.911Z,1629049570.911 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:46:10.913Z,1629049570.913 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:46:11.324Z,1629049571.324 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:46:11.713Z,1629049571.713 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E3D,000,002E6,187,80,80,42,FF
2021-08-15T17:46:11.714Z,1629049571.714 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:46:11.762Z,1629049571.762 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:46:12.181Z,1629049572.181 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174612.00*59

2021-08-15T17:46:12.216Z,1629049572.216 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 7.020000 m, bearing: 247.438492 deg, deltaT: 4.404305 s, approachRate: 0.422314 m/s, LOS rate: 6.897235 deg/s, posRepo size: 4
2021-08-15T17:46:12.218Z,1629049572.218 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 7.020000 m,
      bearing: 247.438492 deg,
      approachRate: 0.422314 m/s,
      LOS rate: 6.897235 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 293.056386 deg,
      new cmd heading: 293.899291 deg.

2021-08-15T17:46:14.555Z,1629049574.555 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:46:14.953Z,1629049574.953 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:46:14.953Z,1629049574.953 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:46:14.953Z,1629049574.953 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:46:14.954Z,1629049574.954 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:46:15.354Z,1629049575.354 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E3D,000,002E6,187,80,80,42,FF
2021-08-15T17:46:15.354Z,1629049575.354 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:46:15.354Z,1629049575.354 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:46:15.356Z,1629049575.356 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:46:15.762Z,1629049575.762 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:46:16.177Z,1629049576.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FA4,000,00300,186,80,80,9E,FF
2021-08-15T17:46:16.177Z,1629049576.178 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:46:16.247Z,1629049576.247 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:46:16.605Z,1629049576.605 [Micromodem](INFO): Nmea in: $SNTTA,0.057019,,,,174616.44*49

2021-08-15T17:46:16.622Z,1629049576.622 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 8.579998 m, bearing: 246.447077 deg, deltaT: 4.484469 s, approachRate: 0.347867 m/s, LOS rate: -0.221078 deg/s, posRepo size: 4
2021-08-15T17:46:16.624Z,1629049576.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 8.579998 m,
      bearing: 246.447077 deg,
      approachRate: 0.347867 m/s,
      LOS rate: -0.221078 deg/s,
      cmd update: -0.884310 deg/s,
      cmd heading: 346.726111 deg,
      new cmd heading: 351.409039 deg.

2021-08-15T17:46:19.085Z,1629049579.085 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:46:19.398Z,1629049579.398 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:46:19.399Z,1629049579.399 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:46:19.399Z,1629049579.399 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:46:19.399Z,1629049579.399 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:46:19.808Z,1629049579.808 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FA4,000,00300,186,80,80,9E,FF
2021-08-15T17:46:19.809Z,1629049579.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:46:19.809Z,1629049579.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:46:19.810Z,1629049579.810 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:46:20.217Z,1629049580.217 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:46:20.605Z,1629049580.605 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E23,000,00316,187,80,80,AA,FF
2021-08-15T17:46:20.606Z,1629049580.606 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:46:20.626Z,1629049580.626 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:46:21.069Z,1629049581.069 [Micromodem](INFO): Nmea in: $SNTTA,0.006242,,,,174620.89*45

2021-08-15T17:46:21.105Z,1629049581.105 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 9.899997 m, bearing: 284.735205 deg, deltaT: 4.379383 s, approachRate: 0.301412 m/s, LOS rate: 8.742814 deg/s, posRepo size: 4
2021-08-15T17:46:21.111Z,1629049581.111 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 9.899997 m,
      bearing: 284.735205 deg,
      approachRate: 0.301412 m/s,
      LOS rate: 8.742814 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 342.843254 deg,
      new cmd heading: 342.416820 deg.

2021-08-15T17:46:23.173Z,1629049583.173 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:46:23.441Z,1629049583.441 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:46:23.441Z,1629049583.441 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:46:23.441Z,1629049583.441 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:46:23.442Z,1629049583.442 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:46:23.845Z,1629049583.845 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E23,000,00316,187,80,80,AA,FF
2021-08-15T17:46:23.845Z,1629049583.845 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:46:23.845Z,1629049583.845 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:46:23.847Z,1629049583.847 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:46:24.245Z,1629049584.245 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:46:24.641Z,1629049584.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E1B,000,0031D,187,80,80,AF,FF
2021-08-15T17:46:24.642Z,1629049584.642 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:46:24.702Z,1629049584.702 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:46:25.089Z,1629049585.089 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174624.93*56

2021-08-15T17:46:25.188Z,1629049585.188 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 10.319998 m, bearing: 301.232079 deg, deltaT: 4.075778 s, approachRate: 0.103048 m/s, LOS rate: 4.047540 deg/s, posRepo size: 4
2021-08-15T17:46:25.190Z,1629049585.190 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 10.319998 m,
      bearing: 301.232079 deg,
      approachRate: 0.103048 m/s,
      LOS rate: 4.047540 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 31.710675 deg,
      new cmd heading: 37.578316 deg.

2021-08-15T17:46:27.518Z,1629049587.518 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:46:27.881Z,1629049587.881 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:46:27.881Z,1629049587.881 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:46:27.881Z,1629049587.881 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:46:27.882Z,1629049587.882 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:46:28.286Z,1629049588.286 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E1B,000,0031D,187,80,80,AF,FF
2021-08-15T17:46:28.286Z,1629049588.286 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:46:28.286Z,1629049588.286 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:46:28.288Z,1629049588.288 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:46:28.684Z,1629049588.684 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:46:29.089Z,1629049589.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DE3,000,0032A,187,80,80,A5,FF
2021-08-15T17:46:29.089Z,1629049589.089 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:46:29.093Z,1629049589.093 [Micromodem](INFO): Nmea in: $SNTTA,0.226783,0.226721,,,174629.42*5F

2021-08-15T17:46:29.230Z,1629049589.230 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:46:29.527Z,1629049589.527 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.100000 m, bearing: 321.906187 deg, deltaT: 4.528530 s, approachRate: 0.172242 m/s, LOS rate: 4.565302 deg/s, posRepo size: 4
2021-08-15T17:46:29.545Z,1629049589.545 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.100000 m,
      bearing: 321.906187 deg,
      approachRate: 0.172242 m/s,
      LOS rate: 4.565302 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 86.053709 deg,
      new cmd heading: 89.701001 deg.

2021-08-15T17:46:31.947Z,1629049591.947 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:46:32.322Z,1629049592.322 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:46:32.322Z,1629049592.322 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:46:32.322Z,1629049592.322 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:46:32.323Z,1629049592.323 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:46:32.733Z,1629049592.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DE3,000,0032A,187,80,80,A5,FF
2021-08-15T17:46:32.733Z,1629049592.733 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:46:32.733Z,1629049592.733 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:46:32.735Z,1629049592.735 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:46:33.145Z,1629049593.145 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:46:33.541Z,1629049593.541 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DD3,000,0032D,189,80,80,A7,FF
2021-08-15T17:46:33.542Z,1629049593.542 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:46:33.562Z,1629049593.562 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:46:33.985Z,1629049593.985 [Micromodem](INFO): Nmea in: $SNTTA,0.129595,,,,174633.82*4D

2021-08-15T17:46:34.023Z,1629049594.023 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.280000 m, bearing: 341.245458 deg, deltaT: 4.331490 s, approachRate: 0.041556 m/s, LOS rate: 4.464808 deg/s, posRepo size: 4
2021-08-15T17:46:34.030Z,1629049594.030 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.280000 m,
      bearing: 341.245458 deg,
      approachRate: 0.041556 m/s,
      LOS rate: 4.464808 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 138.079842 deg,
      new cmd heading: 143.654970 deg.

2021-08-15T17:46:35.561Z,1629049595.561 [PowerOnly](INFO): Powering down loadControl
2021-08-15T17:46:36.424Z,1629049596.424 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:46:36.783Z,1629049596.783 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:46:36.783Z,1629049596.783 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:46:36.783Z,1629049596.783 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:46:36.784Z,1629049596.784 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:46:37.197Z,1629049597.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DD3,000,0032D,189,80,80,A7,FF
2021-08-15T17:46:37.197Z,1629049597.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:46:37.198Z,1629049597.198 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:46:37.199Z,1629049597.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:46:37.594Z,1629049597.594 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:46:37.973Z,1629049597.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,DB5,000,0032F,189,80,80,A2,FF
2021-08-15T17:46:37.974Z,1629049597.974 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:46:37.994Z,1629049597.994 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:46:38.406Z,1629049598.406 [Micromodem](INFO): Nmea in: $SNTTA,0.051027,,,,174638.28*44

2021-08-15T17:46:38.449Z,1629049598.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 11.400001 m, bearing: 357.178951 deg, deltaT: 4.431779 s, approachRate: 0.027077 m/s, LOS rate: 3.595281 deg/s, posRepo size: 4
2021-08-15T17:46:38.449Z,1629049598.449 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Starting intercept timer at range: 11.40 m.
2021-08-15T17:46:38.451Z,1629049598.451 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 11.400001 m,
      bearing: 357.178951 deg,
      approachRate: 0.027077 m/s,
      LOS rate: 3.595281 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 191.261227 deg,
      new cmd heading: 196.756087 deg.

2021-08-15T17:46:40.863Z,1629049600.863 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:46:41.205Z,1629049601.205 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:46:41.205Z,1629049601.205 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:46:41.205Z,1629049601.205 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:46:41.206Z,1629049601.206 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:46:41.618Z,1629049601.618 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
DB5,000,0032F,189,80,80,A2,FF
2021-08-15T17:46:41.618Z,1629049601.618 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:46:41.619Z,1629049601.619 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:46:41.622Z,1629049601.622 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:46:42.017Z,1629049602.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:46:42.446Z,1629049602.446 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2DB,000,0033B,189,80,80,27,FF
2021-08-15T17:46:42.446Z,1629049602.446 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:46:42.536Z,1629049602.536 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:46:42.845Z,1629049602.845 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174642.71*5A

2021-08-15T17:46:42.884Z,1629049602.884 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 12.120000 m, bearing: 280.145209 deg, deltaT: 4.542243 s, approachRate: 0.158512 m/s, LOS rate: -16.959406 deg/s, posRepo size: 4
2021-08-15T17:46:42.885Z,1629049602.885 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): ProNav REINIT: LOS rate is -16.959406 deg/s. Setting heading cmd to target bearing of 280.145209deg and heading rate command to 0 deg/s.
2021-08-15T17:46:45.304Z,1629049605.304 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:46:45.653Z,1629049605.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:46:45.653Z,1629049605.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:46:45.653Z,1629049605.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:46:45.654Z,1629049605.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:46:46.053Z,1629049606.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2DB,000,0033B,189,80,80,27,FF
2021-08-15T17:46:46.053Z,1629049606.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:46:46.053Z,1629049606.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:46:46.055Z,1629049606.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:46:46.472Z,1629049606.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:46:46.857Z,1629049606.857 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E69,000,00367,187,80,80,80,FF
2021-08-15T17:46:46.858Z,1629049606.858 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:46:46.907Z,1629049606.907 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:46:47.293Z,1629049607.293 [Micromodem](INFO): Nmea in: $SNTTA,0.048143,,,,174647.14*48

2021-08-15T17:46:47.394Z,1629049607.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 14.759997 m, bearing: 316.912800 deg, deltaT: 4.370864 s, approachRate: 0.603999 m/s, LOS rate: 8.411973 deg/s, posRepo size: 4
2021-08-15T17:46:47.394Z,1629049607.394 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Stopped intercept timer at range: 14.76 m.
2021-08-15T17:46:47.398Z,1629049607.398 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 14.759997 m,
      bearing: 316.912800 deg,
      approachRate: 0.603999 m/s,
      LOS rate: 8.411973 deg/s,
      cmd update: 12.000000 deg/s,
      cmd heading: 280.145209 deg,
      new cmd heading: 280.145209 deg.

2021-08-15T17:46:49.730Z,1629049609.730 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:46:50.097Z,1629049610.097 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:46:50.097Z,1629049610.097 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:46:50.097Z,1629049610.097 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:46:50.098Z,1629049610.098 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:46:50.509Z,1629049610.509 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E69,000,00367,187,80,80,80,FF
2021-08-15T17:46:50.509Z,1629049610.509 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:46:50.509Z,1629049610.509 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:46:50.511Z,1629049610.511 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:46:50.913Z,1629049610.913 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:46:51.305Z,1629049611.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,E59,000,00391,186,80,80,3E,FF
2021-08-15T17:46:51.306Z,1629049611.306 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:46:51.433Z,1629049611.433 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:46:51.737Z,1629049611.737 [Micromodem](INFO): Nmea in: $SNTTA,,0.035975,,,174651.60*4B

2021-08-15T17:46:51.780Z,1629049611.780 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 17.280001 m, bearing: 303.228434 deg, deltaT: 4.526112 s, approachRate: 0.556770 m/s, LOS rate: -3.023426 deg/s, posRepo size: 4
2021-08-15T17:46:51.782Z,1629049611.782 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 17.280001 m,
      bearing: 303.228434 deg,
      approachRate: 0.556770 m/s,
      LOS rate: -3.023426 deg/s,
      cmd update: -12.000000 deg/s,
      cmd heading: 334.337714 deg,
      new cmd heading: 338.611022 deg.

2021-08-15T17:46:54.190Z,1629049614.190 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:46:54.541Z,1629049614.541 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:46:54.541Z,1629049614.541 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:46:54.542Z,1629049614.542 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:46:54.543Z,1629049614.543 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:46:54.944Z,1629049614.944 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
E59,000,00391,186,80,80,3E,FF
2021-08-15T17:46:54.944Z,1629049614.944 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:46:54.944Z,1629049614.944 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:46:54.946Z,1629049614.946 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:46:55.357Z,1629049615.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:46:55.757Z,1629049615.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EF5,000,003A7,186,80,80,6E,FF
2021-08-15T17:46:55.757Z,1629049615.757 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:46:55.778Z,1629049615.778 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:46:56.201Z,1629049616.201 [Micromodem](INFO): Nmea in: $SNTTA,0.038498,,,,174656.03*4A

2021-08-15T17:46:56.262Z,1629049616.262 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 18.599998 m, bearing: 304.203156 deg, deltaT: 4.345444 s, approachRate: 0.303766 m/s, LOS rate: 0.224309 deg/s, posRepo size: 4
2021-08-15T17:46:56.265Z,1629049616.265 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): 
   ProNav: 
      pos range: 18.599998 m,
      bearing: 304.203156 deg,
      approachRate: 0.303766 m/s,
      LOS rate: 0.224309 deg/s,
      cmd update: 0.897236 deg/s,
      cmd heading: 282.069229 deg,
      new cmd heading: 276.245317 deg.

2021-08-15T17:46:58.606Z,1629049618.606 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:46:59.014Z,1629049619.014 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:46:59.014Z,1629049619.014 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:46:59.014Z,1629049619.014 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:46:59.020Z,1629049619.020 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:46:59.394Z,1629049619.394 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EF5,000,003A7,186,80,80,6E,FF
2021-08-15T17:46:59.394Z,1629049619.394 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:46:59.394Z,1629049619.394 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:46:59.398Z,1629049619.398 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:46:59.798Z,1629049619.798 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:47:00.206Z,1629049620.206 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,150,000,003C3,186,80,80,61,FF
2021-08-15T17:47:00.206Z,1629049620.206 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:47:00.236Z,1629049620.236 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:47:00.637Z,1629049620.637 [Micromodem](INFO): Nmea in: $SNTTA,0.060647,,,,174700.48*4A

2021-08-15T17:47:00.659Z,1629049620.659 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 20.280001 m, bearing: 287.625741 deg, deltaT: 4.457967 s, approachRate: 0.376854 m/s, LOS rate: -3.718604 deg/s, posRepo size: 4
2021-08-15T17:47:00.660Z,1629049620.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](ERROR): Target missed at range: 20.28 m. Rolling out.
2021-08-15T17:47:00.660Z,1629049620.660 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT
2021-08-15T17:47:03.148Z,1629049623.148 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:47:03.437Z,1629049623.437 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:47:03.437Z,1629049623.437 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:47:03.438Z,1629049623.438 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:47:03.438Z,1629049623.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:47:03.833Z,1629049623.833 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
150,000,003C3,186,80,80,61,FF
2021-08-15T17:47:03.833Z,1629049623.833 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:47:03.833Z,1629049623.833 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:47:03.835Z,1629049623.835 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:47:04.237Z,1629049624.237 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:47:05.086Z,1629049625.086 [Micromodem](INFO): Nmea in: $SNTTA,0.022558,,,,174704.92*42

2021-08-15T17:47:05.885Z,1629049625.885 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:47:07.493Z,1629049627.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
3,186,80,80,61,FF
2021-08-15T17:47:07.493Z,1629049627.493 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
3,186,80,80,61,FF
2021-08-15T17:47:07.493Z,1629049627.493 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T17:47:08.695Z,1629049628.695 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:47:09.088Z,1629049629.088 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:47:09.089Z,1629049629.089 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:47:09.089Z,1629049629.089 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:47:09.090Z,1629049629.090 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:47:09.485Z,1629049629.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
3,186,80,80,61,FF
2021-08-15T17:47:09.485Z,1629049629.485 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:47:09.485Z,1629049629.485 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:47:09.487Z,1629049629.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:47:09.901Z,1629049629.901 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:47:10.305Z,1629049630.305 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FFB,000,00406,183,80,80,3E,FF
2021-08-15T17:47:10.306Z,1629049630.306 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:47:10.357Z,1629049630.357 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:47:10.734Z,1629049630.734 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174710.57*58

2021-08-15T17:47:10.750Z,1629049630.750 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 24.300001 m, bearing: 288.231060 deg, deltaT: 10.120710 s, approachRate: 0.397205 m/s, LOS rate: 0.059810 deg/s, posRepo size: 4
2021-08-15T17:47:13.208Z,1629049633.208 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:47:13.525Z,1629049633.525 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:47:13.525Z,1629049633.525 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:47:13.525Z,1629049633.525 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:47:13.526Z,1629049633.526 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:47:13.930Z,1629049633.930 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FFB,000,00406,183,80,80,3E,FF
2021-08-15T17:47:13.930Z,1629049633.930 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:47:13.930Z,1629049633.930 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:47:13.931Z,1629049633.931 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:47:14.342Z,1629049634.342 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:47:14.733Z,1629049634.733 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20D,000,0041F,187,80,80,4B,FF
2021-08-15T17:47:14.734Z,1629049634.734 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:47:14.795Z,1629049634.795 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:47:15.185Z,1629049635.185 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174715.02*5D

2021-08-15T17:47:15.249Z,1629049635.249 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 25.799997 m, bearing: 257.561816 deg, deltaT: 4.437836 s, approachRate: 0.338002 m/s, LOS rate: -6.910855 deg/s, posRepo size: 4
2021-08-15T17:47:17.591Z,1629049637.591 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:47:17.969Z,1629049637.969 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:47:17.969Z,1629049637.969 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:47:17.969Z,1629049637.969 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:47:17.970Z,1629049637.970 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:47:18.386Z,1629049638.386 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20D,000,0041F,187,80,80,4B,FF
2021-08-15T17:47:18.386Z,1629049638.386 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:47:18.386Z,1629049638.386 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:47:18.390Z,1629049638.390 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:47:18.781Z,1629049638.781 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:47:19.193Z,1629049639.193 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,23C,000,00427,189,80,80,7D,FF
2021-08-15T17:47:19.194Z,1629049639.194 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:47:19.301Z,1629049639.301 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:47:19.613Z,1629049639.613 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174719.48*5F

2021-08-15T17:47:19.645Z,1629049639.645 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 26.280003 m, bearing: 253.460452 deg, deltaT: 4.505981 s, approachRate: 0.106526 m/s, LOS rate: -0.910205 deg/s, posRepo size: 4
2021-08-15T17:47:22.052Z,1629049642.052 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:47:22.421Z,1629049642.421 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:47:22.421Z,1629049642.421 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:47:22.421Z,1629049642.421 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:47:22.422Z,1629049642.422 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:47:22.817Z,1629049642.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
23C,000,00427,189,80,80,7D,FF
2021-08-15T17:47:22.817Z,1629049642.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:47:22.817Z,1629049642.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:47:22.819Z,1629049642.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:47:23.224Z,1629049643.224 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:47:23.629Z,1629049643.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D2,000,00434,186,80,80,68,FF
2021-08-15T17:47:23.629Z,1629049643.629 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:47:23.649Z,1629049643.649 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:47:24.061Z,1629049644.061 [Micromodem](INFO): Nmea in: $SNTTA,0.030052,,,,174723.91*48

2021-08-15T17:47:24.120Z,1629049644.120 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 27.059999 m, bearing: 259.666143 deg, deltaT: 4.348253 s, approachRate: 0.179382 m/s, LOS rate: 1.427169 deg/s, posRepo size: 4
2021-08-15T17:47:26.503Z,1629049646.503 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:47:26.857Z,1629049646.857 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:47:26.857Z,1629049646.857 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:47:26.857Z,1629049646.857 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:47:26.858Z,1629049646.858 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:47:27.273Z,1629049647.273 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D2,000,00434,186,80,80,68,FF
2021-08-15T17:47:27.273Z,1629049647.273 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:47:27.273Z,1629049647.273 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:47:27.277Z,1629049647.277 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:47:27.701Z,1629049647.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:47:28.097Z,1629049648.097 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,139,000,00450,186,80,80,65,FF
2021-08-15T17:47:28.097Z,1629049648.097 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:47:28.173Z,1629049648.173 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:47:28.517Z,1629049648.517 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174728.36*54

2021-08-15T17:47:28.563Z,1629049648.563 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 28.740002 m, bearing: 268.509735 deg, deltaT: 4.523640 s, approachRate: 0.371383 m/s, LOS rate: 1.954973 deg/s, posRepo size: 4
2021-08-15T17:47:31.210Z,1629049651.210 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:47:31.374Z,1629049651.374 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:47:31.374Z,1629049651.374 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:47:31.374Z,1629049651.374 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:47:31.375Z,1629049651.375 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:47:31.786Z,1629049651.786 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
139,000,00450,186,80,80,65,FF
2021-08-15T17:47:31.786Z,1629049651.786 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:47:31.786Z,1629049651.786 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:47:31.788Z,1629049651.788 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:47:32.208Z,1629049652.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:47:32.597Z,1629049652.597 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,213,000,00459,188,80,80,1E,FF
2021-08-15T17:47:32.598Z,1629049652.598 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:47:32.641Z,1629049652.641 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:47:33.049Z,1629049653.049 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174732.88*5A

2021-08-15T17:47:33.137Z,1629049653.137 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 29.280003 m, bearing: 256.368500 deg, deltaT: 4.468400 s, approachRate: 0.120849 m/s, LOS rate: -2.717132 deg/s, posRepo size: 4
2021-08-15T17:47:35.163Z,1629049655.163 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:47:35.436Z,1629049655.436 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:47:35.436Z,1629049655.436 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:47:35.437Z,1629049655.437 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:47:35.438Z,1629049655.438 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:47:35.821Z,1629049655.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
213,000,00459,188,80,80,1E,FF
2021-08-15T17:47:35.821Z,1629049655.821 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:47:35.821Z,1629049655.821 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:47:35.823Z,1629049655.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:47:36.264Z,1629049656.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:47:37.062Z,1629049657.062 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174736.91*56

2021-08-15T17:47:37.874Z,1629049657.874 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:47:39.469Z,1629049659.469 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
9,188,80,80,1E,FF
2021-08-15T17:47:39.469Z,1629049659.469 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
9,188,80,80,1E,FF
2021-08-15T17:47:39.470Z,1629049659.470 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T17:47:40.687Z,1629049660.687 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:47:41.085Z,1629049661.085 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:47:41.085Z,1629049661.085 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:47:41.085Z,1629049661.085 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:47:41.086Z,1629049661.086 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:47:41.489Z,1629049661.489 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
9,188,80,80,1E,FF
2021-08-15T17:47:41.489Z,1629049661.489 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:47:41.489Z,1629049661.489 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:47:41.490Z,1629049661.490 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:47:41.896Z,1629049661.896 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:47:42.285Z,1629049662.285 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,FF3,000,0048A,183,80,80,5C,FF
2021-08-15T17:47:42.285Z,1629049662.285 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:47:42.315Z,1629049662.315 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:47:42.729Z,1629049662.729 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174742.58*50

2021-08-15T17:47:42.759Z,1629049662.759 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 32.220001 m, bearing: 286.135913 deg, deltaT: 9.674261 s, approachRate: 0.303899 m/s, LOS rate: 3.076970 deg/s, posRepo size: 4
2021-08-15T17:47:45.183Z,1629049665.183 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:47:45.517Z,1629049665.517 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:47:45.517Z,1629049665.517 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:47:45.517Z,1629049665.517 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:47:45.518Z,1629049665.518 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:47:45.934Z,1629049665.934 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
FF3,000,0048A,183,80,80,5C,FF
2021-08-15T17:47:45.934Z,1629049665.934 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:47:45.934Z,1629049665.934 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:47:45.937Z,1629049665.937 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:47:46.359Z,1629049666.359 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:47:46.742Z,1629049666.742 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22C,000,0049A,188,80,80,6E,FF
2021-08-15T17:47:46.742Z,1629049666.742 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:47:46.769Z,1629049666.769 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:47:47.173Z,1629049667.173 [Micromodem](INFO): Nmea in: $SNTTA,0.043472,,,,174747.02*42

2021-08-15T17:47:47.223Z,1629049667.223 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 33.180000 m, bearing: 256.502973 deg, deltaT: 4.453946 s, approachRate: 0.215539 m/s, LOS rate: -6.653188 deg/s, posRepo size: 4
2021-08-15T17:47:49.583Z,1629049669.583 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:47:49.974Z,1629049669.974 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:47:49.974Z,1629049669.974 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:47:49.974Z,1629049669.974 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:47:49.974Z,1629049669.974 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:47:50.365Z,1629049670.365 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22C,000,0049A,188,80,80,6E,FF
2021-08-15T17:47:50.365Z,1629049670.365 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:47:50.365Z,1629049670.365 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:47:50.367Z,1629049670.367 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:47:50.783Z,1629049670.783 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:47:51.190Z,1629049671.190 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,14A,000,004B3,186,80,80,94,FF
2021-08-15T17:47:51.190Z,1629049671.190 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:47:51.278Z,1629049671.278 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:47:51.622Z,1629049671.622 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174751.45*5E

2021-08-15T17:47:51.670Z,1629049671.670 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 34.680000 m, bearing: 267.539466 deg, deltaT: 4.508154 s, approachRate: 0.332730 m/s, LOS rate: 2.448118 deg/s, posRepo size: 4
2021-08-15T17:47:54.053Z,1629049674.053 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:47:54.409Z,1629049674.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:47:54.409Z,1629049674.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:47:54.410Z,1629049674.410 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:47:54.410Z,1629049674.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:47:54.809Z,1629049674.809 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
14A,000,004B3,186,80,80,94,FF
2021-08-15T17:47:54.809Z,1629049674.809 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:47:54.809Z,1629049674.809 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:47:54.811Z,1629049674.811 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:47:55.224Z,1629049675.224 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:47:55.622Z,1629049675.622 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D5,000,004C5,186,80,80,A5,FF
2021-08-15T17:47:55.622Z,1629049675.622 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:47:55.689Z,1629049675.689 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:47:56.061Z,1629049676.061 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174755.90*52

2021-08-15T17:47:56.083Z,1629049676.083 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 35.760002 m, bearing: 259.839247 deg, deltaT: 4.414559 s, approachRate: 0.244645 m/s, LOS rate: -1.744278 deg/s, posRepo size: 4
2021-08-15T17:47:58.498Z,1629049678.498 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:47:58.858Z,1629049678.858 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:47:58.858Z,1629049678.858 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:47:58.858Z,1629049678.858 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:47:58.859Z,1629049678.859 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:47:59.255Z,1629049679.255 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D5,000,004C5,186,80,80,A5,FF
2021-08-15T17:47:59.255Z,1629049679.255 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:47:59.255Z,1629049679.255 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:47:59.257Z,1629049679.257 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:47:59.672Z,1629049679.672 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:48:00.057Z,1629049680.057 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,234,000,004D3,189,80,80,22,FF
2021-08-15T17:48:00.058Z,1629049680.058 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:48:00.143Z,1629049680.143 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:48:00.510Z,1629049680.510 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174800.34*53

2021-08-15T17:48:00.540Z,1629049680.540 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 36.600002 m, bearing: 254.912523 deg, deltaT: 4.450983 s, approachRate: 0.188722 m/s, LOS rate: -1.106885 deg/s, posRepo size: 4
2021-08-15T17:48:02.926Z,1629049682.926 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:48:03.309Z,1629049683.309 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:48:03.309Z,1629049683.309 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:48:03.309Z,1629049683.309 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:48:03.310Z,1629049683.310 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:48:03.709Z,1629049683.709 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
234,000,004D3,189,80,80,22,FF
2021-08-15T17:48:03.709Z,1629049683.709 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:48:03.709Z,1629049683.709 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:48:03.711Z,1629049683.711 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:48:04.113Z,1629049684.113 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:48:04.522Z,1629049684.522 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,263,000,004E7,189,80,80,53,FF
2021-08-15T17:48:04.522Z,1629049684.522 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:48:04.552Z,1629049684.552 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:48:05.038Z,1629049685.038 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 37.799999 m, bearing: 252.603318 deg, deltaT: 4.408836 s, approachRate: 0.272180 m/s, LOS rate: -0.523768 deg/s, posRepo size: 4
2021-08-15T17:48:05.337Z,1629049685.337 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174804.86*5E

2021-08-15T17:48:07.442Z,1629049687.442 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:48:07.745Z,1629049687.745 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:48:07.745Z,1629049687.745 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:48:07.745Z,1629049687.745 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:48:07.746Z,1629049687.746 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:48:08.181Z,1629049688.181 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
263,000,004E7,189,80,80,53,FF
2021-08-15T17:48:08.181Z,1629049688.181 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:48:08.181Z,1629049688.181 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:48:08.183Z,1629049688.183 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:48:08.565Z,1629049688.565 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:48:08.961Z,1629049688.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2EA,000,004F9,189,80,80,58,FF
2021-08-15T17:48:08.962Z,1629049688.962 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:48:09.050Z,1629049689.050 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:48:09.380Z,1629049689.380 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174809.27*58

2021-08-15T17:48:09.469Z,1629049689.469 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 38.879997 m, bearing: 244.438100 deg, deltaT: 4.497875 s, approachRate: 0.240113 m/s, LOS rate: -1.815350 deg/s, posRepo size: 4
2021-08-15T17:48:11.846Z,1629049691.846 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:48:12.221Z,1629049692.221 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:48:12.221Z,1629049692.221 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:48:12.221Z,1629049692.221 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:48:12.222Z,1629049692.222 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:48:12.621Z,1629049692.621 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2EA,000,004F9,189,80,80,58,FF
2021-08-15T17:48:12.621Z,1629049692.621 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:48:12.621Z,1629049692.621 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:48:12.623Z,1629049692.623 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:48:13.061Z,1629049693.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:48:13.437Z,1629049693.437 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2E0,000,0050C,189,80,80,5D,FF
2021-08-15T17:48:13.437Z,1629049693.437 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:48:13.504Z,1629049693.504 [lineCaptureDepth:TrackAC.](DEBUG): Combining 5 samples.
2021-08-15T17:48:13.874Z,1629049693.874 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174813.71*50

2021-08-15T17:48:13.895Z,1629049693.895 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 40.019997 m, bearing: 244.291278 deg, deltaT: 4.453998 s, approachRate: 0.255950 m/s, LOS rate: -0.032964 deg/s, posRepo size: 4
2021-08-15T17:48:14.275Z,1629049694.275 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1
2021-08-15T17:48:14.275Z,1629049694.275 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T17:48:14.288Z,1629049694.288 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1
2021-08-15T17:48:14.288Z,1629049694.288 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings.
2021-08-15T17:48:14.289Z,1629049694.289 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped
2021-08-15T17:48:14.289Z,1629049694.289 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1
2021-08-15T17:48:14.666Z,1629049694.666 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped
2021-08-15T17:48:14.666Z,1629049694.666 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T17:48:14.667Z,1629049694.667 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped
2021-08-15T17:48:14.667Z,1629049694.667 [lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal:UpdateNumPingsATR
2021-08-15T17:48:16.310Z,1629049696.310 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:48:16.669Z,1629049696.669 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:48:16.669Z,1629049696.669 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:48:16.669Z,1629049696.669 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:48:16.670Z,1629049696.670 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:48:17.075Z,1629049697.075 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2E0,000,0050C,189,80,80,5D,FF
2021-08-15T17:48:17.075Z,1629049697.075 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:48:17.075Z,1629049697.075 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:48:17.077Z,1629049697.077 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:48:17.472Z,1629049697.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:48:18.298Z,1629049698.298 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174818.16*5A

2021-08-15T17:48:19.134Z,1629049699.134 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:48:20.701Z,1629049700.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,189,80,80,5D,FF
2021-08-15T17:48:20.701Z,1629049700.701 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,189,80,80,5D,FF
2021-08-15T17:48:20.701Z,1629049700.701 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T17:48:21.939Z,1629049701.939 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:48:22.317Z,1629049702.317 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:48:22.317Z,1629049702.317 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:48:22.317Z,1629049702.317 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:48:22.318Z,1629049702.318 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:48:22.721Z,1629049702.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,189,80,80,5D,FF
2021-08-15T17:48:22.721Z,1629049702.721 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:48:22.721Z,1629049702.721 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:48:22.723Z,1629049702.723 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:48:23.152Z,1629049703.152 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:48:23.529Z,1629049703.529 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A5,000,00537,189,80,80,6B,FF
2021-08-15T17:48:23.529Z,1629049703.529 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:48:23.975Z,1629049703.975 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174823.81*5C

2021-08-15T17:48:23.996Z,1629049703.996 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 42.599998 m, bearing: 249.161012 deg, deltaT: 10.045079 s, approachRate: 0.256842 m/s, LOS rate: 0.484788 deg/s, posRepo size: 4
2021-08-15T17:48:26.438Z,1629049706.438 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:48:26.761Z,1629049706.761 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:48:26.761Z,1629049706.761 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:48:26.761Z,1629049706.761 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:48:26.762Z,1629049706.762 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:48:27.177Z,1629049707.177 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A5,000,00537,189,80,80,6B,FF
2021-08-15T17:48:27.177Z,1629049707.177 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:48:27.177Z,1629049707.177 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:48:27.179Z,1629049707.179 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:48:27.592Z,1629049707.592 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:48:27.973Z,1629049707.973 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C6,000,00546,187,80,80,22,FF
2021-08-15T17:48:27.973Z,1629049707.973 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:48:28.429Z,1629049708.429 [Micromodem](INFO): Nmea in: $SNTTA,0.042857,,,,174828.27*49

2021-08-15T17:48:28.478Z,1629049708.478 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 43.500000 m, bearing: 260.685590 deg, deltaT: 4.502606 s, approachRate: 0.199885 m/s, LOS rate: 2.559535 deg/s, posRepo size: 4
2021-08-15T17:48:30.822Z,1629049710.822 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:48:31.213Z,1629049711.213 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:48:31.214Z,1629049711.214 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:48:31.214Z,1629049711.214 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:48:31.215Z,1629049711.215 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:48:31.609Z,1629049711.609 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C6,000,00546,187,80,80,22,FF
2021-08-15T17:48:31.609Z,1629049711.609 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:48:31.609Z,1629049711.609 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:48:31.611Z,1629049711.611 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:48:32.017Z,1629049712.017 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:48:32.425Z,1629049712.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,200,000,00559,187,80,80,5E,FF
2021-08-15T17:48:32.426Z,1629049712.426 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:48:32.861Z,1629049712.861 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174832.70*52

2021-08-15T17:48:32.883Z,1629049712.883 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 44.640003 m, bearing: 259.747750 deg, deltaT: 4.404314 s, approachRate: 0.258838 m/s, LOS rate: -0.212937 deg/s, posRepo size: 4
2021-08-15T17:48:35.327Z,1629049715.327 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:48:35.653Z,1629049715.653 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:48:35.653Z,1629049715.653 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:48:35.653Z,1629049715.653 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:48:35.654Z,1629049715.654 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:48:36.053Z,1629049716.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
200,000,00559,187,80,80,5E,FF
2021-08-15T17:48:36.053Z,1629049716.053 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:48:36.053Z,1629049716.053 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:48:36.055Z,1629049716.055 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:48:36.483Z,1629049716.483 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:48:36.861Z,1629049716.861 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1A4,000,00564,185,80,80,49,FF
2021-08-15T17:48:36.862Z,1629049716.862 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:48:37.301Z,1629049717.301 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174837.14*55

2021-08-15T17:48:37.349Z,1629049717.349 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 45.299999 m, bearing: 264.618877 deg, deltaT: 4.467848 s, approachRate: 0.147721 m/s, LOS rate: 1.090262 deg/s, posRepo size: 4
2021-08-15T17:48:39.711Z,1629049719.711 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:48:40.107Z,1629049720.107 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:48:40.107Z,1629049720.107 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:48:40.107Z,1629049720.107 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:48:40.110Z,1629049720.110 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:48:40.517Z,1629049720.517 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1A4,000,00564,185,80,80,49,FF
2021-08-15T17:48:40.517Z,1629049720.517 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:48:40.517Z,1629049720.517 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:48:40.519Z,1629049720.519 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:48:40.917Z,1629049720.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:48:41.313Z,1629049721.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,12E,000,0057F,186,80,80,84,FF
2021-08-15T17:48:41.314Z,1629049721.314 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:48:41.741Z,1629049721.741 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174841.60*57

2021-08-15T17:48:41.763Z,1629049721.763 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 46.919994 m, bearing: 269.028693 deg, deltaT: 4.490303 s, approachRate: 0.360776 m/s, LOS rate: 0.982075 deg/s, posRepo size: 4
2021-08-15T17:48:44.203Z,1629049724.203 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:48:44.549Z,1629049724.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:48:44.549Z,1629049724.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:48:44.549Z,1629049724.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:48:44.550Z,1629049724.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:48:44.942Z,1629049724.942 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
12E,000,0057F,186,80,80,84,FF
2021-08-15T17:48:44.943Z,1629049724.943 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:48:44.943Z,1629049724.943 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:48:44.945Z,1629049724.945 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:48:45.357Z,1629049725.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:48:45.749Z,1629049725.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,200,000,0058D,187,80,80,7D,FF
2021-08-15T17:48:45.750Z,1629049725.750 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:48:46.210Z,1629049726.210 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174846.03*55

2021-08-15T17:48:46.238Z,1629049726.238 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 47.759995 m, bearing: 257.754182 deg, deltaT: 4.355128 s, approachRate: 0.192876 m/s, LOS rate: -2.588790 deg/s, posRepo size: 4
2021-08-15T17:48:48.631Z,1629049728.631 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:48:48.996Z,1629049728.996 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:48:48.996Z,1629049728.996 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:48:48.997Z,1629049728.997 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:48:48.998Z,1629049728.998 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:48:49.390Z,1629049729.390 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
200,000,0058D,187,80,80,7D,FF
2021-08-15T17:48:49.390Z,1629049729.390 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:48:49.391Z,1629049729.391 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:48:49.421Z,1629049729.421 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:48:49.798Z,1629049729.798 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:48:50.210Z,1629049730.210 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,227,000,00597,188,80,80,53,FF
2021-08-15T17:48:50.211Z,1629049730.211 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:48:50.626Z,1629049730.626 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174850.51*55

2021-08-15T17:48:50.648Z,1629049730.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 48.360004 m, bearing: 256.171791 deg, deltaT: 4.477773 s, approachRate: 0.133997 m/s, LOS rate: -0.353388 deg/s, posRepo size: 4
2021-08-15T17:48:53.109Z,1629049733.109 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:48:53.433Z,1629049733.433 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:48:53.434Z,1629049733.434 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:48:53.434Z,1629049733.434 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:48:53.435Z,1629049733.435 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:48:53.465Z,1629049733.465 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
227,000,00597,188,80,80,53,FF
2021-08-15T17:48:53.465Z,1629049733.465 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:48:53.465Z,1629049733.465 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:48:53.468Z,1629049733.468 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:48:53.836Z,1629049733.836 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:48:54.246Z,1629049734.246 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FC,000,005A5,187,80,80,65,FF
2021-08-15T17:48:54.247Z,1629049734.247 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:48:54.655Z,1629049734.655 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174854.55*55

2021-08-15T17:48:54.694Z,1629049734.694 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 49.199993 m, bearing: 258.942471 deg, deltaT: 4.066488 s, approachRate: 0.206564 m/s, LOS rate: 0.681345 deg/s, posRepo size: 4
2021-08-15T17:48:57.158Z,1629049737.158 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:48:57.469Z,1629049737.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:48:57.469Z,1629049737.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:48:57.470Z,1629049737.470 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:48:57.471Z,1629049737.471 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:48:57.869Z,1629049737.869 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1FC,000,005A5,187,80,80,65,FF
2021-08-15T17:48:57.869Z,1629049737.869 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:48:57.870Z,1629049737.870 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:48:57.871Z,1629049737.871 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:48:58.276Z,1629049738.276 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:48:58.685Z,1629049738.685 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,213,000,005B8,188,80,80,68,FF
2021-08-15T17:48:58.685Z,1629049738.685 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:48:59.140Z,1629049739.140 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174858.96*56

2021-08-15T17:48:59.219Z,1629049739.219 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 50.340000 m, bearing: 258.246010 deg, deltaT: 4.391843 s, approachRate: 0.259574 m/s, LOS rate: -0.158581 deg/s, posRepo size: 4
2021-08-15T17:49:01.217Z,1629049741.217 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:49:01.513Z,1629049741.513 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:49:01.513Z,1629049741.513 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:49:01.513Z,1629049741.513 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:49:01.514Z,1629049741.514 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:49:01.918Z,1629049741.918 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
213,000,005B8,188,80,80,68,FF
2021-08-15T17:49:01.918Z,1629049741.918 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:49:01.918Z,1629049741.918 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:49:01.919Z,1629049741.919 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:49:02.312Z,1629049742.312 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:49:02.721Z,1629049742.721 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,23B,000,005C7,189,80,80,6A,FF
2021-08-15T17:49:02.722Z,1629049742.722 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:49:03.170Z,1629049743.170 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174903.01*57

2021-08-15T17:49:03.263Z,1629049743.263 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.240005 m, bearing: 256.111275 deg, deltaT: 4.036060 s, approachRate: 0.222991 m/s, LOS rate: -0.528915 deg/s, posRepo size: 4
2021-08-15T17:49:05.584Z,1629049745.584 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:49:05.949Z,1629049745.949 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:49:05.949Z,1629049745.949 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:49:05.949Z,1629049745.949 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:49:05.950Z,1629049745.950 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:49:06.362Z,1629049746.362 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
23B,000,005C7,189,80,80,6A,FF
2021-08-15T17:49:06.362Z,1629049746.362 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:49:06.362Z,1629049746.362 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:49:06.364Z,1629049746.364 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:49:06.764Z,1629049746.764 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:49:07.197Z,1629049747.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,253,000,005C8,189,80,80,4D,FF
2021-08-15T17:49:07.198Z,1629049747.198 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:49:07.633Z,1629049747.633 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174907.45*53

2021-08-15T17:49:07.655Z,1629049747.655 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 51.299995 m, bearing: 255.207286 deg, deltaT: 4.545278 s, approachRate: 0.013198 m/s, LOS rate: -0.198885 deg/s, posRepo size: 4
2021-08-15T17:49:10.025Z,1629049750.025 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:49:10.401Z,1629049750.401 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:49:10.402Z,1629049750.402 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:49:10.402Z,1629049750.402 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:49:10.403Z,1629049750.403 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:49:10.801Z,1629049750.801 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
253,000,005C8,189,80,80,4D,FF
2021-08-15T17:49:10.801Z,1629049750.801 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:49:10.801Z,1629049750.801 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:49:10.803Z,1629049750.803 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:49:11.208Z,1629049751.208 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:49:11.613Z,1629049751.613 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,109,000,005DE,186,80,80,77,FF
2021-08-15T17:49:11.614Z,1629049751.614 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:49:12.045Z,1629049752.045 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174911.89*54

2021-08-15T17:49:12.081Z,1629049752.081 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 52.620003 m, bearing: 271.944173 deg, deltaT: 4.346293 s, approachRate: 0.303709 m/s, LOS rate: 3.850842 deg/s, posRepo size: 4
2021-08-15T17:49:14.479Z,1629049754.479 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:49:14.841Z,1629049754.841 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:49:14.841Z,1629049754.841 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:49:14.841Z,1629049754.841 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:49:14.842Z,1629049754.842 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:49:15.249Z,1629049755.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
109,000,005DE,186,80,80,77,FF
2021-08-15T17:49:15.249Z,1629049755.249 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:49:15.249Z,1629049755.249 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:49:15.251Z,1629049755.251 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:49:15.645Z,1629049755.645 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:49:16.050Z,1629049756.050 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,214,000,005E6,187,80,80,25,FF
2021-08-15T17:49:16.050Z,1629049756.050 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:49:16.497Z,1629049756.497 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174916.34*55

2021-08-15T17:49:16.524Z,1629049756.524 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.100006 m, bearing: 258.610606 deg, deltaT: 4.441216 s, approachRate: 0.108079 m/s, LOS rate: -3.002234 deg/s, posRepo size: 4
2021-08-15T17:49:18.921Z,1629049758.921 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:49:19.281Z,1629049759.281 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:49:19.281Z,1629049759.281 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:49:19.281Z,1629049759.281 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:49:19.282Z,1629049759.282 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:49:19.679Z,1629049759.679 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
214,000,005E6,187,80,80,25,FF
2021-08-15T17:49:19.679Z,1629049759.679 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:49:19.679Z,1629049759.679 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:49:19.681Z,1629049759.681 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:49:20.105Z,1629049760.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:49:20.493Z,1629049760.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27C,000,005F2,189,80,80,5F,FF
2021-08-15T17:49:20.494Z,1629049760.494 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:49:20.930Z,1629049760.930 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174920.77*57

2021-08-15T17:49:20.950Z,1629049760.950 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 53.820000 m, bearing: 252.854477 deg, deltaT: 4.476715 s, approachRate: 0.160831 m/s, LOS rate: -1.285793 deg/s, posRepo size: 4
2021-08-15T17:49:23.412Z,1629049763.412 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:49:23.725Z,1629049763.725 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:49:23.725Z,1629049763.725 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:49:23.725Z,1629049763.725 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:49:23.726Z,1629049763.726 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:49:24.138Z,1629049764.138 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27C,000,005F2,189,80,80,5F,FF
2021-08-15T17:49:24.138Z,1629049764.138 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:49:24.138Z,1629049764.138 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:49:24.140Z,1629049764.140 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:49:24.547Z,1629049764.547 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:49:24.940Z,1629049764.940 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2B0,000,00600,189,80,80,6C,FF
2021-08-15T17:49:24.941Z,1629049764.941 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:49:25.385Z,1629049765.385 [Micromodem](INFO): Nmea in: $SNTTA,0.046376,,,,174925.23*4D

2021-08-15T17:49:25.466Z,1629049765.466 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 54.660000 m, bearing: 249.785646 deg, deltaT: 4.483666 s, approachRate: 0.187347 m/s, LOS rate: -0.684447 deg/s, posRepo size: 4
2021-08-15T17:49:27.798Z,1629049767.798 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:49:28.193Z,1629049768.193 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:49:28.193Z,1629049768.193 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:49:28.193Z,1629049768.193 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:49:28.194Z,1629049768.194 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:49:28.573Z,1629049768.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2B0,000,00600,189,80,80,6C,FF
2021-08-15T17:49:28.573Z,1629049768.573 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:49:28.573Z,1629049768.573 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:49:28.575Z,1629049768.575 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:49:29.022Z,1629049769.022 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:49:29.390Z,1629049769.390 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,152,000,00614,186,80,80,68,FF
2021-08-15T17:49:29.391Z,1629049769.391 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:49:29.825Z,1629049769.825 [Micromodem](INFO): Nmea in: $SNTTA,0.048185,,,,174929.66*40

2021-08-15T17:49:29.855Z,1629049769.855 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 55.859997 m, bearing: 267.015618 deg, deltaT: 4.414311 s, approachRate: 0.271842 m/s, LOS rate: 3.903208 deg/s, posRepo size: 4
2021-08-15T17:49:32.247Z,1629049772.247 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:49:32.647Z,1629049772.647 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:49:32.647Z,1629049772.647 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:49:32.647Z,1629049772.647 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:49:32.648Z,1629049772.648 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:49:33.061Z,1629049773.061 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
152,000,00614,186,80,80,68,FF
2021-08-15T17:49:33.061Z,1629049773.061 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:49:33.061Z,1629049773.061 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:49:33.063Z,1629049773.063 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:49:33.456Z,1629049773.456 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:49:33.846Z,1629049773.846 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,29E,000,00619,189,80,80,7C,FF
2021-08-15T17:49:33.846Z,1629049773.846 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:49:34.265Z,1629049774.265 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174934.15*56

2021-08-15T17:49:34.311Z,1629049774.311 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 56.160004 m, bearing: 250.447000 deg, deltaT: 4.421599 s, approachRate: 0.067850 m/s, LOS rate: -3.747201 deg/s, posRepo size: 4
2021-08-15T17:49:36.714Z,1629049776.714 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:49:37.073Z,1629049777.073 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:49:37.073Z,1629049777.073 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:49:37.073Z,1629049777.073 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:49:37.074Z,1629049777.074 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:49:37.485Z,1629049777.485 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
29E,000,00619,189,80,80,7C,FF
2021-08-15T17:49:37.486Z,1629049777.486 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:49:37.486Z,1629049777.486 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:49:37.487Z,1629049777.487 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:49:37.890Z,1629049777.890 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:49:38.297Z,1629049778.297 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,28B,000,00627,189,80,80,4D,FF
2021-08-15T17:49:38.298Z,1629049778.298 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:49:38.737Z,1629049778.737 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174938.57*5C

2021-08-15T17:49:38.779Z,1629049778.779 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 57.000004 m, bearing: 251.389784 deg, deltaT: 4.462819 s, approachRate: 0.188222 m/s, LOS rate: 0.211253 deg/s, posRepo size: 4
2021-08-15T17:49:41.197Z,1629049781.197 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:49:41.533Z,1629049781.533 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:49:41.533Z,1629049781.533 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:49:41.533Z,1629049781.533 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:49:41.534Z,1629049781.534 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:49:41.925Z,1629049781.925 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
28B,000,00627,189,80,80,4D,FF
2021-08-15T17:49:41.925Z,1629049781.925 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:49:41.926Z,1629049781.926 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:49:41.927Z,1629049781.927 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:49:42.333Z,1629049782.333 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:49:42.737Z,1629049782.737 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26F,000,00639,189,80,80,75,FF
2021-08-15T17:49:42.737Z,1629049782.737 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:49:43.197Z,1629049783.197 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174943.01*53

2021-08-15T17:49:43.257Z,1629049783.257 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.080006 m, bearing: 252.951521 deg, deltaT: 4.447654 s, approachRate: 0.242825 m/s, LOS rate: 0.351137 deg/s, posRepo size: 4
2021-08-15T17:49:45.589Z,1629049785.589 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:49:45.965Z,1629049785.965 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:49:45.965Z,1629049785.965 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:49:45.965Z,1629049785.965 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:49:45.966Z,1629049785.966 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:49:46.378Z,1629049786.378 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26F,000,00639,189,80,80,75,FF
2021-08-15T17:49:46.378Z,1629049786.378 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:49:46.378Z,1629049786.378 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:49:46.381Z,1629049786.381 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:49:46.772Z,1629049786.772 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:49:47.185Z,1629049787.185 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,24D,000,00642,189,80,80,79,FF
2021-08-15T17:49:47.187Z,1629049787.187 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:49:47.625Z,1629049787.625 [Micromodem](INFO): Nmea in: $SNTTA,,0.054040,,,174947.47*4E

2021-08-15T17:49:47.648Z,1629049787.648 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 58.620003 m, bearing: 254.058257 deg, deltaT: 4.521814 s, approachRate: 0.119420 m/s, LOS rate: 0.244755 deg/s, posRepo size: 4
2021-08-15T17:49:50.032Z,1629049790.032 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:49:50.417Z,1629049790.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:49:50.417Z,1629049790.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:49:50.417Z,1629049790.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:49:50.418Z,1629049790.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:49:50.813Z,1629049790.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
24D,000,00642,189,80,80,79,FF
2021-08-15T17:49:50.813Z,1629049790.813 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:49:50.814Z,1629049790.814 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:49:50.815Z,1629049790.815 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:49:51.239Z,1629049791.239 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:49:51.614Z,1629049791.614 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A5,000,00652,189,80,80,60,FF
2021-08-15T17:49:51.614Z,1629049791.614 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:49:52.058Z,1629049792.058 [Micromodem](INFO): Nmea in: $SNTTA,0.061190,,,,174951.90*49

2021-08-15T17:49:52.098Z,1629049792.098 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 59.579998 m, bearing: 249.079650 deg, deltaT: 4.335582 s, approachRate: 0.221422 m/s, LOS rate: -1.148313 deg/s, posRepo size: 4
2021-08-15T17:49:54.500Z,1629049794.500 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:49:54.845Z,1629049794.845 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:49:54.845Z,1629049794.845 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:49:54.845Z,1629049794.845 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:49:54.846Z,1629049794.846 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:49:55.261Z,1629049795.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A5,000,00652,189,80,80,60,FF
2021-08-15T17:49:55.261Z,1629049795.261 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:49:55.261Z,1629049795.261 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:49:55.263Z,1629049795.263 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:49:55.661Z,1629049795.661 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:49:56.101Z,1629049796.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,283,000,0065D,189,80,80,63,FF
2021-08-15T17:49:56.102Z,1629049796.102 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:49:56.505Z,1629049796.505 [Micromodem](INFO): Nmea in: $SNTTA,,,,,174956.35*50

2021-08-15T17:49:56.532Z,1629049796.532 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 60.240002 m, bearing: 250.564342 deg, deltaT: 4.539004 s, approachRate: 0.145407 m/s, LOS rate: 0.327096 deg/s, posRepo size: 4
2021-08-15T17:49:58.923Z,1629049798.923 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:49:59.289Z,1629049799.289 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:49:59.289Z,1629049799.289 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:49:59.289Z,1629049799.289 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:49:59.290Z,1629049799.290 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:49:59.701Z,1629049799.701 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
283,000,0065D,189,80,80,63,FF
2021-08-15T17:49:59.701Z,1629049799.701 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:49:59.701Z,1629049799.701 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:49:59.703Z,1629049799.703 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:50:00.105Z,1629049800.105 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:50:00.501Z,1629049800.501 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,18F,000,0066E,186,80,80,66,FF
2021-08-15T17:50:00.502Z,1629049800.502 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:50:00.941Z,1629049800.941 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175000.79*53

2021-08-15T17:50:01.041Z,1629049801.041 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.259998 m, bearing: 262.648012 deg, deltaT: 4.354208 s, approachRate: 0.234255 m/s, LOS rate: 2.775171 deg/s, posRepo size: 4
2021-08-15T17:50:03.039Z,1629049803.039 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:50:03.329Z,1629049803.329 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:50:03.329Z,1629049803.329 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:50:03.329Z,1629049803.329 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:50:03.330Z,1629049803.330 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:50:03.749Z,1629049803.749 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
18F,000,0066E,186,80,80,66,FF
2021-08-15T17:50:03.749Z,1629049803.749 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:50:03.749Z,1629049803.749 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:50:03.751Z,1629049803.751 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:50:04.177Z,1629049804.177 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:50:04.546Z,1629049804.546 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,28B,000,00676,189,80,80,62,FF
2021-08-15T17:50:04.546Z,1629049804.546 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:50:05.000Z,1629049805.000 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175004.84*55

2021-08-15T17:50:05.073Z,1629049805.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 61.740002 m, bearing: 249.873865 deg, deltaT: 4.039468 s, approachRate: 0.118828 m/s, LOS rate: -3.162334 deg/s, posRepo size: 4
2021-08-15T17:50:07.455Z,1629049807.455 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:50:07.773Z,1629049807.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:50:07.773Z,1629049807.773 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:50:07.773Z,1629049807.773 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:50:07.774Z,1629049807.774 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:50:08.197Z,1629049808.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
28B,000,00676,189,80,80,62,FF
2021-08-15T17:50:08.198Z,1629049808.198 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:50:08.198Z,1629049808.198 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:50:08.199Z,1629049808.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:50:08.592Z,1629049808.592 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:50:09.025Z,1629049809.025 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,25D,000,00683,188,80,80,60,FF
2021-08-15T17:50:09.026Z,1629049809.026 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:50:09.414Z,1629049809.414 [Micromodem](INFO): Nmea in: $SNTTA,0.052172,,,,175009.29*42

2021-08-15T17:50:09.441Z,1629049809.441 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 62.520000 m, bearing: 252.023544 deg, deltaT: 4.553561 s, approachRate: 0.171294 m/s, LOS rate: 0.472087 deg/s, posRepo size: 4
2021-08-15T17:50:11.849Z,1629049811.849 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:50:12.217Z,1629049812.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:50:12.217Z,1629049812.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:50:12.217Z,1629049812.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:50:12.218Z,1629049812.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:50:12.649Z,1629049812.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
25D,000,00683,188,80,80,60,FF
2021-08-15T17:50:12.649Z,1629049812.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:50:12.649Z,1629049812.649 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:50:12.651Z,1629049812.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:50:13.061Z,1629049813.061 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:50:13.441Z,1629049813.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,333,000,00692,189,80,80,39,FF
2021-08-15T17:50:13.442Z,1629049813.442 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:50:13.860Z,1629049813.860 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175013.74*5C

2021-08-15T17:50:13.881Z,1629049813.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 63.420006 m, bearing: 241.122835 deg, deltaT: 4.347534 s, approachRate: 0.207015 m/s, LOS rate: -2.507331 deg/s, posRepo size: 4
2021-08-15T17:50:16.290Z,1629049816.290 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:50:16.670Z,1629049816.670 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:50:16.670Z,1629049816.670 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:50:16.671Z,1629049816.671 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:50:16.673Z,1629049816.673 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:50:17.070Z,1629049817.070 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
333,000,00692,189,80,80,39,FF
2021-08-15T17:50:17.071Z,1629049817.071 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:50:17.071Z,1629049817.071 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:50:17.100Z,1629049817.100 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:50:17.480Z,1629049817.480 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:50:17.889Z,1629049817.889 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FE,000,006A3,187,80,80,66,FF
2021-08-15T17:50:17.890Z,1629049817.890 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:50:18.307Z,1629049818.307 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175018.19*5C

2021-08-15T17:50:18.333Z,1629049818.333 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.440002 m, bearing: 256.251868 deg, deltaT: 4.437195 s, approachRate: 0.229874 m/s, LOS rate: 3.409594 deg/s, posRepo size: 4
2021-08-15T17:50:20.734Z,1629049820.734 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:50:21.120Z,1629049821.120 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:50:21.120Z,1629049821.120 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:50:21.121Z,1629049821.121 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:50:21.122Z,1629049821.122 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:50:21.513Z,1629049821.513 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1FE,000,006A3,187,80,80,66,FF
2021-08-15T17:50:21.513Z,1629049821.513 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:50:21.513Z,1629049821.513 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:50:21.515Z,1629049821.515 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:50:21.925Z,1629049821.925 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:50:22.322Z,1629049822.322 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2D9,000,006AB,189,80,80,53,FF
2021-08-15T17:50:22.322Z,1629049822.322 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:50:22.757Z,1629049822.757 [Micromodem](INFO): Nmea in: $SNTTA,0.058046,,,,175022.60*4A

2021-08-15T17:50:22.798Z,1629049822.798 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 64.919998 m, bearing: 244.803132 deg, deltaT: 4.443082 s, approachRate: 0.108032 m/s, LOS rate: -2.576755 deg/s, posRepo size: 4
2021-08-15T17:50:25.249Z,1629049825.249 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:50:25.549Z,1629049825.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:50:25.549Z,1629049825.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:50:25.549Z,1629049825.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:50:25.550Z,1629049825.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:50:25.961Z,1629049825.961 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2D9,000,006AB,189,80,80,53,FF
2021-08-15T17:50:25.962Z,1629049825.962 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:50:25.962Z,1629049825.962 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:50:25.963Z,1629049825.963 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:50:26.357Z,1629049826.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:50:26.769Z,1629049826.769 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2DE,000,006B7,189,80,80,60,FF
2021-08-15T17:50:26.770Z,1629049826.770 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:50:27.205Z,1629049827.205 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175027.05*5D

2021-08-15T17:50:27.296Z,1629049827.296 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 65.639999 m, bearing: 244.573911 deg, deltaT: 4.436693 s, approachRate: 0.162283 m/s, LOS rate: -0.051665 deg/s, posRepo size: 4
2021-08-15T17:50:29.614Z,1629049829.614 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:50:29.997Z,1629049829.997 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:50:29.997Z,1629049829.997 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:50:29.998Z,1629049829.998 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:50:29.999Z,1629049829.999 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:50:30.398Z,1629049830.398 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2DE,000,006B7,189,80,80,60,FF
2021-08-15T17:50:30.398Z,1629049830.398 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:50:30.398Z,1629049830.398 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:50:30.430Z,1629049830.430 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:50:30.805Z,1629049830.805 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:50:31.201Z,1629049831.201 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A1,000,006CA,18A,80,80,57,FF
2021-08-15T17:50:31.202Z,1629049831.202 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:50:31.631Z,1629049831.631 [Micromodem](INFO): Nmea in: $SNTTA,,0.176081,,,175031.52*4F

2021-08-15T17:50:31.667Z,1629049831.667 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 66.779999 m, bearing: 247.728857 deg, deltaT: 4.501630 s, approachRate: 0.253241 m/s, LOS rate: 0.700845 deg/s, posRepo size: 4
2021-08-15T17:50:34.070Z,1629049834.070 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:50:34.449Z,1629049834.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:50:34.449Z,1629049834.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:50:34.449Z,1629049834.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:50:34.450Z,1629049834.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:50:34.841Z,1629049834.841 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A1,000,006CA,18A,80,80,57,FF
2021-08-15T17:50:34.841Z,1629049834.841 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:50:34.841Z,1629049834.841 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:50:34.843Z,1629049834.843 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:50:35.264Z,1629049835.264 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:50:35.658Z,1629049835.658 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,293,000,006D4,189,80,80,6C,FF
2021-08-15T17:50:35.658Z,1629049835.658 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:50:36.093Z,1629049836.093 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175035.93*51

2021-08-15T17:50:36.164Z,1629049836.164 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 67.380005 m, bearing: 248.756664 deg, deltaT: 4.386649 s, approachRate: 0.136780 m/s, LOS rate: 0.234303 deg/s, posRepo size: 4
2021-08-15T17:50:38.541Z,1629049838.541 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:50:38.897Z,1629049838.897 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:50:38.897Z,1629049838.897 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:50:38.897Z,1629049838.897 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:50:38.897Z,1629049838.898 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:50:39.294Z,1629049839.294 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
293,000,006D4,189,80,80,6C,FF
2021-08-15T17:50:39.294Z,1629049839.294 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:50:39.294Z,1629049839.294 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:50:39.297Z,1629049839.297 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:50:39.698Z,1629049839.698 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:50:40.120Z,1629049840.120 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,281,000,006E2,18A,80,80,5D,FF
2021-08-15T17:50:40.122Z,1629049840.122 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:50:40.537Z,1629049840.537 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175040.39*53

2021-08-15T17:50:40.559Z,1629049840.559 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 68.219994 m, bearing: 249.731524 deg, deltaT: 4.530358 s, approachRate: 0.185413 m/s, LOS rate: 0.215184 deg/s, posRepo size: 4
2021-08-15T17:50:42.986Z,1629049842.986 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:50:43.339Z,1629049843.339 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:50:43.339Z,1629049843.339 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:50:43.339Z,1629049843.339 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:50:43.340Z,1629049843.340 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:50:43.729Z,1629049843.729 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
281,000,006E2,18A,80,80,5D,FF
2021-08-15T17:50:43.729Z,1629049843.729 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:50:43.729Z,1629049843.729 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:50:43.731Z,1629049843.731 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:50:44.151Z,1629049844.151 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:50:44.537Z,1629049844.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C1,000,006F3,189,80,80,5F,FF
2021-08-15T17:50:44.538Z,1629049844.538 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:50:45.029Z,1629049845.029 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175044.82*57

2021-08-15T17:50:45.092Z,1629049845.092 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 69.240005 m, bearing: 246.414838 deg, deltaT: 4.400461 s, approachRate: 0.231797 m/s, LOS rate: -0.753713 deg/s, posRepo size: 4
2021-08-15T17:50:47.433Z,1629049847.433 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:50:47.773Z,1629049847.773 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:50:47.774Z,1629049847.774 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:50:47.774Z,1629049847.774 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:50:47.775Z,1629049847.775 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:50:48.206Z,1629049848.206 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C1,000,006F3,189,80,80,5F,FF
2021-08-15T17:50:48.206Z,1629049848.206 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:50:48.206Z,1629049848.206 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:50:48.210Z,1629049848.210 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:50:48.581Z,1629049848.581 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:50:49.010Z,1629049849.010 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,288,000,00703,18A,80,80,72,FF
2021-08-15T17:50:49.017Z,1629049849.017 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:50:49.027Z,1629049849.027 [Micromodem](INFO): Nmea in: $SNTTA,0.287457,0.063970,,,175049.30*53

2021-08-15T17:50:49.458Z,1629049849.458 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.200005 m, bearing: 249.061154 deg, deltaT: 4.547751 s, approachRate: 0.211093 m/s, LOS rate: 0.581896 deg/s, posRepo size: 4
2021-08-15T17:50:51.828Z,1629049851.828 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:50:52.217Z,1629049852.217 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:50:52.217Z,1629049852.217 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:50:52.217Z,1629049852.217 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:50:52.218Z,1629049852.218 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:50:52.634Z,1629049852.634 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
288,000,00703,18A,80,80,72,FF
2021-08-15T17:50:52.637Z,1629049852.637 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:50:52.638Z,1629049852.638 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:50:52.652Z,1629049852.652 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:50:53.070Z,1629049853.070 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:50:53.433Z,1629049853.433 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2BF,000,00710,189,80,80,68,FF
2021-08-15T17:50:53.434Z,1629049853.434 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:50:53.857Z,1629049853.857 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175053.74*58

2021-08-15T17:50:53.881Z,1629049853.881 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 70.980003 m, bearing: 246.347465 deg, deltaT: 4.297643 s, approachRate: 0.181495 m/s, LOS rate: -0.631437 deg/s, posRepo size: 4
2021-08-15T17:50:56.291Z,1629049856.291 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:50:56.661Z,1629049856.661 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:50:56.661Z,1629049856.661 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:50:56.661Z,1629049856.661 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:50:56.662Z,1629049856.662 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:50:57.077Z,1629049857.077 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2BF,000,00710,189,80,80,68,FF
2021-08-15T17:50:57.077Z,1629049857.077 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:50:57.077Z,1629049857.077 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:50:57.079Z,1629049857.079 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:50:57.472Z,1629049857.472 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:50:58.298Z,1629049858.298 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175058.17*56

2021-08-15T17:50:58.681Z,1629049858.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,28B,000,03153,18A,80,80,4B,FF
2021-08-15T17:50:58.681Z,1629049858.681 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:50:59.183Z,1629049859.183 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 720.119995 m, bearing: 249.396435 deg, deltaT: 5.248324 s, approachRate: 123.685204 m/s, LOS rate: 0.580941 deg/s, posRepo size: 4
2021-08-15T17:51:01.539Z,1629049861.539 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:51:01.913Z,1629049861.913 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:51:01.913Z,1629049861.913 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:51:01.913Z,1629049861.913 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:51:01.914Z,1629049861.914 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:51:02.313Z,1629049862.313 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
28B,000,03153,18A,80,80,4B,FF
2021-08-15T17:51:02.313Z,1629049862.313 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:51:02.313Z,1629049862.313 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:51:02.315Z,1629049862.315 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:51:02.737Z,1629049862.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:51:03.121Z,1629049863.121 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,345,000,00730,189,80,80,75,FF
2021-08-15T17:51:03.121Z,1629049863.121 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:51:03.557Z,1629049863.557 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175103.40*5B

2021-08-15T17:51:03.595Z,1629049863.595 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 72.900002 m, bearing: 239.946076 deg, deltaT: 4.529728 s, approachRate: -142.882751 m/s, LOS rate: -2.086297 deg/s, posRepo size: 4
2021-08-15T17:51:05.981Z,1629049865.981 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:51:06.354Z,1629049866.354 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:51:06.354Z,1629049866.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:51:06.354Z,1629049866.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:51:06.355Z,1629049866.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:51:06.757Z,1629049866.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
345,000,00730,189,80,80,75,FF
2021-08-15T17:51:06.757Z,1629049866.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:51:06.757Z,1629049866.757 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:51:06.759Z,1629049866.759 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:51:07.000Z,1629049867.000 [CTD_Seabird](ERROR): Failed to parse device response: .45
2021-08-15T17:51:07.192Z,1629049867.192 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:51:07.565Z,1629049867.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2A5,000,0073A,189,80,80,96,FF
2021-08-15T17:51:07.566Z,1629049867.566 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:51:08.006Z,1629049868.006 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175107.85*56

2021-08-15T17:51:08.080Z,1629049868.080 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 73.500000 m, bearing: 247.732273 deg, deltaT: 4.385614 s, approachRate: 0.136811 m/s, LOS rate: 1.775395 deg/s, posRepo size: 4
2021-08-15T17:51:10.435Z,1629049870.435 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:51:10.797Z,1629049870.797 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:51:10.797Z,1629049870.797 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:51:10.797Z,1629049870.797 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:51:10.798Z,1629049870.798 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:51:11.213Z,1629049871.213 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2A5,000,0073A,189,80,80,96,FF
2021-08-15T17:51:11.213Z,1629049871.213 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:51:11.213Z,1629049871.213 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:51:11.215Z,1629049871.215 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:51:11.618Z,1629049871.618 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:51:12.009Z,1629049872.009 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,28B,000,0074A,18A,80,80,78,FF
2021-08-15T17:51:12.009Z,1629049872.009 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:51:12.454Z,1629049872.454 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175112.30*5C

2021-08-15T17:51:12.480Z,1629049872.480 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 74.459999 m, bearing: 248.664266 deg, deltaT: 4.448242 s, approachRate: 0.215815 m/s, LOS rate: 0.209519 deg/s, posRepo size: 4
2021-08-15T17:51:14.875Z,1629049874.875 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:51:15.245Z,1629049875.245 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:51:15.245Z,1629049875.245 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:51:15.245Z,1629049875.245 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:51:15.246Z,1629049875.246 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:51:15.645Z,1629049875.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
28B,000,0074A,18A,80,80,78,FF
2021-08-15T17:51:15.645Z,1629049875.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:51:15.645Z,1629049875.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:51:15.647Z,1629049875.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:51:16.053Z,1629049876.053 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:51:16.457Z,1629049876.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,283,000,00758,189,80,80,81,FF
2021-08-15T17:51:16.457Z,1629049876.457 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:51:16.889Z,1629049876.889 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175116.73*5F

2021-08-15T17:51:16.919Z,1629049876.919 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 75.300003 m, bearing: 249.613443 deg, deltaT: 4.450445 s, approachRate: 0.188746 m/s, LOS rate: 0.213277 deg/s, posRepo size: 4
2021-08-15T17:51:19.343Z,1629049879.343 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:51:19.685Z,1629049879.685 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:51:19.685Z,1629049879.685 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:51:19.685Z,1629049879.685 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:51:19.686Z,1629049879.686 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:51:20.105Z,1629049880.105 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
283,000,00758,189,80,80,81,FF
2021-08-15T17:51:20.105Z,1629049880.105 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:51:20.105Z,1629049880.105 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:51:20.110Z,1629049880.110 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:51:20.497Z,1629049880.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:51:20.898Z,1629049880.898 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,265,000,00764,188,80,80,79,FF
2021-08-15T17:51:20.898Z,1629049880.898 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:51:21.333Z,1629049881.333 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175121.20*5D

2021-08-15T17:51:21.430Z,1629049881.430 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.020004 m, bearing: 251.767221 deg, deltaT: 4.409967 s, approachRate: 0.163267 m/s, LOS rate: 0.488389 deg/s, posRepo size: 4
2021-08-15T17:51:23.747Z,1629049883.747 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:51:24.147Z,1629049884.147 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:51:24.147Z,1629049884.147 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:51:24.147Z,1629049884.147 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:51:24.156Z,1629049884.156 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:51:24.538Z,1629049884.538 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
265,000,00764,188,80,80,79,FF
2021-08-15T17:51:24.538Z,1629049884.538 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:51:24.538Z,1629049884.538 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:51:24.540Z,1629049884.540 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:51:24.943Z,1629049884.943 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:51:25.349Z,1629049885.349 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,271,000,0076F,18A,80,80,94,FF
2021-08-15T17:51:25.350Z,1629049885.350 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:51:25.781Z,1629049885.781 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175125.63*5E

2021-08-15T17:51:25.804Z,1629049885.804 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 76.680000 m, bearing: 251.432295 deg, deltaT: 4.516796 s, approachRate: 0.146120 m/s, LOS rate: -0.074151 deg/s, posRepo size: 4
2021-08-15T17:51:28.236Z,1629049888.236 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:51:28.569Z,1629049888.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:51:28.569Z,1629049888.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:51:28.569Z,1629049888.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:51:28.570Z,1629049888.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:51:28.993Z,1629049888.993 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
271,000,0076F,18A,80,80,94,FF
2021-08-15T17:51:28.993Z,1629049888.993 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:51:28.994Z,1629049888.994 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:51:29.020Z,1629049889.020 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:51:29.416Z,1629049889.416 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:51:29.813Z,1629049889.813 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,236,000,0077F,188,80,80,83,FF
2021-08-15T17:51:29.813Z,1629049889.813 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:51:30.221Z,1629049890.221 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175130.11*5F

2021-08-15T17:51:30.260Z,1629049890.260 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 77.640007 m, bearing: 254.360616 deg, deltaT: 4.410981 s, approachRate: 0.217640 m/s, LOS rate: 0.663871 deg/s, posRepo size: 4
2021-08-15T17:51:31.083Z,1629049891.083 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-08-15T17:51:32.696Z,1629049892.696 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:51:33.069Z,1629049893.069 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:51:33.069Z,1629049893.069 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:51:33.069Z,1629049893.069 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:51:33.070Z,1629049893.070 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:51:33.441Z,1629049893.441 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
236,000,0077F,188,80,80,83,FF
2021-08-15T17:51:33.441Z,1629049893.441 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:51:33.441Z,1629049893.441 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:51:33.443Z,1629049893.443 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:51:33.853Z,1629049893.853 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:51:34.682Z,1629049894.682 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175134.53*5D

2021-08-15T17:51:35.497Z,1629049895.497 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:51:37.081Z,1629049897.081 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
F,188,80,80,83,FF
2021-08-15T17:51:37.082Z,1629049897.082 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
F,188,80,80,83,FF
2021-08-15T17:51:37.082Z,1629049897.082 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T17:51:38.337Z,1629049898.337 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:51:38.697Z,1629049898.697 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:51:38.697Z,1629049898.697 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:51:38.697Z,1629049898.697 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:51:38.698Z,1629049898.698 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:51:39.101Z,1629049899.101 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
F,188,80,80,83,FF
2021-08-15T17:51:39.101Z,1629049899.101 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:51:39.101Z,1629049899.101 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:51:39.103Z,1629049899.103 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:51:39.596Z,1629049899.596 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:51:40.001Z,1629049900.001 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,274,000,0079C,189,80,80,70,FF
2021-08-15T17:51:40.002Z,1629049900.002 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:51:40.425Z,1629049900.425 [Micromodem](INFO): Nmea in: $SNTTA,0.068316,,,,175140.19*44

2021-08-15T17:51:40.476Z,1629049900.476 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 79.379997 m, bearing: 251.365196 deg, deltaT: 10.167754 s, approachRate: 0.171128 m/s, LOS rate: -0.294600 deg/s, posRepo size: 4
2021-08-15T17:51:42.847Z,1629049902.847 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:51:43.233Z,1629049903.233 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:51:43.233Z,1629049903.233 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:51:43.233Z,1629049903.233 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:51:43.234Z,1629049903.234 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:51:43.642Z,1629049903.642 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
274,000,0079C,189,80,80,70,FF
2021-08-15T17:51:43.642Z,1629049903.642 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:51:43.642Z,1629049903.642 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:51:43.644Z,1629049903.644 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:51:44.044Z,1629049904.044 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:51:44.457Z,1629049904.457 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,EFF,000,007AC,187,80,80,53,FF
2021-08-15T17:51:44.457Z,1629049904.457 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:51:44.883Z,1629049904.883 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175144.73*58

2021-08-15T17:51:44.912Z,1629049904.912 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 80.340004 m, bearing: 296.522991 deg, deltaT: 4.510153 s, approachRate: 0.212855 m/s, LOS rate: 10.012475 deg/s, posRepo size: 4
2021-08-15T17:51:47.422Z,1629049907.422 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:51:47.684Z,1629049907.684 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:51:47.684Z,1629049907.684 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:51:47.687Z,1629049907.687 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:51:47.705Z,1629049907.705 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:51:48.089Z,1629049908.089 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
EFF,000,007AC,187,80,80,53,FF
2021-08-15T17:51:48.090Z,1629049908.090 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:51:48.090Z,1629049908.090 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:51:48.091Z,1629049908.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:51:48.509Z,1629049908.509 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:51:48.897Z,1629049908.897 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20A,000,007B7,187,80,80,90,FF
2021-08-15T17:51:48.898Z,1629049908.898 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:51:49.341Z,1629049909.341 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175149.18*58

2021-08-15T17:51:49.444Z,1629049909.444 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 81.000008 m, bearing: 257.628943 deg, deltaT: 4.385714 s, approachRate: 0.150489 m/s, LOS rate: -8.868350 deg/s, posRepo size: 4
2021-08-15T17:51:51.761Z,1629049911.761 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:51:52.128Z,1629049912.128 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:51:52.128Z,1629049912.128 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:51:52.129Z,1629049912.129 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:51:52.131Z,1629049912.131 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:51:52.537Z,1629049912.537 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20A,000,007B7,187,80,80,90,FF
2021-08-15T17:51:52.537Z,1629049912.537 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:51:52.537Z,1629049912.537 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:51:52.539Z,1629049912.539 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:51:52.946Z,1629049912.946 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:51:53.338Z,1629049913.338 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2C4,000,007CA,189,80,80,7E,FF
2021-08-15T17:51:53.338Z,1629049913.338 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:51:53.777Z,1629049913.777 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175153.63*5F

2021-08-15T17:51:53.794Z,1629049913.794 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.139999 m, bearing: 246.175044 deg, deltaT: 4.525791 s, approachRate: 0.251888 m/s, LOS rate: -2.530806 deg/s, posRepo size: 4
2021-08-15T17:51:56.256Z,1629049916.256 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:51:56.574Z,1629049916.574 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:51:56.574Z,1629049916.574 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:51:56.575Z,1629049916.575 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:51:56.575Z,1629049916.575 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:51:56.992Z,1629049916.992 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2C4,000,007CA,189,80,80,7E,FF
2021-08-15T17:51:56.993Z,1629049916.993 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:51:56.994Z,1629049916.994 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:51:56.999Z,1629049916.999 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:51:57.421Z,1629049917.421 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:51:57.805Z,1629049917.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2FD,000,007D5,189,80,80,60,FF
2021-08-15T17:51:57.806Z,1629049917.806 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:51:58.249Z,1629049918.249 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175158.09*58

2021-08-15T17:51:58.292Z,1629049918.292 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 82.800003 m, bearing: 241.265504 deg, deltaT: 4.382534 s, approachRate: 0.150599 m/s, LOS rate: -1.120251 deg/s, posRepo size: 4
2021-08-15T17:52:00.654Z,1629049920.654 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:52:01.053Z,1629049921.053 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:52:01.053Z,1629049921.053 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:52:01.053Z,1629049921.053 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:52:01.054Z,1629049921.054 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:52:01.439Z,1629049921.439 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2FD,000,007D5,189,80,80,60,FF
2021-08-15T17:52:01.439Z,1629049921.439 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:52:01.439Z,1629049921.439 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:52:01.442Z,1629049921.442 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:52:01.848Z,1629049921.848 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:52:02.249Z,1629049922.249 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,33D,000,007E7,189,80,80,73,FF
2021-08-15T17:52:02.250Z,1629049922.250 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:52:02.688Z,1629049922.688 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175202.53*5B

2021-08-15T17:52:02.737Z,1629049922.737 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 83.880005 m, bearing: 238.689621 deg, deltaT: 4.505397 s, approachRate: 0.239713 m/s, LOS rate: -0.571733 deg/s, posRepo size: 4
2021-08-15T17:52:05.181Z,1629049925.181 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:52:05.481Z,1629049925.481 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:52:05.481Z,1629049925.481 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:52:05.481Z,1629049925.481 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:52:05.482Z,1629049925.482 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:52:05.877Z,1629049925.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
33D,000,007E7,189,80,80,73,FF
2021-08-15T17:52:05.877Z,1629049925.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:52:05.877Z,1629049925.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:52:05.879Z,1629049925.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:52:06.297Z,1629049926.297 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:52:06.691Z,1629049926.691 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,215,000,007F4,188,80,80,97,FF
2021-08-15T17:52:06.691Z,1629049926.691 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:52:07.158Z,1629049927.158 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175206.97*57

2021-08-15T17:52:07.247Z,1629049927.247 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 84.660004 m, bearing: 256.179331 deg, deltaT: 4.380285 s, approachRate: 0.178070 m/s, LOS rate: 3.992825 deg/s, posRepo size: 4
2021-08-15T17:52:09.531Z,1629049929.531 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:52:09.917Z,1629049929.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:52:09.917Z,1629049929.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:52:09.917Z,1629049929.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:52:09.918Z,1629049929.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:52:10.326Z,1629049930.326 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
215,000,007F4,188,80,80,97,FF
2021-08-15T17:52:10.326Z,1629049930.326 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:52:10.326Z,1629049930.326 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:52:10.328Z,1629049930.328 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:52:10.737Z,1629049930.737 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:52:11.146Z,1629049931.146 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,21A,000,00802,188,80,80,9D,FF
2021-08-15T17:52:11.147Z,1629049931.147 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:52:11.581Z,1629049931.581 [Micromodem](INFO): Nmea in: $SNTTA,0.056551,,,,175211.42*45

2021-08-15T17:52:11.599Z,1629049931.599 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 85.500008 m, bearing: 257.483980 deg, deltaT: 4.569895 s, approachRate: 0.183813 m/s, LOS rate: 0.285488 deg/s, posRepo size: 4
2021-08-15T17:52:13.992Z,1629049933.992 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:52:14.357Z,1629049934.357 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:52:14.357Z,1629049934.357 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:52:14.357Z,1629049934.357 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:52:14.358Z,1629049934.358 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:52:14.773Z,1629049934.773 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
21A,000,00802,188,80,80,9D,FF
2021-08-15T17:52:14.773Z,1629049934.773 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:52:14.773Z,1629049934.773 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:52:14.775Z,1629049934.775 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:52:15.200Z,1629049935.200 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:52:15.573Z,1629049935.573 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,27C,000,00814,189,80,80,68,FF
2021-08-15T17:52:15.573Z,1629049935.573 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:52:16.020Z,1629049936.020 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175215.86*55

2021-08-15T17:52:16.042Z,1629049936.042 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 86.579994 m, bearing: 251.320881 deg, deltaT: 4.336560 s, approachRate: 0.249042 m/s, LOS rate: -1.421195 deg/s, posRepo size: 4
2021-08-15T17:52:18.444Z,1629049938.444 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:52:18.801Z,1629049938.801 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:52:18.801Z,1629049938.801 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:52:18.801Z,1629049938.801 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:52:18.802Z,1629049938.802 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:52:19.209Z,1629049939.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
27C,000,00814,189,80,80,68,FF
2021-08-15T17:52:19.209Z,1629049939.209 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:52:19.209Z,1629049939.209 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:52:19.211Z,1629049939.211 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:52:19.621Z,1629049939.621 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:52:20.028Z,1629049940.028 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,2DB,000,00820,189,80,80,60,FF
2021-08-15T17:52:20.029Z,1629049940.029 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:52:20.461Z,1629049940.461 [Micromodem](INFO): Nmea in: $SNTTA,0.069379,,,,175220.30*42

2021-08-15T17:52:20.487Z,1629049940.487 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 87.300003 m, bearing: 247.041358 deg, deltaT: 4.431078 s, approachRate: 0.162491 m/s, LOS rate: -0.965797 deg/s, posRepo size: 4
2021-08-15T17:52:22.863Z,1629049942.863 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:52:23.264Z,1629049943.264 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:52:23.264Z,1629049943.264 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:52:23.264Z,1629049943.264 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:52:23.265Z,1629049943.265 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:52:23.649Z,1629049943.649 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
2DB,000,00820,189,80,80,60,FF
2021-08-15T17:52:23.649Z,1629049943.649 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:52:23.650Z,1629049943.650 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:52:23.651Z,1629049943.651 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:52:24.072Z,1629049944.072 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:52:24.886Z,1629049944.886 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175224.74*5A

2021-08-15T17:52:25.702Z,1629049945.702 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:52:27.295Z,1629049947.295 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
0,189,80,80,60,FF
2021-08-15T17:52:27.295Z,1629049947.295 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
0,189,80,80,60,FF
2021-08-15T17:52:27.295Z,1629049947.295 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T17:52:28.554Z,1629049948.554 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:52:28.905Z,1629049948.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:52:28.905Z,1629049948.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:52:28.905Z,1629049948.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:52:28.906Z,1629049948.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:52:29.317Z,1629049949.317 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
0,189,80,80,60,FF
2021-08-15T17:52:29.317Z,1629049949.317 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:52:29.317Z,1629049949.317 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:52:29.319Z,1629049949.319 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:52:29.483Z,1629049949.483 [RDI_PathfinderUp](ERROR): only read -1 of 4 data items
2021-08-15T17:52:29.718Z,1629049949.718 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:52:30.126Z,1629049950.126 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20F,000,00849,188,80,80,AA,FF
2021-08-15T17:52:30.127Z,1629049950.127 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:52:30.561Z,1629049950.561 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175230.41*59

2021-08-15T17:52:30.577Z,1629049950.577 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 89.760002 m, bearing: 258.285571 deg, deltaT: 10.163847 s, approachRate: 0.242034 m/s, LOS rate: 1.106295 deg/s, posRepo size: 4
2021-08-15T17:52:33.041Z,1629049953.041 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:52:33.354Z,1629049953.354 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:52:33.354Z,1629049953.354 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:52:33.354Z,1629049953.354 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:52:33.355Z,1629049953.355 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:52:33.757Z,1629049953.757 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20F,000,00849,188,80,80,AA,FF
2021-08-15T17:52:33.757Z,1629049953.757 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:52:33.758Z,1629049953.758 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:52:33.760Z,1629049953.760 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:52:34.185Z,1629049954.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:52:34.565Z,1629049954.565 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1DD,000,0085D,186,80,80,A9,FF
2021-08-15T17:52:34.565Z,1629049954.565 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:52:35.033Z,1629049955.033 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175234.85*55

2021-08-15T17:52:35.076Z,1629049955.076 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 90.959999 m, bearing: 260.826319 deg, deltaT: 4.372628 s, approachRate: 0.274434 m/s, LOS rate: 0.581058 deg/s, posRepo size: 4
2021-08-15T17:52:37.443Z,1629049957.443 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:52:37.789Z,1629049957.789 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:52:37.789Z,1629049957.789 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:52:37.789Z,1629049957.789 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:52:37.790Z,1629049957.790 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:52:38.197Z,1629049958.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1DD,000,0085D,186,80,80,A9,FF
2021-08-15T17:52:38.197Z,1629049958.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:52:38.197Z,1629049958.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:52:38.199Z,1629049958.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:52:38.637Z,1629049958.637 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:52:39.053Z,1629049959.053 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,23B,000,0086F,189,80,80,92,FF
2021-08-15T17:52:39.053Z,1629049959.053 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:52:39.461Z,1629049959.461 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175239.29*5E

2021-08-15T17:52:39.488Z,1629049959.488 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 92.040001 m, bearing: 255.703322 deg, deltaT: 4.560343 s, approachRate: 0.236825 m/s, LOS rate: -1.123380 deg/s, posRepo size: 4
2021-08-15T17:52:41.862Z,1629049961.862 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:52:42.237Z,1629049962.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:52:42.238Z,1629049962.238 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:52:42.238Z,1629049962.238 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:52:42.239Z,1629049962.239 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:52:42.645Z,1629049962.645 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
23B,000,0086F,189,80,80,92,FF
2021-08-15T17:52:42.645Z,1629049962.645 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:52:42.645Z,1629049962.645 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:52:42.647Z,1629049962.647 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:52:43.064Z,1629049963.064 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:52:43.453Z,1629049963.453 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,200,000,00882,187,80,80,A0,FF
2021-08-15T17:52:43.454Z,1629049963.454 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:52:43.893Z,1629049963.893 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175243.74*5B

2021-08-15T17:52:43.927Z,1629049963.927 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 93.180000 m, bearing: 260.415306 deg, deltaT: 4.327695 s, approachRate: 0.263420 m/s, LOS rate: 1.088797 deg/s, posRepo size: 4
2021-08-15T17:52:46.328Z,1629049966.328 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:52:46.689Z,1629049966.689 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:52:46.689Z,1629049966.689 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:52:46.689Z,1629049966.689 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:52:46.690Z,1629049966.690 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:52:47.091Z,1629049967.091 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
200,000,00882,187,80,80,A0,FF
2021-08-15T17:52:47.091Z,1629049967.091 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:52:47.091Z,1629049967.091 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:52:47.093Z,1629049967.093 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:52:47.497Z,1629049967.497 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:52:47.893Z,1629049967.893 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CF,000,00897,186,80,80,94,FF
2021-08-15T17:52:47.893Z,1629049967.893 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:52:48.341Z,1629049968.341 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175248.18*5A

2021-08-15T17:52:48.368Z,1629049968.368 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 94.439995 m, bearing: 263.735898 deg, deltaT: 4.440255 s, approachRate: 0.283766 m/s, LOS rate: 0.747838 deg/s, posRepo size: 4
2021-08-15T17:52:50.739Z,1629049970.739 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:52:51.145Z,1629049971.145 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:52:51.146Z,1629049971.146 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:52:51.147Z,1629049971.147 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:52:51.148Z,1629049971.148 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:52:51.534Z,1629049971.534 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CF,000,00897,186,80,80,94,FF
2021-08-15T17:52:51.534Z,1629049971.534 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:52:51.534Z,1629049971.534 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:52:51.536Z,1629049971.536 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:52:51.949Z,1629049971.949 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:52:52.345Z,1629049972.345 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20F,000,008AA,188,80,80,97,FF
2021-08-15T17:52:52.346Z,1629049972.346 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:52:52.817Z,1629049972.817 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175252.63*5D

2021-08-15T17:52:52.839Z,1629049972.839 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 95.580002 m, bearing: 258.224427 deg, deltaT: 4.502449 s, approachRate: 0.253197 m/s, LOS rate: -1.224105 deg/s, posRepo size: 4
2021-08-15T17:52:55.271Z,1629049975.271 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:52:55.569Z,1629049975.569 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:52:55.569Z,1629049975.569 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:52:55.569Z,1629049975.569 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:52:55.570Z,1629049975.570 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:52:56.037Z,1629049976.037 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20F,000,008AA,188,80,80,97,FF
2021-08-15T17:52:56.037Z,1629049976.037 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:52:56.037Z,1629049976.037 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:52:56.039Z,1629049976.039 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:52:56.391Z,1629049976.391 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:52:56.790Z,1629049976.790 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,255,000,008BC,189,80,80,88,FF
2021-08-15T17:52:56.791Z,1629049976.791 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:52:57.219Z,1629049977.219 [Micromodem](INFO): Nmea in: $SNTTA,0.069801,,,,175257.13*47

2021-08-15T17:52:57.314Z,1629049977.314 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 96.660004 m, bearing: 252.270605 deg, deltaT: 4.397672 s, approachRate: 0.245585 m/s, LOS rate: -1.353857 deg/s, posRepo size: 4
2021-08-15T17:52:59.627Z,1629049979.627 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:53:00.014Z,1629049980.014 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:53:00.014Z,1629049980.014 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:53:00.014Z,1629049980.014 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:53:00.016Z,1629049980.016 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:53:00.425Z,1629049980.425 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
255,000,008BC,189,80,80,88,FF
2021-08-15T17:53:00.425Z,1629049980.425 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:53:00.425Z,1629049980.425 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:53:00.427Z,1629049980.427 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:53:00.827Z,1629049980.827 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:53:01.229Z,1629049981.229 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,258,000,008CE,189,80,80,87,FF
2021-08-15T17:53:01.230Z,1629049981.230 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:53:01.678Z,1629049981.678 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175301.52*58

2021-08-15T17:53:01.709Z,1629049981.709 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 97.739998 m, bearing: 250.841839 deg, deltaT: 4.511871 s, approachRate: 0.239367 m/s, LOS rate: -0.316668 deg/s, posRepo size: 4
2021-08-15T17:53:04.101Z,1629049984.101 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:53:04.461Z,1629049984.461 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:53:04.462Z,1629049984.462 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:53:04.462Z,1629049984.462 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:53:04.463Z,1629049984.463 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:53:04.881Z,1629049984.881 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
258,000,008CE,189,80,80,87,FF
2021-08-15T17:53:04.881Z,1629049984.881 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:53:04.881Z,1629049984.881 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:53:04.885Z,1629049984.885 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:53:05.299Z,1629049985.299 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:53:05.694Z,1629049985.694 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22F,000,008E3,189,80,80,95,FF
2021-08-15T17:53:05.694Z,1629049985.694 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:53:06.161Z,1629049986.161 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175305.98*5A

2021-08-15T17:53:06.195Z,1629049986.195 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 99.000000 m, bearing: 255.447764 deg, deltaT: 4.440605 s, approachRate: 0.283746 m/s, LOS rate: 1.037229 deg/s, posRepo size: 4
2021-08-15T17:53:08.553Z,1629049988.553 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:53:08.925Z,1629049988.925 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:53:08.925Z,1629049988.925 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:53:08.925Z,1629049988.925 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:53:08.926Z,1629049988.926 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:53:09.333Z,1629049989.333 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22F,000,008E3,189,80,80,95,FF
2021-08-15T17:53:09.334Z,1629049989.334 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:53:09.334Z,1629049989.334 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:53:09.335Z,1629049989.335 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:53:09.733Z,1629049989.733 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:53:10.150Z,1629049990.150 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1CD,000,008F7,186,80,80,96,FF
2021-08-15T17:53:10.150Z,1629049990.150 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:53:10.598Z,1629049990.598 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175310.42*59

2021-08-15T17:53:10.651Z,1629049990.651 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 100.199997 m, bearing: 261.542751 deg, deltaT: 4.441833 s, approachRate: 0.270158 m/s, LOS rate: 1.372178 deg/s, posRepo size: 4
2021-08-15T17:53:13.065Z,1629049993.065 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:53:13.377Z,1629049993.377 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:53:13.378Z,1629049993.378 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:53:13.378Z,1629049993.378 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:53:13.379Z,1629049993.379 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:53:13.778Z,1629049993.778 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1CD,000,008F7,186,80,80,96,FF
2021-08-15T17:53:13.778Z,1629049993.778 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:53:13.778Z,1629049993.778 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:53:13.780Z,1629049993.780 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:53:14.193Z,1629049994.193 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:53:14.585Z,1629049994.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,195,000,0090B,186,80,80,66,FF
2021-08-15T17:53:14.586Z,1629049994.586 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:53:15.042Z,1629049995.042 [Micromodem](INFO): Nmea in: $SNTTA,0.069515,,,,175314.87*44

2021-08-15T17:53:15.078Z,1629049995.078 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 101.400009 m, bearing: 265.543876 deg, deltaT: 4.422930 s, approachRate: 0.271316 m/s, LOS rate: 0.904632 deg/s, posRepo size: 4
2021-08-15T17:53:17.166Z,1629049997.166 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:53:17.417Z,1629049997.417 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:53:17.417Z,1629049997.417 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:53:17.417Z,1629049997.417 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:53:17.418Z,1629049997.418 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:53:17.817Z,1629049997.817 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
195,000,0090B,186,80,80,66,FF
2021-08-15T17:53:17.817Z,1629049997.817 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:53:17.817Z,1629049997.817 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:53:17.819Z,1629049997.819 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:53:18.220Z,1629049998.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:53:18.615Z,1629049998.615 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,19A,000,00919,185,80,80,87,FF
2021-08-15T17:53:18.615Z,1629049998.615 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:53:19.069Z,1629049999.069 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175318.91*5F

2021-08-15T17:53:19.166Z,1629049999.166 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 102.240005 m, bearing: 265.637149 deg, deltaT: 4.003984 s, approachRate: 0.209790 m/s, LOS rate: 0.023295 deg/s, posRepo size: 4
2021-08-15T17:53:21.189Z,1629050001.189 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:53:21.449Z,1629050001.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:53:21.449Z,1629050001.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:53:21.449Z,1629050001.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:53:21.450Z,1629050001.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:53:21.858Z,1629050001.858 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
19A,000,00919,185,80,80,87,FF
2021-08-15T17:53:21.858Z,1629050001.858 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:53:21.858Z,1629050001.858 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:53:21.860Z,1629050001.860 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:53:22.261Z,1629050002.261 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:53:22.665Z,1629050002.665 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F2,000,0092C,186,80,80,96,FF
2021-08-15T17:53:22.666Z,1629050002.666 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:53:23.081Z,1629050003.081 [Micromodem](INFO): Nmea in: $SNTTA,0.461032,0.460351,,,175322.95*55

2021-08-15T17:53:23.179Z,1629050003.179 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 103.380005 m, bearing: 259.916510 deg, deltaT: 4.083665 s, approachRate: 0.279161 m/s, LOS rate: -1.400859 deg/s, posRepo size: 4
2021-08-15T17:53:25.522Z,1629050005.522 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:53:25.893Z,1629050005.893 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:53:25.893Z,1629050005.893 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:53:25.893Z,1629050005.893 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:53:25.894Z,1629050005.894 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:53:26.301Z,1629050006.301 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F2,000,0092C,186,80,80,96,FF
2021-08-15T17:53:26.301Z,1629050006.301 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:53:26.301Z,1629050006.301 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:53:26.303Z,1629050006.303 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:53:26.701Z,1629050006.701 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:53:27.534Z,1629050007.534 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175327.40*5F

2021-08-15T17:53:28.375Z,1629050008.375 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:53:29.945Z,1629050009.945 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
C,186,80,80,96,FF
2021-08-15T17:53:29.945Z,1629050009.945 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
C,186,80,80,96,FF
2021-08-15T17:53:29.945Z,1629050009.945 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T17:53:31.243Z,1629050011.243 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:53:31.549Z,1629050011.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:53:31.549Z,1629050011.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:53:31.549Z,1629050011.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:53:31.550Z,1629050011.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:53:31.953Z,1629050011.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
C,186,80,80,96,FF
2021-08-15T17:53:31.953Z,1629050011.953 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:53:31.953Z,1629050011.953 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:53:31.955Z,1629050011.955 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:53:32.371Z,1629050012.371 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:53:32.772Z,1629050012.772 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1D7,000,00957,187,80,80,5E,FF
2021-08-15T17:53:32.775Z,1629050012.775 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:53:33.264Z,1629050013.264 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 105.960007 m, bearing: 260.898227 deg, deltaT: 10.123737 s, approachRate: 0.254847 m/s, LOS rate: 0.096972 deg/s, posRepo size: 4
2021-08-15T17:53:35.610Z,1629050015.610 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:53:35.986Z,1629050015.986 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:53:35.987Z,1629050015.987 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:53:35.987Z,1629050015.987 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:53:36.008Z,1629050016.008 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:53:36.398Z,1629050016.398 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1D7,000,00957,187,80,80,5E,FF
2021-08-15T17:53:36.398Z,1629050016.398 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:53:36.398Z,1629050016.398 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:53:36.401Z,1629050016.401 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:53:36.813Z,1629050016.813 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:53:37.209Z,1629050017.209 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,227,000,00969,188,80,80,9C,FF
2021-08-15T17:53:37.209Z,1629050017.209 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:53:37.661Z,1629050017.661 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175337.49*57

2021-08-15T17:53:37.683Z,1629050017.683 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 107.040001 m, bearing: 256.056443 deg, deltaT: 4.471451 s, approachRate: 0.241531 m/s, LOS rate: -1.082822 deg/s, posRepo size: 4
2021-08-15T17:53:40.063Z,1629050020.063 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:53:40.445Z,1629050020.445 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:53:40.445Z,1629050020.445 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:53:40.445Z,1629050020.445 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:53:40.446Z,1629050020.446 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:53:40.849Z,1629050020.849 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
227,000,00969,188,80,80,9C,FF
2021-08-15T17:53:40.849Z,1629050020.849 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:53:40.849Z,1629050020.849 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:53:40.851Z,1629050020.851 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:53:41.291Z,1629050021.291 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:53:41.689Z,1629050021.689 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,228,000,0097B,189,80,80,8D,FF
2021-08-15T17:53:41.690Z,1629050021.690 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:53:42.101Z,1629050022.101 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175341.94*56

2021-08-15T17:53:42.172Z,1629050022.172 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 108.120003 m, bearing: 256.746756 deg, deltaT: 4.417038 s, approachRate: 0.244508 m/s, LOS rate: 0.156284 deg/s, posRepo size: 4
2021-08-15T17:53:44.539Z,1629050024.539 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:53:44.905Z,1629050024.905 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:53:44.905Z,1629050024.905 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:53:44.905Z,1629050024.905 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:53:44.906Z,1629050024.906 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:53:45.309Z,1629050025.309 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
228,000,0097B,189,80,80,8D,FF
2021-08-15T17:53:45.309Z,1629050025.309 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:53:45.309Z,1629050025.309 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:53:45.311Z,1629050025.311 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:53:45.723Z,1629050025.723 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:53:46.125Z,1629050026.125 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EA,000,0098F,186,80,80,9D,FF
2021-08-15T17:53:46.126Z,1629050026.126 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:53:46.557Z,1629050026.557 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175346.40*58

2021-08-15T17:53:46.583Z,1629050026.583 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 109.320000 m, bearing: 261.436747 deg, deltaT: 4.414912 s, approachRate: 0.271805 m/s, LOS rate: 1.062307 deg/s, posRepo size: 4
2021-08-15T17:53:49.029Z,1629050029.029 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:53:49.345Z,1629050029.345 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:53:49.345Z,1629050029.345 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:53:49.345Z,1629050029.345 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:53:49.346Z,1629050029.346 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:53:49.753Z,1629050029.753 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EA,000,0098F,186,80,80,9D,FF
2021-08-15T17:53:49.753Z,1629050029.753 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:53:49.753Z,1629050029.753 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:53:49.755Z,1629050029.755 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:53:50.185Z,1629050030.185 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:53:50.568Z,1629050030.568 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1C3,000,009A2,186,80,80,97,FF
2021-08-15T17:53:50.569Z,1629050030.569 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:53:51.029Z,1629050031.029 [Micromodem](INFO): Nmea in: $SNTTA,0.091736,,,,175350.84*43

2021-08-15T17:53:51.073Z,1629050031.073 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 110.460007 m, bearing: 264.128060 deg, deltaT: 4.448816 s, approachRate: 0.256250 m/s, LOS rate: 0.604950 deg/s, posRepo size: 4
2021-08-15T17:53:53.430Z,1629050033.430 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:53:53.793Z,1629050033.793 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:53:53.793Z,1629050033.793 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:53:53.793Z,1629050033.793 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:53:53.794Z,1629050033.794 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:53:54.197Z,1629050034.197 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1C3,000,009A2,186,80,80,97,FF
2021-08-15T17:53:54.197Z,1629050034.197 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:53:54.197Z,1629050034.197 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:53:54.199Z,1629050034.199 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:53:54.609Z,1629050034.609 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:53:55.049Z,1629050035.049 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1BB,000,009B7,186,80,80,7F,FF
2021-08-15T17:53:55.050Z,1629050035.050 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:53:55.453Z,1629050035.453 [Micromodem](INFO): Nmea in: $SNTTA,0.080236,,,,175355.29*44

2021-08-15T17:53:55.491Z,1629050035.491 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 111.720009 m, bearing: 264.951917 deg, deltaT: 4.553789 s, approachRate: 0.276693 m/s, LOS rate: 0.180917 deg/s, posRepo size: 4
2021-08-15T17:53:57.883Z,1629050037.883 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:53:58.237Z,1629050038.237 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:53:58.237Z,1629050038.237 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:53:58.237Z,1629050038.237 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:53:58.238Z,1629050038.238 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:53:58.641Z,1629050038.641 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1BB,000,009B7,186,80,80,7F,FF
2021-08-15T17:53:58.641Z,1629050038.641 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:53:58.642Z,1629050038.642 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:53:58.643Z,1629050038.643 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:53:59.064Z,1629050039.064 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:53:59.461Z,1629050039.461 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1FC,000,009C5,186,80,80,9A,FF
2021-08-15T17:53:59.461Z,1629050039.461 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:53:59.899Z,1629050039.899 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175359.74*51

2021-08-15T17:53:59.923Z,1629050039.923 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 112.560005 m, bearing: 260.569422 deg, deltaT: 4.383674 s, approachRate: 0.191619 m/s, LOS rate: -0.999731 deg/s, posRepo size: 4
2021-08-15T17:54:02.311Z,1629050042.311 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:54:02.693Z,1629050042.693 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:54:02.693Z,1629050042.693 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:54:02.694Z,1629050042.694 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:54:02.695Z,1629050042.695 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:54:03.085Z,1629050043.085 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1FC,000,009C5,186,80,80,9A,FF
2021-08-15T17:54:03.086Z,1629050043.086 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:54:03.086Z,1629050043.086 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:54:03.091Z,1629050043.091 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:54:03.504Z,1629050043.504 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:54:03.894Z,1629050043.894 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EE,000,009DC,187,80,80,8E,FF
2021-08-15T17:54:03.894Z,1629050043.894 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:54:04.330Z,1629050044.330 [Micromodem](INFO): Nmea in: $SNTTA,0.097615,,,,175404.18*46

2021-08-15T17:54:04.383Z,1629050044.383 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 113.940002 m, bearing: 262.131322 deg, deltaT: 4.382100 s, approachRate: 0.314917 m/s, LOS rate: 0.356427 deg/s, posRepo size: 4
2021-08-15T17:54:06.780Z,1629050046.780 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:54:07.141Z,1629050047.141 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:54:07.142Z,1629050047.142 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:54:07.142Z,1629050047.142 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:54:07.148Z,1629050047.148 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:54:07.525Z,1629050047.525 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EE,000,009DC,187,80,80,8E,FF
2021-08-15T17:54:07.526Z,1629050047.526 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:54:07.526Z,1629050047.526 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:54:07.554Z,1629050047.554 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:54:07.937Z,1629050047.937 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:54:08.351Z,1629050048.351 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,26D,000,009F1,189,80,80,86,FF
2021-08-15T17:54:08.351Z,1629050048.351 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:54:08.766Z,1629050048.766 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175408.65*52

2021-08-15T17:54:08.787Z,1629050048.787 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 115.200005 m, bearing: 255.007954 deg, deltaT: 4.509835 s, approachRate: 0.279390 m/s, LOS rate: -1.579519 deg/s, posRepo size: 4
2021-08-15T17:54:11.272Z,1629050051.272 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:54:11.573Z,1629050051.573 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:54:11.573Z,1629050051.573 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:54:11.573Z,1629050051.573 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:54:11.574Z,1629050051.574 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:54:11.969Z,1629050051.969 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
26D,000,009F1,189,80,80,86,FF
2021-08-15T17:54:11.969Z,1629050051.969 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:54:11.969Z,1629050051.969 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:54:11.971Z,1629050051.971 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:54:12.378Z,1629050052.378 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:54:12.805Z,1629050052.805 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,20B,000,009FF,187,80,80,8F,FF
2021-08-15T17:54:12.813Z,1629050052.813 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:54:13.219Z,1629050053.219 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175413.06*5D

2021-08-15T17:54:13.316Z,1629050053.316 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 116.040009 m, bearing: 260.177997 deg, deltaT: 4.431609 s, approachRate: 0.189548 m/s, LOS rate: 1.166629 deg/s, posRepo size: 4
2021-08-15T17:54:15.631Z,1629050055.631 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:54:16.013Z,1629050056.013 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:54:16.013Z,1629050056.013 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:54:16.014Z,1629050056.014 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:54:16.015Z,1629050056.015 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:54:16.436Z,1629050056.436 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
20B,000,009FF,187,80,80,8F,FF
2021-08-15T17:54:16.437Z,1629050056.437 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:54:16.437Z,1629050056.437 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:54:16.438Z,1629050056.438 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:54:16.833Z,1629050056.833 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:54:17.261Z,1629050057.261 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1E4,000,00A13,187,80,80,7E,FF
2021-08-15T17:54:17.262Z,1629050057.262 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:54:17.265Z,1629050057.265 [Micromodem](INFO): Nmea in: $SNTTA,0.086404,0.208634,,,175417.53*5C

2021-08-15T17:54:17.684Z,1629050057.684 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 117.240005 m, bearing: 263.706173 deg, deltaT: 4.551550 s, approachRate: 0.263646 m/s, LOS rate: 0.775159 deg/s, posRepo size: 4
2021-08-15T17:54:20.098Z,1629050060.098 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:54:20.469Z,1629050060.469 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:54:20.469Z,1629050060.469 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:54:20.469Z,1629050060.469 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:54:20.470Z,1629050060.470 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:54:20.877Z,1629050060.877 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1E4,000,00A13,187,80,80,7E,FF
2021-08-15T17:54:20.877Z,1629050060.877 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:54:20.877Z,1629050060.877 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:54:20.879Z,1629050060.879 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:54:21.288Z,1629050061.288 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:54:21.681Z,1629050061.681 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,22F,000,00A26,189,80,80,83,FF
2021-08-15T17:54:21.682Z,1629050061.682 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:54:22.124Z,1629050062.124 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175421.97*54

2021-08-15T17:54:22.175Z,1629050062.175 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 118.379997 m, bearing: 258.753712 deg, deltaT: 4.297888 s, approachRate: 0.265245 m/s, LOS rate: -1.152301 deg/s, posRepo size: 4
2021-08-15T17:54:24.535Z,1629050064.535 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:54:24.917Z,1629050064.917 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:54:24.917Z,1629050064.917 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:54:24.917Z,1629050064.917 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:54:24.918Z,1629050064.918 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:54:25.329Z,1629050065.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
22F,000,00A26,189,80,80,83,FF
2021-08-15T17:54:25.329Z,1629050065.329 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:54:25.329Z,1629050065.329 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:54:25.331Z,1629050065.331 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:54:25.741Z,1629050065.741 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:54:26.217Z,1629050066.217 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,220,000,00A3A,188,80,80,86,FF
2021-08-15T17:54:26.217Z,1629050066.217 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:54:26.581Z,1629050066.581 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175426.42*5B

2021-08-15T17:54:26.624Z,1629050066.624 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 119.579994 m, bearing: 260.146497 deg, deltaT: 4.600770 s, approachRate: 0.260825 m/s, LOS rate: 0.302729 deg/s, posRepo size: 4
2021-08-15T17:54:29.035Z,1629050069.035 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:54:29.378Z,1629050069.378 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:54:29.378Z,1629050069.378 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:54:29.378Z,1629050069.378 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:54:29.379Z,1629050069.379 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:54:29.786Z,1629050069.786 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
220,000,00A3A,188,80,80,86,FF
2021-08-15T17:54:29.786Z,1629050069.786 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:54:29.786Z,1629050069.786 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:54:29.788Z,1629050069.788 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:54:29.838Z,1629050069.838 [CTD_Seabird](ERROR): Failed to parse device response: 4.50,24.222.11
2021-08-15T17:54:30.189Z,1629050070.189 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:54:30.585Z,1629050070.585 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1F2,000,00A4A,186,80,80,83,FF
2021-08-15T17:54:30.586Z,1629050070.586 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:54:31.057Z,1629050071.057 [Micromodem](INFO): Nmea in: $SNTTA,0.082049,,,,175430.88*43

2021-08-15T17:54:31.155Z,1629050071.155 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 120.540001 m, bearing: 261.721729 deg, deltaT: 4.304625 s, approachRate: 0.223017 m/s, LOS rate: 0.365940 deg/s, posRepo size: 4
2021-08-15T17:54:33.153Z,1629050073.153 [lineCaptureDepth:TrackAC.](INFO): *** querying acoustic contact ***
2021-08-15T17:54:33.425Z,1629050073.425 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:54:33.425Z,1629050073.425 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:54:33.425Z,1629050073.425 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:54:33.426Z,1629050073.426 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:54:33.822Z,1629050073.822 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1F2,000,00A4A,186,80,80,83,FF
2021-08-15T17:54:33.822Z,1629050073.822 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:54:33.822Z,1629050073.822 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:54:33.824Z,1629050073.824 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:54:34.224Z,1629050074.224 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:54:34.629Z,1629050074.629 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,1EF,000,00A5C,187,80,80,8C,FF
2021-08-15T17:54:34.630Z,1629050074.630 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:54:35.078Z,1629050075.078 [Micromodem](INFO): Nmea in: $SNTTA,0.084616,,,,175434.91*45

2021-08-15T17:54:35.171Z,1629050075.171 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Added new target pos. range: 121.620010 m, bearing: 262.112252 deg, deltaT: 4.038923 s, approachRate: 0.267400 m/s, LOS rate: 0.096690 deg/s, posRepo size: 4
2021-08-15T17:54:35.478Z,1629050075.478 [lineCaptureDepth](INFO): Timed out from 2021-08-15T15:54:35.4Z
2021-08-15T17:54:35.479Z,1629050075.479 [MissionManager](INFO): lineCaptureDepth is completed.
2021-08-15T17:54:35.479Z,1629050075.479 [MissionManager](INFO): Uninitializing Mission lineCaptureDepth
2021-08-15T17:54:35.479Z,1629050075.479 [lineCaptureDepth] Stopped
2021-08-15T17:54:35.479Z,1629050075.479 [lineCaptureDepth](DEBUG): Aggregate::uninitialize lineCaptureDepth
2021-08-15T17:54:35.479Z,1629050075.479 [lineCaptureDepth:Science] Stopped
2021-08-15T17:54:35.479Z,1629050075.479 [lineCaptureDepth:Science](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science
2021-08-15T17:54:35.479Z,1629050075.479 [lineCaptureDepth:Science:B] Stopped
2021-08-15T17:54:35.479Z,1629050075.479 [lineCaptureDepth:Science:C] Stopped
2021-08-15T17:54:35.480Z,1629050075.480 [lineCaptureDepth:Science:Read_Oil] Stopped
2021-08-15T17:54:35.480Z,1629050075.480 [lineCaptureDepth:Science:OceanCurrent] Stopped
2021-08-15T17:54:35.480Z,1629050075.480 [lineCaptureDepth:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureDepth:Science:OceanCurrent
2021-08-15T17:54:35.480Z,1629050075.480 [lineCaptureDepth:Science:OceanCurrent:A.] Stopped
2021-08-15T17:54:35.480Z,1629050075.480 [lineCaptureDepth:StandardEnvelopes] Stopped
2021-08-15T17:54:35.480Z,1629050075.480 [lineCaptureDepth:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:StandardEnvelopes
2021-08-15T17:54:35.480Z,1629050075.480 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-15T17:54:35.480Z,1629050075.480 [lineCaptureDepth:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-15T17:54:35.481Z,1629050075.481 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-15T17:54:35.481Z,1629050075.481 [lineCaptureDepth:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-15T17:54:35.481Z,1629050075.481 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-15T17:54:35.481Z,1629050075.481 [lineCaptureDepth:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-15T17:54:35.481Z,1629050075.481 [lineCaptureDepth:TrackAC.] Stopped
2021-08-15T17:54:35.481Z,1629050075.481 [lineCaptureDepth:LineCapture] Stopped
2021-08-15T17:54:35.481Z,1629050075.481 [lineCaptureDepth:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture
2021-08-15T17:54:35.481Z,1629050075.481 [lineCaptureDepth:LineCapture:StandardEnvelopes] Stopped
2021-08-15T17:54:35.481Z,1629050075.481 [lineCaptureDepth:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:StandardEnvelopes
2021-08-15T17:54:35.481Z,1629050075.481 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped
2021-08-15T17:54:35.482Z,1629050075.482 [lineCaptureDepth:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent.
2021-08-15T17:54:35.482Z,1629050075.482 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped
2021-08-15T17:54:35.482Z,1629050075.482 [lineCaptureDepth:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize.
2021-08-15T17:54:35.482Z,1629050075.482 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped
2021-08-15T17:54:35.482Z,1629050075.482 [lineCaptureDepth:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent.
2021-08-15T17:54:35.482Z,1629050075.482 [lineCaptureDepth:LineCapture:G] Stopped
2021-08-15T17:54:35.482Z,1629050075.482 [lineCaptureDepth:LineCapture:H] Stopped
2021-08-15T17:54:35.482Z,1629050075.482 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy] Stopped
2021-08-15T17:54:35.482Z,1629050075.482 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HoldMassAndBuoyancy
2021-08-15T17:54:35.482Z,1629050075.482 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:A] Stopped
2021-08-15T17:54:35.482Z,1629050075.482 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass] Stopped
2021-08-15T17:54:35.482Z,1629050075.482 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:B.Mass](DEBUG): Uninitialize.
2021-08-15T17:54:35.483Z,1629050075.483 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy] Stopped
2021-08-15T17:54:35.483Z,1629050075.483 [lineCaptureDepth:LineCapture:HoldMassAndBuoyancy:C.Buoyancy](DEBUG): Uninitialize Buoyancy Component.
2021-08-15T17:54:35.483Z,1629050075.483 [lineCaptureDepth:LineCapture:HomingSequence] Stopped
2021-08-15T17:54:35.483Z,1629050075.483 [lineCaptureDepth:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence
2021-08-15T17:54:35.483Z,1629050075.483 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock] Stopped
2021-08-15T17:54:35.483Z,1629050075.483 [lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:DetachFromDock
2021-08-15T17:54:35.483Z,1629050075.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance] Stopped
2021-08-15T17:54:35.483Z,1629050075.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance
2021-08-15T17:54:35.483Z,1629050075.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped
2021-08-15T17:54:35.483Z,1629050075.483 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide
2021-08-15T17:54:35.504Z,1629050075.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:C.Pitch] Stopped
2021-08-15T17:54:35.504Z,1629050075.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:D] Stopped
2021-08-15T17:54:35.504Z,1629050075.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped
2021-08-15T17:54:35.504Z,1629050075.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture] Stopped
2021-08-15T17:54:35.504Z,1629050075.504 [lineCaptureDepth:LineCapture:HomingSequence:TerminalGuidance:guide:F.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED
2021-08-15T17:54:35.504Z,1629050075.504 [lineCaptureDepth:UpdateNumPings_NotTerminal] Stopped
2021-08-15T17:54:35.505Z,1629050075.505 [lineCaptureDepth:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_NotTerminal
2021-08-15T17:54:35.505Z,1629050075.505 [lineCaptureDepth:UpdateNumPings_Terminal] Stopped
2021-08-15T17:54:35.505Z,1629050075.505 [lineCaptureDepth:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureDepth:UpdateNumPings_Terminal
2021-08-15T17:54:35.505Z,1629050075.505 [lineCaptureDepth:Lap] Stopped
2021-08-15T17:54:35.505Z,1629050075.505 [lineCaptureDepth:Lap](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap
2021-08-15T17:54:35.505Z,1629050075.505 [lineCaptureDepth:Lap:B] Stopped
2021-08-15T17:54:35.505Z,1629050075.505 [lineCaptureDepth:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureDepth:Lap:B
2021-08-15T17:54:35.616Z,1629050075.616 [WetLabsSeaOWL_UV_A](INFO): Powering down
2021-08-15T17:54:35.828Z,1629050075.828 [MissionManager](IMPORTANT): Started mission DefaultWithUndock
2021-08-15T17:54:35.829Z,1629050075.829 [DefaultWithUndock] Running Loop=1
2021-08-15T17:54:35.829Z,1629050075.829 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock
2021-08-15T17:54:35.829Z,1629050075.829 [DefaultWithUndock:A.Wait] Running Loop=1
2021-08-15T17:54:35.829Z,1629050075.829 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component.
2021-08-15T17:55:06.157Z,1629050106.157 [DefaultWithUndock:A.Wait](INFO): Done Waiting.
2021-08-15T17:55:06.157Z,1629050106.157 [DefaultWithUndock:A.Wait] Stopped
2021-08-15T17:55:06.157Z,1629050106.157 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component.
2021-08-15T17:55:06.158Z,1629050106.158 [DefaultWithUndock:LeaveDock] Running Loop=1
2021-08-15T17:55:06.158Z,1629050106.158 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::initialize DefaultWithUndock:LeaveDock
2021-08-15T17:55:06.158Z,1629050106.158 [DefaultWithUndock:LeaveDock:A.] Running Loop=1
2021-08-15T17:55:06.158Z,1629050106.158 [DefaultWithUndock:LeaveDock:A.](INFO): Initializing TrackAcousticContact.
2021-08-15T17:55:06.158Z,1629050106.158 [DefaultWithUndock:LeaveDock:B.Undock] Running Loop=1
2021-08-15T17:55:06.159Z,1629050106.159 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initialize.
2021-08-15T17:55:06.159Z,1629050106.159 [DefaultWithUndock:LeaveDock:B.Undock](DEBUG): Initializing internal variables to default values.
2021-08-15T17:55:06.914Z,1629050106.914 [PowerOnly](INFO): Powering up loadControl
2021-08-15T17:55:09.046Z,1629050109.046 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-15T17:55:09.369Z,1629050109.369 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:55:09.369Z,1629050109.369 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:55:09.369Z,1629050109.369 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:55:09.370Z,1629050109.370 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:55:09.797Z,1629050109.797 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
1EF,000,00A5C,187,80,80,8C,FF
2021-08-15T17:55:09.797Z,1629050109.797 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:55:09.797Z,1629050109.797 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:55:09.799Z,1629050109.799 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:55:09.869Z,1629050109.869 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detaching from dock.
2021-08-15T17:55:10.184Z,1629050110.184 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:55:10.231Z,1629050110.231 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Engaging thruster for 10.0 seconds (max) to disengage.
2021-08-15T17:55:10.582Z,1629050110.582 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F5D,000,00AB5,186,80,80,92,FF
2021-08-15T17:55:10.582Z,1629050110.582 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:55:10.600Z,1629050110.600 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Thruster off.
2021-08-15T17:55:11.029Z,1629050111.029 [Micromodem](INFO): Nmea in: $SNTTA,0.089371,,,,175510.89*42

2021-08-15T17:55:11.068Z,1629050111.068 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position 2.95 mm.
2021-08-15T17:55:11.072Z,1629050111.072 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detected possible detachment. Starting timer.
2021-08-15T17:55:13.124Z,1629050113.124 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-15T17:55:13.409Z,1629050113.409 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:55:13.409Z,1629050113.409 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:55:13.409Z,1629050113.409 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:55:13.410Z,1629050113.410 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:55:13.821Z,1629050113.821 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F5D,000,00AB5,186,80,80,92,FF
2021-08-15T17:55:13.822Z,1629050113.822 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:55:13.822Z,1629050113.822 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:55:13.823Z,1629050113.823 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:55:14.220Z,1629050114.220 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:55:14.625Z,1629050114.625 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,F81,000,00AB8,187,80,80,97,FF
2021-08-15T17:55:14.625Z,1629050114.625 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:55:15.069Z,1629050115.069 [Micromodem](INFO): Nmea in: $SNTTA,0.086724,,,,175514.92*47

2021-08-15T17:55:17.151Z,1629050117.151 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-15T17:55:17.449Z,1629050117.449 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:55:17.449Z,1629050117.449 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:55:17.449Z,1629050117.449 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:55:17.450Z,1629050117.450 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:55:17.856Z,1629050117.856 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
F81,000,00AB8,187,80,80,97,FF
2021-08-15T17:55:17.858Z,1629050117.858 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:55:17.859Z,1629050117.859 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:55:17.875Z,1629050117.875 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:55:18.271Z,1629050118.271 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:55:19.075Z,1629050119.075 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175518.97*5F

2021-08-15T17:55:19.894Z,1629050119.894 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-15T17:55:21.493Z,1629050121.493 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,N,80,80,63,E4
8,187,80,80,97,FF
2021-08-15T17:55:21.493Z,1629050121.493 [DUSBL_Hydroid](INFO): No reply:!U1,N,80,80,63,E4
8,187,80,80,97,FF
2021-08-15T17:55:21.494Z,1629050121.494 [DUSBL_Hydroid](ERROR): No response from remote modem.
2021-08-15T17:55:22.718Z,1629050122.718 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-15T17:55:23.119Z,1629050123.119 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:55:23.124Z,1629050123.124 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:55:23.125Z,1629050123.125 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:55:23.126Z,1629050123.126 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:55:23.521Z,1629050123.521 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
80,80,63,E4
8,187,80,80,97,FF
2021-08-15T17:55:23.521Z,1629050123.521 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:55:23.522Z,1629050123.522 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:55:23.523Z,1629050123.523 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:55:23.917Z,1629050123.917 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:55:24.329Z,1629050124.329 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,D0B,000,00ABC,188,80,80,73,FF
2021-08-15T17:55:24.330Z,1629050124.330 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:55:24.745Z,1629050124.745 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175524.62*5A

2021-08-15T17:55:27.214Z,1629050127.214 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-15T17:55:27.549Z,1629050127.549 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:55:27.549Z,1629050127.549 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:55:27.549Z,1629050127.549 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:55:27.550Z,1629050127.550 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:55:27.953Z,1629050127.953 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
D0B,000,00ABC,188,80,80,73,FF
2021-08-15T17:55:27.954Z,1629050127.954 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:55:27.954Z,1629050127.954 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:55:27.956Z,1629050127.956 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:55:28.357Z,1629050128.357 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:55:28.765Z,1629050128.765 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,R,0B7,000,00ABC,186,80,80,86,FF
2021-08-15T17:55:28.765Z,1629050128.765 [DUSBL_Hydroid](INFO): publishing direction and range info
2021-08-15T17:55:29.201Z,1629050129.201 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175529.05*56

2021-08-15T17:55:31.261Z,1629050131.261 [DefaultWithUndock:LeaveDock:B.Undock](INFO): Detached at range: 127.38 m. Transitioning DDM to standby.
2021-08-15T17:55:31.602Z,1629050131.602 [DefaultWithUndock:LeaveDock:A.](INFO): *** querying acoustic contact ***
2021-08-15T17:55:31.993Z,1629050131.993 [DUSBL_Hydroid](INFO): ****** received transponder code query ******
2021-08-15T17:55:31.993Z,1629050131.993 [DUSBL_Hydroid](INFO): ****** received ping request ******
2021-08-15T17:55:31.993Z,1629050131.993 [DUSBL_Hydroid](INFO): Arming DUSBL. detectThresh: 75
2021-08-15T17:55:31.994Z,1629050131.994 [DUSBL_Hydroid](INFO): ****** ping requested ******
2021-08-15T17:55:32.401Z,1629050132.401 [DUSBL_Hydroid](INFO): DUSBL response received:!U1,P
0B7,000,00ABC,186,80,80,86,FF
2021-08-15T17:55:32.401Z,1629050132.401 [DUSBL_Hydroid](INFO): Command Ack
2021-08-15T17:55:32.401Z,1629050132.401 [DUSBL_Hydroid](INFO): Requesting micromodem ping code 2
2021-08-15T17:55:32.403Z,1629050132.403 [Micromodem](INFO): Nmea out: $CCPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*76

2021-08-15T17:55:32.809Z,1629050132.809 [Micromodem](INFO): Nmea in: $SNPGT,1,14500,40,0,1000,24000,28,4A1C0370,6C8F7D30,2107E320,37BCD1E0,4000,4000,0*6B

2021-08-15T17:55:33.653Z,1629050133.653 [Micromodem](INFO): Nmea in: $SNTTA,,,,,175533.49*55

2021-08-15T17:55:33.665Z,1629050133.665 [DefaultWithUndock:LeaveDock:B.Undock](INFO): DDM at standby.
2021-08-15T17:55:34.034Z,1629050134.034 [DefaultWithUndock:LeaveDock:B.Undock](IMPORTANT): Undocking sequence complete.
2021-08-15T17:55:34.034Z,1629050134.034 [DefaultWithUndock:LeaveDock:B.Undock] Stopped
2021-08-15T17:55:34.035Z,1629050134.035 [DefaultWithUndock:LeaveDock](INFO): Completed DefaultWithUndock:LeaveDock
2021-08-15T17:55:34.035Z,1629050134.035 [DefaultWithUndock:LeaveDock] Stopped
2021-08-15T17:55:34.035Z,1629050134.035 [DefaultWithUndock:LeaveDock](DEBUG): Aggregate::uninitialize DefaultWithUndock:LeaveDock
2021-08-15T17:55:34.035Z,1629050134.035 [DefaultWithUndock:LeaveDock:A.] Stopped
2021-08-15T17:55:34.035Z,1629050134.035 [DefaultWithUndock:SurfaceDefault] Running Loop=1
2021-08-15T17:55:34.035Z,1629050134.035 [DefaultWithUndock:SurfaceDefault](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault
2021-08-15T17:55:34.036Z,1629050134.036 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Running Loop=1
2021-08-15T17:55:34.036Z,1629050134.036 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-08-15T17:55:34.036Z,1629050134.036 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Running Loop=1
2021-08-15T17:55:34.036Z,1629050134.036 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Running Loop=1
2021-08-15T17:55:34.036Z,1629050134.036 [DefaultWithUndock:SurfaceDefault:B.GoToSurface] Running Loop=1
2021-08-15T17:55:34.036Z,1629050134.036 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): Initialize GoToSurfaceComponent.
2021-08-15T17:55:34.037Z,1629050134.037 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No depth rate setting specified. Using default value of nan m/s.
2021-08-15T17:55:34.037Z,1629050134.037 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No pitch setting specified. Using default value of nan degrees.
2021-08-15T17:55:34.037Z,1629050134.037 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No speed setting specified. Using default value of 1.000000 m/s.
2021-08-15T17:55:34.038Z,1629050134.038 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](DEBUG): No surface timeout specified. Using default value of 1000.000000 seconds.
2021-08-15T17:55:34.038Z,1629050134.038 [DefaultWithUndock:SurfaceDefault:B.GoToSurface](INFO): Received pitch timeout configuration 60.000000 seconds.
2021-08-15T17:55:34.833Z,1629050134.833 [ElevatorOffsetCalculator](INFO): New estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -26.00 mm (2 active estimators).
2021-08-15T17:55:34.949Z,1629050134.949 [Radio_Surface](INFO): Powering up
2021-08-15T17:55:40.985Z,1629050140.985 [DataOverHttps](INFO): Radio surface powered ON.
2021-08-15T17:55:41.364Z,1629050141.364 [DDM](ERROR): Could not parse whisker state
2021-08-15T17:56:03.517Z,1629050163.517 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=1
2021-08-15T17:56:03.518Z,1629050163.518 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-15T17:56:03.518Z,1629050163.518 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-15T17:56:03.518Z,1629050163.518 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen] Stopped
2021-08-15T17:56:03.518Z,1629050163.518 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:HoldLatchOpen
2021-08-15T17:56:03.518Z,1629050163.518 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:A] Stopped
2021-08-15T17:56:03.518Z,1629050163.518 [DefaultWithUndock:SurfaceDefault:HoldLatchOpen:B] Stopped
2021-08-15T17:56:11.104Z,1629050171.104 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T17:56:20.446Z,1629050180.446 [NAL9602](INFO): SBD MO Status=0, MOMSN=24070, MT Status=0, MTMSN=0
2021-08-15T17:56:20.447Z,1629050180.447 [NAL9602](INFO): No messages in MT queue
2021-08-15T17:56:21.657Z,1629050181.657 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,175623.00,A,4133.21362,N,07042.52874,W,0.467,0.00,150821,,,A*7E
2021-08-15T17:56:21.659Z,1629050181.659 [NAL9602](INFO): GPS fix at 20210815T175623: (41.553560, -70.708812)
2021-08-15T17:56:21.671Z,1629050181.671 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-15T17:56:21.671Z,1629050181.671 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-15T17:56:38.179Z,1629050198.179 [PowerOnly](INFO): Powering down loadControl
2021-08-15T17:56:41.279Z,1629050201.279 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude
2021-08-15T17:56:46.244Z,1629050206.244 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T17:56:53.197Z,1629050213.197 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T17:57:12.585Z,1629050232.585 [NAL9602](INFO): SBD MO Status=1, MOMSN=24071, MT Status=0, MTMSN=0
2021-08-15T17:57:12.636Z,1629050232.636 [NAL9602](INFO): Sent 78 bytes from file Logs/20210815T133512/Courier0060.lzma
2021-08-15T17:57:12.636Z,1629050232.636 [NAL9602](INFO): Packets left to send: 0
2021-08-15T17:57:13.646Z,1629050233.646 [RDI_Pathfinder](ERROR): only read 1 of 4 data items
2021-08-15T17:57:21.384Z,1629050241.384 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T17:57:24.792Z,1629050244.792 [NAL9602](INFO): SBD MO Status=1, MOMSN=24072, MT Status=0, MTMSN=0
2021-08-15T17:57:24.860Z,1629050244.860 [NAL9602](INFO): Sent 184 bytes from file Logs/20210815T133512/Express0037.lzma
2021-08-15T17:57:24.860Z,1629050244.860 [NAL9602](INFO): Packets left to send: 3
2021-08-15T17:57:43.086Z,1629050263.086 [NAL9602](INFO): SBD MO Status=1, MOMSN=24073, MT Status=0, MTMSN=0
2021-08-15T17:57:43.140Z,1629050263.140 [NAL9602](INFO): Sent 184 bytes from file Logs/20210815T133512/Express0037.lzma
2021-08-15T17:57:43.140Z,1629050263.140 [NAL9602](INFO): Packets left to send: 2
2021-08-15T17:57:53.075Z,1629050273.075 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T17:57:56.532Z,1629050276.532 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T17:58:03.171Z,1629050283.171 [RDI_PathfinderUp](ERROR): only read 3 of 4 data items
2021-08-15T17:58:21.320Z,1629050301.320 [NAL9602](INFO): SBD MO Status=1, MOMSN=24074, MT Status=0, MTMSN=0
2021-08-15T17:58:21.368Z,1629050301.368 [NAL9602](INFO): Sent 184 bytes from file Logs/20210815T133512/Express0037.lzma
2021-08-15T17:58:21.368Z,1629050301.368 [NAL9602](INFO): Packets left to send: 1
2021-08-15T17:58:31.674Z,1629050311.674 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting.
2021-08-15T17:58:34.702Z,1629050314.702 [NAL9602](INFO): SBD MO Status=1, MOMSN=24075, MT Status=0, MTMSN=0
2021-08-15T17:58:34.752Z,1629050314.752 [NAL9602](INFO): Sent 51 bytes from file Logs/20210815T133512/Express0037.lzma
2021-08-15T17:58:34.752Z,1629050314.752 [NAL9602](INFO): Packets left to send: 0
2021-08-15T17:58:45.708Z,1629050325.708 [NAL9602](INFO): SBD MO Status=1, MOMSN=24076, MT Status=0, MTMSN=0
2021-08-15T17:58:45.764Z,1629050325.764 [NAL9602](INFO): Sent 84 bytes from file Logs/20210815T133512/Express0043.lzma
2021-08-15T17:58:45.764Z,1629050325.764 [NAL9602](INFO): Packets left to send: 0
2021-08-15T17:58:57.478Z,1629050337.478 [NAL9602](INFO): SBD MO Status=1, MOMSN=24077, MT Status=0, MTMSN=0
2021-08-15T17:58:57.536Z,1629050337.536 [NAL9602](INFO): Sent 184 bytes from file Logs/20210815T133512/Express0046.lzma
2021-08-15T17:58:57.536Z,1629050337.536 [NAL9602](INFO): Packets left to send: 0
2021-08-15T17:59:01.796Z,1629050341.796 [DataOverHttps](INFO): setting available, lastComms_.elapsed()=0.003144
2021-08-15T17:59:05.812Z,1629050345.812 [DataOverHttps](INFO): Sending 282 bytes from file Logs/20210815T133512/Express0049.lzma
2021-08-15T17:59:05.986Z,1629050345.986 [NAL9602](INFO): SBD MO Status=1, MOMSN=24078, MT Status=0, MTMSN=0
2021-08-15T17:59:06.052Z,1629050346.052 [NAL9602](INFO): Sent 184 bytes from file Logs/20210815T133512/Express0049.lzma
2021-08-15T17:59:06.053Z,1629050346.053 [NAL9602](INFO): Packets left to send: 1
2021-08-15T17:59:06.814Z,1629050346.814 [DataOverHttps](INFO): Moved sent file to Logs/20210815T133512/Express0049.lzma.bak
2021-08-15T17:59:06.814Z,1629050346.814 [DataOverHttps](INFO): SBD MOMSN=443390
2021-08-15T17:59:16.858Z,1629050356.858 [DataOverHttps](INFO): Sending 645 bytes from file Logs/20210815T133512/Express0052.lzma
2021-08-15T17:59:17.858Z,1629050357.858 [DataOverHttps](INFO): Moved sent file to Logs/20210815T133512/Express0052.lzma.bak
2021-08-15T17:59:17.858Z,1629050357.858 [DataOverHttps](INFO): SBD MOMSN=443414
2021-08-15T17:59:27.900Z,1629050367.900 [DataOverHttps](INFO): Sending 177 bytes from file Logs/20210815T133512/Express0055.lzma
2021-08-15T17:59:28.902Z,1629050368.902 [DataOverHttps](INFO): Moved sent file to Logs/20210815T133512/Express0055.lzma.bak
2021-08-15T17:59:28.902Z,1629050368.902 [DataOverHttps](INFO): SBD MOMSN=443423
2021-08-15T17:59:29.814Z,1629050369.814 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-15T17:59:30.206Z,1629050370.206 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815175929.978067,06,1252,24,0228,0150,149,03,03,01,03,-1,-01,-01,1,3,1,0,150,13.2,0.53,-100,2.47,-01,-0.28,55,14500,4000*5D

2021-08-15T17:59:36.676Z,1629050376.676 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-15T17:59:37.941Z,1629050377.941 [DataOverHttps](INFO): Sending 478 bytes from file Logs/20210815T133512/Express0058.lzma
2021-08-15T17:59:38.943Z,1629050378.943 [DataOverHttps](INFO): Moved sent file to Logs/20210815T133512/Express0058.lzma.bak
2021-08-15T17:59:38.944Z,1629050378.944 [DataOverHttps](INFO): SBD MOMSN=443452
2021-08-15T17:59:48.001Z,1629050388.001 [DataOverHttps](INFO): Sending 287 bytes from file Logs/20210815T133512/Express0061.lzma
2021-08-15T17:59:48.986Z,1629050388.986 [DataOverHttps](INFO): Moved sent file to Logs/20210815T133512/Express0061.lzma.bak
2021-08-15T17:59:48.987Z,1629050388.987 [DataOverHttps](INFO): SBD MOMSN=443464
2021-08-15T17:59:50.820Z,1629050390.820 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-15T17:59:50.821Z,1629050390.821 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-08-15T17:59:50.821Z,1629050390.821 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-15T18:01:15.657Z,1629050475.657 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-15T18:01:15.658Z,1629050475.658 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-15T18:01:15.661Z,1629050475.661 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-15T18:01:16.053Z,1629050476.053 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815180115.988872,06,123,20,0100,0150,141,01,01,00,02,-1,-01,-01,1,3,1,0,150,-100.0,-2.64,-100,5.64,-01,-3.07,-2147483648,14500,4000*75

2021-08-15T18:01:23.728Z,1629050483.728 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-15T18:01:23.728Z,1629050483.728 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-15T18:01:23.730Z,1629050483.730 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-15T18:01:24.132Z,1629050484.132 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815180123.962580,06,1752,26,0095,0150,149,01,01,01,01,-1,-01,-01,1,3,3,0,150,64.7,0.39,-100,2.61,-01,-0.76,-6,14500,4000*4C

2021-08-15T18:01:47.570Z,1629050507.570 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-15T18:01:48.060Z,1629050508.060 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815180147.974091,06,740,22,0107,0150,141,00,00,01,00,-1,-01,-01,1,3,6,0,150,25.8,0.10,-100,2.90,-01,-0.47,61,14500,4000*6D

2021-08-15T18:02:12.214Z,1629050532.214 [BPC1](INFO): Calculating totals. Valid battery stick count: 56. Valid reserve battery stick count: 6.
2021-08-15T18:02:12.217Z,1629050532.217 [BPC1](INFO): Received data from all battery sticks.
2021-08-15T18:03:15.663Z,1629050595.663 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-15T18:03:15.664Z,1629050595.664 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-15T18:03:15.667Z,1629050595.667 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-15T18:03:16.050Z,1629050596.050 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815180315.960893,06,1215,24,0108,0150,14,01,01,01,03,-1,-01,-01,1,3,1,0,150,-100.0,-2.62,-100,5.62,-01,-1.25,-2147483648,14500,4000*76

2021-08-15T18:03:33.829Z,1629050613.829 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-15T18:03:33.833Z,1629050613.833 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815180333.973916,06,905,23,0091,0150,126,02,02,01,04,-1,-01,-01,1,3,1,0,150,2.5,0.02,-100,2.98,-01,-2.00,58,14500,4000*57

2021-08-15T18:04:51.431Z,1629050691.431 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-08-15T18:04:51.431Z,1629050691.431 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-08-15T18:04:51.431Z,1629050691.431 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-08-15T18:04:51.432Z,1629050691.432 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-08-15T18:04:51.823Z,1629050691.823 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-08-15T18:04:51.823Z,1629050691.823 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-08-15T18:04:52.201Z,1629050692.201 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 10.266575 min 
2021-08-15T18:04:52.201Z,1629050692.201 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-08-15T18:04:52.201Z,1629050692.201 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-15T18:04:52.202Z,1629050692.202 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-08-15T18:04:52.202Z,1629050692.202 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-15T18:04:52.202Z,1629050692.202 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #2
2021-08-15T18:04:52.202Z,1629050692.202 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=2
2021-08-15T18:04:52.202Z,1629050692.202 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-15T18:04:52.202Z,1629050692.202 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-15T18:04:54.214Z,1629050694.214 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,180456.00,A,4133.17520,N,07042.55537,W,0.175,191.44,150821,,,D*76
2021-08-15T18:04:54.217Z,1629050694.217 [NAL9602](INFO): GPS fix at 20210815T180456: (41.552920, -70.709256)
2021-08-15T18:04:54.227Z,1629050694.227 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-15T18:04:54.228Z,1629050694.228 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-15T18:04:59.299Z,1629050699.299 [DataOverHttps](INFO): Sending 88 bytes from file Logs/20210815T133512/Courier0063.lzma
2021-08-15T18:05:00.302Z,1629050700.302 [DataOverHttps](INFO): Moved sent file to Logs/20210815T133512/Courier0063.lzma.bak
2021-08-15T18:05:00.302Z,1629050700.302 [DataOverHttps](INFO): SBD MOMSN=443468
2021-08-15T18:05:12.352Z,1629050712.352 [DataOverHttps](INFO): Sending 119 bytes from file Logs/20210815T133512/Express0064.lzma
2021-08-15T18:05:13.355Z,1629050713.355 [DataOverHttps](INFO): Moved sent file to Logs/20210815T133512/Express0064.lzma.bak
2021-08-15T18:05:13.355Z,1629050713.355 [DataOverHttps](INFO): SBD MOMSN=443471
2021-08-15T18:05:14.857Z,1629050714.857 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-15T18:05:14.857Z,1629050714.857 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-08-15T18:05:14.857Z,1629050714.857 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-15T18:05:16.852Z,1629050716.852 [NAL9602](INFO): SBD MO Status=0, MOMSN=24079, MT Status=0, MTMSN=0
2021-08-15T18:05:16.852Z,1629050716.852 [NAL9602](INFO): No messages in MT queue
2021-08-15T18:05:47.561Z,1629050747.561 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-15T18:05:55.643Z,1629050755.643 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC, Data Header,2*00

2021-08-15T18:05:55.647Z,1629050755.647 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815180553.959141,06,1352,25,0128,0150,223,02,02,01,02,4,-01,-01,2,3,1,0,150,0.2,12.39,-100,-9.39,-01,0.66,65,14500,4000*70

2021-08-15T18:06:55.840Z,1629050815.840 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-15T18:06:55.845Z,1629050815.845 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815180655.980154,06,218,23,0107,0150,149,02,02,00,02,-1,-01,-01,1,3,5,0,150,17.9,-3.42,-100,6.42,-01,-2.12,55,14500,4000*4C

2021-08-15T18:08:43.699Z,1629050923.699 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-15T18:08:43.704Z,1629050923.704 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815180843.959857,06,1652,26,0095,0150,208,02,02,01,02,-1,-01,-01,1,3,1,0,150,1.2,0.97,-100,2.03,-01,-0.39,70,14500,4000*6B

2021-08-15T18:10:15.425Z,1629051015.425 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-08-15T18:10:15.425Z,1629051015.425 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-08-15T18:10:15.425Z,1629051015.425 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-08-15T18:10:15.426Z,1629051015.426 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-08-15T18:10:15.821Z,1629051015.821 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-08-15T18:10:15.821Z,1629051015.821 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-08-15T18:10:16.235Z,1629051016.235 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 15.666540 min 
2021-08-15T18:10:16.235Z,1629051016.235 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-08-15T18:10:16.235Z,1629051016.235 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-15T18:10:16.236Z,1629051016.236 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-08-15T18:10:16.236Z,1629051016.236 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-15T18:10:16.236Z,1629051016.236 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #3
2021-08-15T18:10:16.236Z,1629051016.236 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=3
2021-08-15T18:10:16.236Z,1629051016.236 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-15T18:10:16.236Z,1629051016.236 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-15T18:10:18.245Z,1629051018.245 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,181020.00,A,4133.14718,N,07042.57267,W,0.214,195.89,150821,,,D*79
2021-08-15T18:10:18.247Z,1629051018.247 [NAL9602](INFO): GPS fix at 20210815T181020: (41.552453, -70.709545)
2021-08-15T18:10:18.258Z,1629051018.258 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-15T18:10:18.258Z,1629051018.258 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-15T18:10:23.651Z,1629051023.651 [DataOverHttps](INFO): Sending 78 bytes from file Logs/20210815T133512/Courier0066.lzma
2021-08-15T18:10:23.915Z,1629051023.915 [RDI_PathfinderUp](ERROR): only read 2 of 4 data items
2021-08-15T18:10:24.654Z,1629051024.654 [DataOverHttps](INFO): Moved sent file to Logs/20210815T133512/Courier0066.lzma.bak
2021-08-15T18:10:24.654Z,1629051024.654 [DataOverHttps](INFO): SBD MOMSN=443506
2021-08-15T18:10:34.696Z,1629051034.696 [DataOverHttps](INFO): Sending 118 bytes from file Logs/20210815T133512/Express0067.lzma
2021-08-15T18:10:35.698Z,1629051035.698 [DataOverHttps](INFO): Moved sent file to Logs/20210815T133512/Express0067.lzma.bak
2021-08-15T18:10:35.698Z,1629051035.698 [DataOverHttps](INFO): SBD MOMSN=443509
2021-08-15T18:10:37.262Z,1629051037.262 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-15T18:10:37.263Z,1629051037.263 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-08-15T18:10:37.263Z,1629051037.263 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-15T18:10:48.140Z,1629051048.140 [NAL9602](INFO): SBD MO Status=0, MOMSN=24080, MT Status=0, MTMSN=0
2021-08-15T18:10:48.141Z,1629051048.141 [NAL9602](INFO): No messages in MT queue
2021-08-15T18:11:07.942Z,1629051067.942 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC, Data Header,2*00

2021-08-15T18:11:07.950Z,1629051067.950 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815181107.964195,06,445,20,0094,0150,119,01,01,01,01,1,-01,-01,2,4,1,0,150,4.2,-1.09,-3,4.09,-01,-2.00,51,14500,4000*5A

2021-08-15T18:11:18.841Z,1629051078.841 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-15T18:11:21.675Z,1629051081.675 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-15T18:11:21.676Z,1629051081.676 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-15T18:11:21.678Z,1629051081.678 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-15T18:11:22.074Z,1629051082.074 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815181121.958704,06,1350,25,0402,0150,126,03,03,01,03,-1,-01,-01,1,3,2,0,150,70.1,0.57,-100,2.43,-01,1.63,-18,14500,4000*51

2021-08-15T18:11:39.852Z,1629051099.852 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-15T18:11:39.852Z,1629051099.852 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-15T18:11:39.854Z,1629051099.854 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-15T18:11:40.261Z,1629051100.261 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815181139.969673,06,966,23,0114,0150,134,03,03,01,03,-1,-01,-01,1,3,1,0,150,-100.0,-0.14,-100,3.14,-01,-1.00,-2147483648,14500,4000*76

2021-08-15T18:13:08.334Z,1629051188.334 [Micromodem](INFO): Nmea in: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error

2021-08-15T18:13:08.335Z,1629051188.335 [Micromodem](ERROR): Response from modem failed NMEA checksum: $CATRC,RECV,COP , 213,COPROC_par_read_parobj: size error
 expected 41
2021-08-15T18:13:08.338Z,1629051188.338 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-15T18:13:08.730Z,1629051188.730 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815181307.970852,06,737,22,0094,0150,149,02,02,01,02,-1,-01,-01,1,3,8,0,150,70.9,-1.74,-100,4.74,-01,-2.30,-12,14500,4000*6E

2021-08-15T18:13:29.742Z,1629051209.742 [Micromodem](INFO): Nmea in: $CAMSG,Bad Modulation Header,0*31

2021-08-15T18:13:29.747Z,1629051209.747 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815181329.975368,06,237,23,0103,0150,208,02,02,00,02,-1,-01,-01,1,3,8,0,150,7.5,-0.85,-100,3.85,-01,0.50,64,14500,4000*56

2021-08-15T18:14:10.546Z,1629051250.546 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC, Data Header,2*00

2021-08-15T18:14:10.568Z,1629051250.568 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815181407.978383,06,1228,24,0095,0150,141,01,01,01,01,6,-01,-01,2,3,4,0,150,7.6,-4.49,01,7.49,-01,-2.81,54,14500,4000*74

2021-08-15T18:14:47.741Z,1629051287.741 [DataOverHttps](IMPORTANT): SBD MTMSN=20210815T181449
2021-08-15T18:14:52.764Z,1629051292.764 [DataOverHttps](INFO): Received command:configSet lineCapture.navigationGain Nan none persist
2021-08-15T18:14:53.086Z,1629051293.086 [CommandLine](IMPORTANT): got command configSet LineCapture.navigationGain nan none persist
2021-08-15T18:15:03.470Z,1629051303.470 [Micromodem](INFO): Nmea in: $CAMSG,BAD_CRC, Data Header,2*00

2021-08-15T18:15:03.868Z,1629051303.868 [Micromodem](INFO): Nmea in: $CACST,6,1,20210815181459.977146,06,710,22,0166,0150,134,04,04,01,04,5,-01,-01,2,3,8,0,150,2.7,6.75,-100,-3.75,-01,-0.97,54,14500,4000*5D

2021-08-15T18:15:37.828Z,1629051337.828 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](INFO): Done Waiting.
2021-08-15T18:15:37.828Z,1629051337.828 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Stopped
2021-08-15T18:15:37.828Z,1629051337.828 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Uninitialize Wait Component.
2021-08-15T18:15:37.829Z,1629051337.829 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Running Loop=1
2021-08-15T18:15:38.233Z,1629051338.233 [DefaultWithUndock:SurfaceDefault:CheckIn:D] Stopped
2021-08-15T18:15:38.233Z,1629051338.233 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Running Loop=1
2021-08-15T18:15:38.627Z,1629051338.627 [DefaultWithUndock:SurfaceDefault:CheckIn:E](IMPORTANT): Default mission has been running for 21.040076 min 
2021-08-15T18:15:38.627Z,1629051338.627 [DefaultWithUndock:SurfaceDefault:CheckIn:E] Stopped
2021-08-15T18:15:38.627Z,1629051338.627 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Completed DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-15T18:15:38.627Z,1629051338.627 [DefaultWithUndock:SurfaceDefault:CheckIn] Stopped
2021-08-15T18:15:38.627Z,1629051338.627 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::uninitialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-15T18:15:38.628Z,1629051338.628 [DefaultWithUndock:SurfaceDefault:CheckIn](INFO): Running loop #4
2021-08-15T18:15:38.628Z,1629051338.628 [DefaultWithUndock:SurfaceDefault:CheckIn] Running Loop=4
2021-08-15T18:15:38.628Z,1629051338.628 [DefaultWithUndock:SurfaceDefault:CheckIn](DEBUG): Aggregate::initialize DefaultWithUndock:SurfaceDefault:CheckIn
2021-08-15T18:15:38.628Z,1629051338.628 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Running Loop=1
2021-08-15T18:15:40.631Z,1629051340.631 [NAL9602](DEBUG): Parsing RMC sentence: $GPRMC,181542.00,A,4133.11872,N,07042.59244,W,0.233,196.94,150821,,,A*7E
2021-08-15T18:15:40.634Z,1629051340.634 [NAL9602](INFO): GPS fix at 20210815T181542: (41.551979, -70.709874)
2021-08-15T18:15:40.656Z,1629051340.656 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_GPS] Stopped
2021-08-15T18:15:40.656Z,1629051340.656 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Running Loop=1
2021-08-15T18:15:46.003Z,1629051346.003 [DataOverHttps](INFO): Sending 78 bytes from file Logs/20210815T133512/Courier0069.lzma
2021-08-15T18:15:46.999Z,1629051346.999 [DataOverHttps](INFO): Moved sent file to Logs/20210815T133512/Courier0069.lzma.bak
2021-08-15T18:15:46.999Z,1629051346.999 [DataOverHttps](INFO): SBD MOMSN=443515
2021-08-15T18:15:49.526Z,1629051349.526 [NAL9602](INFO): SBD MO Status=0, MOMSN=24081, MT Status=0, MTMSN=0
2021-08-15T18:15:49.526Z,1629051349.526 [NAL9602](INFO): No messages in MT queue
2021-08-15T18:16:00.072Z,1629051360.072 [DataOverHttps](INFO): Sending 52 bytes from file Logs/20210815T133512/Courier0072.lzma
2021-08-15T18:16:01.074Z,1629051361.074 [DataOverHttps](INFO): Moved sent file to Logs/20210815T133512/Courier0072.lzma.bak
2021-08-15T18:16:01.074Z,1629051361.074 [DataOverHttps](INFO): SBD MOMSN=443518
2021-08-15T18:16:17.140Z,1629051377.140 [DataOverHttps](INFO): Sending 215 bytes from file Logs/20210815T133512/Express0070.lzma
2021-08-15T18:16:18.143Z,1629051378.143 [DataOverHttps](INFO): Moved sent file to Logs/20210815T133512/Express0070.lzma.bak
2021-08-15T18:16:18.143Z,1629051378.143 [DataOverHttps](INFO): SBD MOMSN=443521
2021-08-15T18:16:20.221Z,1629051380.221 [NAL9602](INFO): Not Powering down - fast GPS
2021-08-15T18:16:29.187Z,1629051389.187 [DataOverHttps](INFO): Sending 61 bytes from file Logs/20210815T133512/Express0073.lzma
2021-08-15T18:16:30.190Z,1629051390.190 [DataOverHttps](INFO): Moved sent file to Logs/20210815T133512/Express0073.lzma.bak
2021-08-15T18:16:30.190Z,1629051390.190 [DataOverHttps](INFO): SBD MOMSN=443526
2021-08-15T18:16:31.958Z,1629051391.958 [DefaultWithUndock:SurfaceDefault:CheckIn:Read_Iridium] Stopped
2021-08-15T18:16:31.959Z,1629051391.959 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait] Running Loop=1
2021-08-15T18:16:31.959Z,1629051391.959 [DefaultWithUndock:SurfaceDefault:CheckIn:C.Wait](DEBUG): Initialize Wait Component.
2021-08-15T18:17:09.107Z,1629051429.107 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error
2021-08-15T18:17:12.357Z,1629051432.357 [DataOverHttps](IMPORTANT): SBD MTMSN=20210815T181714
2021-08-15T18:17:18.393Z,1629051438.393 [DataOverHttps](INFO): Received command:configSet lineCapture.rolloutSpeed 0 m/s persist
2021-08-15T18:17:18.688Z,1629051438.688 [CommandLine](IMPORTANT): got command configSet LineCapture.rolloutSpeed 0.000000 meter_per_second persist
2021-08-15T18:17:19.389Z,1629051439.389 [DataOverHttps](IMPORTANT): SBD MTMSN=20210815T181721
2021-08-15T18:17:24.408Z,1629051444.408 [DataOverHttps](INFO): Received command:configSet lineCapture.rolloutTimeout 20 min persist
2021-08-15T18:17:24.680Z,1629051444.680 [CommandLine](IMPORTANT): got command configSet LineCapture.rolloutTimeout 20.000000 minute persist
2021-08-15T18:17:25.413Z,1629051445.413 [DataOverHttps](IMPORTANT): SBD MTMSN=20210815T181727
2021-08-15T18:17:29.321Z,1629051449.321 [RDI_Pathfinder](ERROR): only read 2 of 4 data items
2021-08-15T18:17:29.427Z,1629051449.427 [DataOverHttps](INFO): Received command:restart logs